CN218170445U - Three-degree-of-freedom electric clamping jaw - Google Patents

Abstract

The utility model discloses a three degree of freedom electric clamping jaw, it includes first drive assembly, second drive assembly and clamping jaw subassembly, first drive assembly and second drive assembly rotate to be connected, second drive assembly and clamping jaw subassembly rotate to be connected, clamping jaw subassembly includes clamping jaw seat and arm lock, first drive assembly drive second drive assembly rotates, second drive assembly drive clamping jaw subassembly rotates, the arm lock is disposed movably on clamping jaw seat. The utility model provides an electronic clamping jaw of three degrees of freedom increases a rotatory degree of freedom on the basis of rotatory clamping jaw subassembly, has still increased the range, can not occupy a large amount of spaces, the operation environment of adaptable multiaxis angle.

Description

Three-degree-of-freedom electric clamping jaw

Technical Field

The utility model relates to a clamping jaw technical field especially relates to an electronic clamping jaw of three degrees of freedom.

Background

At present, electric clamping jaws are widely used in various industries such as medical treatment, automobile manufacturing, logistics, 3C electronics and the like, wherein the clamping jaws can directly clamp objects, and rotary belts can clamp the objects. However, the degrees of freedom of the clamping jaws are more than 2, and an external manipulator arm or other execution components are needed to achieve the operation effect of the multiple degrees of freedom in order to achieve the operation environment of the multiple degrees of freedom, but external equipment occupies a large space, and the reasonable utilization of field layout is extremely harsh.

Therefore, a new technical solution is needed.

SUMMERY OF THE UTILITY MODEL

For solving the technical problem that exists among the prior art, the utility model discloses a three degree of freedom electric clamping jaws, it includes first drive assembly, second drive assembly and clamping jaw subassembly, first drive assembly and second drive assembly rotate to be connected, second drive assembly and clamping jaw subassembly rotate to be connected, clamping jaw subassembly is including clamping jaw seat and arm lock, first drive assembly drive second drive assembly rotates, second drive assembly drive clamping jaw subassembly rotates, the arm lock is disposed movably on clamping jaw seat.

Further, the clamping arm is driven by the second driving assembly to move on the clamping jaw seat.

Further, first drive assembly includes first driver and first pivot, the first pivot of first driver drive is rotatory, second drive assembly includes second driver, third driver and second pivot, second driver drive second pivot is rotatory, third driver drive arm lock removes on the clamping jaw seat, first pivot and second drive assembly fixed connection, second pivot and clamping jaw seat fixed connection.

Furthermore, first drive assembly still includes first casing, first driver and first pivot are fixed to be set up on first casing, second drive assembly includes the second casing, second driver, third driver and second pivot are fixed to be set up on the second casing, first pivot and second casing fixed connection.

Furthermore, the axis direction of the first rotating shaft is perpendicular to the axis direction of the second rotating shaft, and the moving direction of the clamping arm is perpendicular to the axis direction of the second rotating shaft.

Furthermore, a first brake is installed at the tail end of the first driver, and a second brake is installed at the tail end of the second driver.

Further, a first limiting block is arranged on the outer wall of the first shell, a second limiting block is arranged on the outer wall of the second shell, and the first limiting block and the second limiting block can be blocked mutually.

Further, first drive assembly still includes the action wheel, follows driving wheel and hold-in range, first driver and first casing fixed connection, the output shaft and the action wheel fixed connection of first driver, the action wheel passes through hold-in range synchronous drive with following the driving wheel, from fixed cover of driving wheel locating on the first pivot, the one end of first pivot extends to outside the first casing with second casing fixed connection, second gear and third gear are installed to the second casing, second driver and the adjacent setting of third driver, the output shaft and the second gear fixed connection of second driver, second gear and third gear engagement, the fixed cover of third gear is established on the third driver, the fixed cover of second pivot is established on the third driver, the one end and the third gear fixed connection of second pivot, the axis direction of second pivot is unanimous with the axis direction of third gear, the other end of second pivot extends to outside the second casing and is connected with the clamping jaw seat fixed, the output shaft fixed cover of third driver is equipped with first gear, be provided with two racks that set up relatively in the clamping jaw seat, rack and first arm lock mesh respectively.

Further, a first slip ring is mounted on the first rotating shaft, the first slip ring is provided with a first stator lead and a first rotor lead, the first rotor lead is electrically connected with the second driving assembly, a first circuit board is arranged in the first shell, the first driver and the first brake are both electrically connected with the first circuit board, a second circuit board and a third circuit board are further arranged in the second shell, the second driver and the second brake are both electrically connected with the second circuit board, the third driver is electrically connected with the third circuit board, the third circuit board is arranged on one side of the third driver, the third circuit board is fixedly connected with the third driver, a second slip ring is arranged on one side of the third circuit board, the second slip ring is fixedly connected with the third driver, the second slip ring is provided with a second rotor lead and a second stator lead, the second rotor lead is electrically connected with the third circuit board, the second stator lead is electrically connected with the second circuit board, and the second circuit board is electrically connected with the first rotor lead.

Furthermore, be provided with sensing element in the second casing, sensing element and third driver fixed connection, be connected with the sensor on the second circuit board, sensing element sets up with the sensor relatively, sensing element and sensor cooperation, the sensor can discern sensing element.

Compared with the prior art, the utility model discloses a three degree of freedom electric clamping jaws have following one or more beneficial effect: the three-freedom-degree electric clamping jaw increases a rotational freedom degree on the basis of a rotating clamping jaw, increases the action distance, does not occupy a large amount of space, and can adapt to the operating environment with multiple shaft angles; the utility model provides a three degree of freedom electric clamping jaw installs first stopper at the tail end of the output shaft of first driver, and after the first pivot was accomplished the rotation action and is stopped, first stopper can lock the output shaft of first driver to make the rotatory quick braking of second drive assembly, steady static, first stopper still can control the precision of second drive assembly rotation angle, and reduce the load capacity to first driver, and then increase the life of first driver; the three-degree-of-freedom electric clamping jaw is provided with the second brake at the tail end output shaft of the second driver, so that the clamping jaw seat can be rapidly braked and stably kept static after the rotation of the clamping jaw seat is stopped, the holding torque of the first brake and the second brake is larger than the output torque of the motor, on one hand, the energy consumption can be saved, and on the other hand, larger static holding torque can be kept; in the three-degree-of-freedom electric clamping jaw, the first limiting block is convexly arranged on the outer wall of the first shell, the second limiting block is convexly arranged on the outer wall of the second shell, the first limiting block and the second limiting block can be matched with each other and can be blocked mutually, so that the rotation limiting of the first shell and the second shell is realized, the blocking positions of the first limiting block and the second limiting block are used as zero points, and the relative rotation of the first driving assembly and the second driving assembly can be reset or the rotation error can be corrected through the zero points, or the zero point setting is carried out through the proximity switch or the photoelectric sensor; the utility model provides an electronic clamping jaw of three degrees of freedom is provided with sensing element in the second casing, and sensing element can follow the third driver rotates, is connected with the sensor on the second circuit board, and sensing element and sensor cooperation, sensor discern sensing element, and the sensor is to the rotatory position of sensing element record, and then can take notes the rotational position of first pivot and clamping jaw seat, with the signal feedback of record to the second circuit board in, and then can rectify the rotatory zero-bit position of clamping jaw seat according to the record.

Drawings

Fig. 1 is a schematic structural view of a three-degree-of-freedom electric clamping jaw in an embodiment of the present invention;

fig. 2 is a schematic structural diagram of a second driving assembly in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a first driving assembly in an embodiment of the present invention;

fig. 4 is a schematic cross-sectional view of a first drive assembly in an embodiment of the present invention;

fig. 5 is a schematic cross-sectional view of a second drive assembly and jaw assembly in an embodiment of the invention;

fig. 6 is a schematic cross-sectional view of another angle of the second drive assembly and the jaw assembly in an embodiment of the invention;

10, a first shell; 100. a first stopper; 11. a first driver; 110. a first brake; 12. a first rotating shaft; 13. a first bearing; 130. a first central through hole; 131. a first slip ring; 1310. a first stator wire; 1311. a first rotor wire; 132. a first bearing housing; 1320. a first lumen; 14. a driving wheel; 15. a driven wheel; 16. a synchronous belt; 17. an end cap; 18. a first circuit board; 19. a bus; 20. a second housing; 200. a second limiting block; 21. a second driver; 210. a second brake; 22. a second rotating shaft; 220. a second central through hole; 23. a second bearing; 230. a second bearing housing; 2300. a second lumen; 24. a second gear; 25. a third gear; 26. a second circuit board; 260. a sensor; 27. a bolt; 270. a second slip ring fixing plate; 271. a second slip ring; 2710. a second rotor wire; 2711. a second stator lead; 272. an inductive element; 28. a cable holder; 30. a jaw seat; 31. clamping arms; 32. a third driver; 33. a first gear; 34. a rack; 35. and a third circuit board.

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 drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly, e.g., as meaning fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or may be connected through the interior of two elements or in interactive relation with one another. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

Referring to fig. 1, 4 and 5, the present invention discloses a three-degree-of-freedom electric clamping jaw, which includes a first driving assembly, a second driving assembly and a clamping jaw assembly, wherein the clamping jaw assembly is rotatably connected to the second driving assembly, the second driving assembly is rotatably connected to the first driving assembly, the clamping jaw assembly includes a clamping jaw seat 30 and a clamping arm 31, the clamping arm 31 is movably disposed on the clamping jaw seat 30, the first driving assembly includes a first housing 10, a first driver 11 and a first rotating shaft 12, the first driver 11 and the first rotating shaft 12 are disposed in the first housing 10, the first driver 11 can drive the first rotating shaft 12 to rotate, and preferably, the first driver 11, the second driver 21 and the third driver 32 are preferably a combination of a motor and a speed reducer.

In this embodiment, please refer to fig. 3 and 4, the first driving assembly further includes a first bearing 13, a driving wheel 14, a driven wheel 15 and a synchronous belt 16, the first housing 10 has the first bearing seat 132, the first bearing seat 132 has a first inner cavity 1320 with openings at two ends, an outer ring of the first bearing 13 is fixedly disposed in the first inner cavity 1320, the driven wheel 15 is fixedly disposed at one end of the first bearing seat 132, the driven wheel 15 is located at one side of the first bearing 13, the first rotating shaft 12 is disposed in the first inner cavity 1320 in a penetrating manner, both the driven wheel 15 and the first bearing 13 are fixedly sleeved on the first rotating shaft 12, the first driver 11 is fixedly connected with the first housing 10, an output shaft of the first driver 11 is fixedly connected with the driving wheel 14, an end surface of the driving wheel 14 is provided with an end cover 17, and the end cover 17 is respectively fixedly connected with the driving wheel 14 and an output shaft of the first driver 11, so as to prevent the driving wheel 14 from generating axial displacement on the output shaft of the first driver 11. The action wheel 14 passes through synchronous belt 16 synchronous drive with follow driving wheel 15, the one end of first pivot 12 extends to first casing 10 outer with second casing 20 fixed connection, first driver 11 can drive action wheel 14 rotatory, action wheel 14 drives from driving wheel 15 rotatory, it is rotatory to drive first pivot 12 from driving wheel 15. In other embodiments, the first driver 11 may also drive the first rotating shaft 12 by a gear engagement drive or a sprocket drive.

Referring to fig. 4, the first rotating shaft 12 has a first central through hole 130, the first slip ring 131 is installed in the first central through hole 130, the first slip ring 131 includes a first stator lead 1310 and a first rotor lead 1311, and the first rotor lead 1311 extends into the second housing 20 and is electrically connected to the second driving component. The first circuit board 18 is arranged in the first housing 10, the first brake 110 is installed at the tail end of the output shaft of the first driver 11, the first driver 11 and the first brake 110 are electrically connected with the first circuit board 18, and after the first rotating shaft 12 finishes the rotation action and stops, the output shaft of the first driver 11 can be locked by the first brake 110, so that the second driving assembly can rotate to brake quickly and stably and statically, the first brake 110 can also control the accuracy of the rotation angle of the second driving assembly, reduce the load force on the first driver 11, and further prolong the service life of the first driver 11.

Referring to fig. 5 and 6, the second driving assembly includes a second housing 20, a second driver 21, a third driver 32 and a second rotating shaft 22, the second driver 21 and the second rotating shaft 22 are fixedly disposed on the second housing 20, the second driver 21 can drive the second rotating shaft 22 to rotate, and the third driver 32 can drive the clamping arm 31 to move on the clamping jaw base 30.

In an embodiment, referring to fig. 5 and fig. 6, the second driver 21 and the third driver 32 are both fixedly disposed in the second housing 20, the second driver 21 and the third driver 32 are disposed adjacent to each other, a first gear 33 is fixedly disposed on an output shaft of the third driver 32, two racks 34 are disposed in the jaw seat 30 and are opposite to each other, the racks 34 are connected to the jaw arms 31 in a one-to-one correspondence manner, the first gear 33 is respectively engaged with the two racks 34, the third driver 32 drives the first gear 33 to rotate, the first gear 33 drives the two racks 34 to move, so that the rotational motion of the first gear 33 is converted into the linear motion of the jaw arm 31, the two jaw arms 31 move on the jaw seat 30 in a facing direction or a reverse direction, and the jaw arms 31 can clamp or release an object. In other embodiments, the third driver 32 drives the clamping arm 31 to move, and is not limited to a rack-and-pinion drive, and may also be a link or a lead screw-nut mechanism.

In one embodiment, referring to fig. 5, the second housing 20 is provided with a second bearing seat 230, the second bearing seat 230 has a second inner cavity 2300 with two open ends, the third driver 32 is located in the second inner cavity 2300, the second inner cavity 2300 is further provided with a second bearing 23, a second rotating shaft 22 and a third gear 25, the second rotating shaft 22, the second bearing 23 and the third gear 25 are all fixedly disposed in the second inner cavity 2300, the second rotating shaft 22 has a second central through hole 220, the second rotating shaft 22 is fixedly disposed on the third driver 32 through the second central through hole 220, the third gear 25 is fixedly disposed on the third driver 32, one end of the second rotating shaft 22 is fixedly connected to the third gear 25, the axial direction of the second rotating shaft 22 is the same as the axial direction of the third gear 25, the other end of the second rotating shaft 22 extends out of the second housing 20 and is fixedly connected to the clamping jaw seat 30, and the second bearing 23 is fixedly disposed on the second rotating shaft 22. The output shaft of the second driver 21 is fixedly connected with the second gear 24, the second gear 24 is meshed with the third gear 25, and the second driver 21 and the third driver 32 are integrated into a shell, so that the space can be greatly saved.

When the jaw seat 30 rotates, the second driver 21 drives the second gear 24 to rotate, the second gear 24 drives the third gear 25 to rotate, the third gear 25 drives the second rotating shaft 22 to rotate, the second rotating shaft 22 drives the jaw seat 30 to rotate, and the third driver 32 rotates along with the second rotating shaft 22 and the third gear 25. It should be noted that when the output shaft of the third driver 32 is fixedly connected to the first gear 33, the output shaft of the third driver 32 and the stator and the housing portion of the third driver 32 rotate relative to each other, and for example, when the third driver 32 is powered off, the second driver 21 is energized, and the stator and the housing in the third driver 32 rotate with the third gear 25, but the output shaft of the third driver 32 does not rotate therewith. In other embodiments, the second driver 21 drives the second rotating shaft 22 to rotate, and the driving method is not limited to a gear transmission, and may also be a transmission method such as a synchronous belt transmission.

Still be provided with second circuit board 26 and third circuit board 35 in the second casing 20, second circuit board 26 is fixed to be set up in second casing 20, the tail end of second driver 21 is provided with second stopper 210, second driver 21 and second stopper 210 all are connected with second circuit board 26 electricity, the output shaft of second driver 21 can be locked to second stopper 210 to make the rotation of clamping jaw seat 30 after stopping, can brake fast, steady still, the precision of clamping jaw seat 30 rotation angle still can be controlled to second stopper 210 to and reduce the loading capacity to second driver 21, increase the life of second driver 21.

In one embodiment, referring to fig. 5 and 6, a third circuit board 35 is disposed on a side of the third driver 32, a second slip ring fixing plate 270 is disposed on a side of the third circuit board 35 away from the third driver 32, a bolt 27 is fixedly connected to the third driver, the bolt 27 penetrates through the third circuit board 35 and the second slip ring fixing plate 270, so as to fix the third circuit board 35 and the second slip ring fixing plate 270, the third circuit board 35 is fixedly connected to the third driver 32 through the bolt 27, the third driver 32 is electrically connected to the third circuit board 35, a second slip ring 271 is disposed on a side of the third circuit board 35, the second slip ring 271 is fixedly disposed on the second slip ring fixing plate 270, the second slip ring 271 is fixedly connected to the third driver 32 through the second slip ring fixing plate 270, the second slip ring 271 has a second rotor wire 2710 and a second stator wire 2711, the second rotor wire 2710 is electrically connected to the third circuit board 35, the second stator wire 2711 is electrically connected to the second circuit board 26, the second rotor wire 26 is electrically connected to the first rotor wire 2711, a second rotor wire 1311 is electrically connected to the holder 1311, and the second rotor wire holder 13120 is suspended in the housing 1311, so as to prevent the cable holder 13120 from falling off. The first stator wire 1310 and the wire on the first circuit board 18 are gathered to form a bus 19 to be connected with an external system together, and signal transmission of the whole machine action is completed.

In one embodiment, referring to fig. 5 and 6, a sensing element 272 is disposed in the second housing 20, the sensing element 272 is disposed on the second slip ring fixing plate 270, the sensing element 272 is fixedly connected to the third driver 32 through the second slip ring fixing plate 270, the sensing element 272 can rotate with the third driver 32, a sensor 260 is connected to the second circuit board 26, the sensing element 272 and the sensor 260 are disposed opposite to each other, the sensing element 272 cooperates with the sensor 260, the sensor 260 identifies the sensing element 272, the sensor 260 records the position of the rotation of the sensing element 272, that is, the position of the third driver 32, and further records the position of the rotation of the first rotating shaft 12 and the jaw holder 30, and feeds back the recorded signal to the second circuit board 26, and further corrects the zero position of the rotation of the jaw holder 30 according to the record, and the sensor 260 is preferably a light-sensing sensor or a magnetic-sensing sensor.

The axis direction of first pivot 12 is perpendicular with the axis direction of second pivot 22, second casing 20 uses the axis direction of first pivot 12 rotates as rotation center, gripper seat 30 with the axis direction of second pivot 22 rotates as rotation center, the moving direction of arm lock 31 is perpendicular with the axis direction of second pivot 22.

In an embodiment, referring to fig. 1 to 3, a first limiting block 100 is disposed on an outer wall of the first housing 10, a second limiting block 200 is disposed on an outer wall of the second housing 20 in a protruding manner, the first limiting block 100 and the second limiting block 200 can be matched with each other, and the two limiting blocks can be blocked mutually, so as to realize rotational limiting of the first housing 10 and the second housing 20, and the blocking positions of the first limiting block 100 and the second limiting block 200 can be used as zero points, so that the relative rotation of the first driving assembly and the second driving assembly can be reset or the rotation error can be corrected through the zero points. Certainly, the zero point setting is not limited to the mechanical limiting of the first limiting block 100 and the second limiting block 200, and the zero point setting may also be performed through a proximity switch or a photoelectric sensor.

Compared with the prior art, the utility model discloses a three degree of freedom electric clamping jaws have following one or more beneficial effect: the three-degree-of-freedom electric clamping jaw in the utility model has the advantages that a rotary degree of freedom is added on the basis of the rotary clamping jaw, the acting distance is increased, a large amount of space is not occupied, and the three-degree-of-freedom electric clamping jaw can adapt to the operating environment with multi-axis angles; the utility model provides a three degree of freedom electric clamping jaw installs first stopper at the tail end of the output shaft of first driver, and after the first pivot was accomplished the rotation action and is stopped, first stopper can lock the output shaft of first driver to make the rotatory quick braking of second drive assembly, steady static, first stopper still can control the precision of second drive assembly rotation angle, and reduce the load capacity to first driver, and then increase the life of first driver; the three-degree-of-freedom electric clamping jaw is provided with the second brake at the tail end output shaft of the second driver, so that the clamping jaw seat can be rapidly braked and stably kept static after the rotation of the clamping jaw seat is stopped, the holding torque of the first brake and the second brake is larger than the output torque of the motor, on one hand, the energy consumption can be saved, and on the other hand, larger static holding torque can be kept; in the three-degree-of-freedom electric clamping jaw, the first limiting block is convexly arranged on the outer wall of the first shell, the second limiting block is convexly arranged on the outer wall of the second shell, the first limiting block and the second limiting block can be matched with each other and can be blocked mutually, so that the rotation limiting of the first shell and the second shell is realized, the blocking positions of the first limiting block and the second limiting block are used as zero points, and the relative rotation of the first driving assembly and the second driving assembly can be reset or the rotation error can be corrected through the zero points, or the zero point setting is carried out through the proximity switch or the photoelectric sensor; the utility model provides a three degree of freedom electric clamping jaws are provided with sensing element in the second casing, and sensing element can follow the third driver rotates, is connected with the sensor on the second circuit board, and sensing element and sensor cooperation, sensor discern sensing element, and the sensor is taken notes the rotatory position of sensing element, and then can take notes the rotational position of first pivot and clamping jaw seat, with the signal feedback of record to the second circuit board in, and then can rectify the rotatory zero-position of clamping jaw seat according to the record.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example" or "some examples" or the like are intended to mean 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, the schematic representations of the terms used above are not necessarily intended to 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. Furthermore, various embodiments or examples described in this specification can be combined and combined by one skilled in the art.

While embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications and changes may be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.

Claims (10)

1. The utility model provides an electronic clamping jaw of three degrees of freedom, its characterized in that includes first drive assembly, second drive assembly and clamping jaw assembly, first drive assembly and second drive assembly rotate to be connected, second drive assembly and clamping jaw assembly rotate to be connected, clamping jaw assembly includes clamping jaw seat (30) and arm lock (31), first drive assembly drive second drive assembly rotates, second drive assembly drive clamping jaw assembly rotates, arm lock (31) are disposed can move on clamping jaw seat (30).

2. Three degree of freedom electric jaw according to claim 1, characterized in that said clamping arm (31) is moved on the jaw seat (30) driven by a second drive assembly.

3. The three-degree-of-freedom electric clamping jaw according to claim 2, wherein the first driving assembly comprises a first driver (11) and a first rotating shaft (12), the first driver (11) drives the first rotating shaft (12) to rotate, the second driving assembly comprises a second driver (21), a third driver (32) and a second rotating shaft (22), the second driver (21) drives the second rotating shaft (22) to rotate, the third driver (32) drives the clamping arm (31) to move on the clamping jaw seat (30), the first rotating shaft (12) and the second driving assembly are fixedly connected, and the second rotating shaft (22) and the clamping jaw seat (30) are fixedly connected.

4. The three-degree-of-freedom electric clamping jaw according to claim 3, characterized in that the first driving assembly further comprises a first housing (10), the first driver (11) and the first rotating shaft (12) are fixedly arranged on the first housing (10), the second driving assembly comprises a second housing (20), the second driver (21), the third driver (32) and the second rotating shaft (22) are fixedly arranged on the second housing (20), and the first rotating shaft (12) is fixedly connected with the second housing (20).

5. A three-degree-of-freedom electric clamping jaw according to claim 4, characterized in that the axial direction of the first rotating shaft (12) is perpendicular to the axial direction of the second rotating shaft (22), and the moving direction of the clamping arm (31) is perpendicular to the axial direction of the second rotating shaft (22).

6. Three-degree-of-freedom electric clamping jaw according to claim 4, characterized in that a first brake (110) is mounted at the tail end of the first driver (11) and a second brake (210) is mounted at the tail end of the second driver (21).

7. The three-degree-of-freedom electric clamping jaw according to claim 4, wherein a first limiting block (100) is arranged on the outer wall of the first shell (10), a second limiting block (200) is arranged on the outer wall of the second shell (20), and the first limiting block (100) and the second limiting block (200) can be blocked mutually.

8. The three-degree-of-freedom electric clamping jaw according to claim 4, wherein the first driving assembly further comprises a driving wheel (14), a driven wheel (15) and a synchronous belt (16), the first driver (11) is fixedly connected with the first shell (10), an output shaft of the first driver (11) is fixedly connected with the driving wheel (14), the driving wheel (14) and the driven wheel (15) are synchronously driven by the synchronous belt (16), the driven wheel (15) is fixedly sleeved on the first rotating shaft (12), one end of the first rotating shaft (12) extends out of the first shell (10) and is fixedly connected with the second shell (20),

second gear (24) and third gear (25) are installed to second casing (20), second driver (21) and third driver (32) adjacent setting, the output shaft and second gear (24) fixed connection of second driver (21), second gear (24) and third gear (25) meshing, the fixed cover of third gear (25) is established on third driver (32), the fixed cover of second pivot (22) is established on third driver (32), the one end and the third gear (25) fixed connection of second pivot (22), the axis direction of second pivot (22) is unanimous with the axis direction of third gear (25), the other end of second pivot (22) extends to outside second casing (20) and clamping jaw seat (30) fixed connection,

the fixed cover of output shaft of third driver (32) is equipped with first gear (33), be provided with two racks (34) of relative setting in clamping jaw seat (30), rack (34) are connected with arm lock (31) one-to-one, first gear (33) respectively with two racks (34) meshing.

9. Three degree of freedom electric jaw according to claim 6, characterized in that the first shaft (12) is mounted with a first slip ring (131), the first slip ring (131) having a first stator wire (1310) and a first rotor wire (1311), the first rotor wire (1311) being electrically connected with a second drive assembly,

a first circuit board (18) is arranged in the first shell (10), the first driver (11) and the first brake (110) are electrically connected with the first circuit board (18), a second circuit board (26) and a third circuit board (35) are further arranged in the second shell (20), the second driver (21) and the second brake (210) are electrically connected with the second circuit board (26), the third driver (32) is electrically connected with the third circuit board (35), the third circuit board (35) is arranged on one side of the third driver (32), and the third circuit board (35) is fixedly connected with the third driver (32),

one side of the third circuit board (35) is provided with a second slip ring (271), the second slip ring (271) is fixedly connected with the third driver (32), the second slip ring (271) is provided with a second rotor lead (2710) and a second stator lead (2711), the second rotor lead (2710) is electrically connected with the third circuit board (35), the second stator lead (2711) is electrically connected with the second circuit board (26), and the second circuit board (26) is electrically connected with the first rotor lead (1311).

10. The three-degree-of-freedom electric clamping jaw according to claim 9, characterized in that an induction element (272) is arranged in the second housing (20), the induction element (272) is fixedly connected with the third driver (32), a sensor (260) is connected to the second circuit board (26), the induction element (272) and the sensor (260) are arranged opposite to each other, the induction element (272) is matched with the sensor (260), and the sensor (260) can identify the induction element (272).

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