TWI856899B - Gripper structure - Google Patents

Abstract

A gripper structure is disclosed and includes a screw-rod main body, a first nut, a second nut, a first driving module, a second driving module, a first clamping element and a second clamping element. The screw-rod main body is extended along a first direction. The first nut and the second nut are sleeved on two sides of the screw-rod main body, respectively, and bilaterally symmetrical to each other. The first driving module is configured to drive the first nut to rotate. The first nut is allowed to pass through a midline of the screw-rod main body. The second driving module is configured to drive the second nut to rotate. The second nut is allowed to pass through the midline of the screw-rod main body. When the first driving module drives the first nut or/and the second driving module drives the second nut, the first clamping element and the second clamping element are relatively displaced in the first direction and cooperated with each other to achieve a clamping operation.

Description

Claw structure

This case is about a clamping claw structure, in particular a long-stroke clamping claw structure, which uses a single screw to connect two rotating nuts, so that the clamping piece connecting the nuts can move in full sections without being restricted by the center line, while avoiding torsional loss and enhancing the supporting strength.

A robot arm is an automatic control device that can imitate the functions of a human arm and complete various operations. It is now widely used in automated mechanical devices. In addition to being mainly used in industrial manufacturing, it can also be found in commercial agriculture, medical rescue, entertainment services, military security and other fields. The structure is composed of a mechanical body, a controller, a servo mechanism and a sensor, and the program sets its certain specified actions according to the operation requirements. The device installed at the end of the robot arm to directly grasp objects is usually called a gripper, an end effector, or a robot hand. Its purpose is to replace human fingers to cleverly complete many complex operations or operate various objects. However, different operation schedules often choose different drive methods to construct the gripper structure.

Take the common long-stroke clamping claw structure on the market as an example. Its structure includes a left-hand screw and a right-hand screw, and a pulley is added to the left-hand screw and the right-hand screw respectively. The motor rotates to drive the belt, and the belt drives the screw to rotate. The screws on both sides rotate to drive the nut to move the clamping claw seats on both sides, thereby achieving the clamping action. Since the screws on both sides are controlled to rotate by their respective motors, they drive the corresponding nuts and clamping claw seats to move, and the clamping operation is completed at the same time. However, the clamping claw seats on both sides can only move within the length range of the corresponding screws, the stroke is limited, and they cannot cross the center line limit.

In view of this, it is necessary to provide a clamping claw structure, which combines two rotating nuts with a single screw, so that the clamping piece connecting the nuts can move in full sections without being restricted by the center line, and can avoid torsional loss and enhance the supporting strength to solve the defects of the prior art.

The purpose of this case is to provide a clamping claw structure that uses a single screw to connect two rotating nuts, so that the clamping piece connecting the nuts can move in full sections without being restricted by the center line, while avoiding torsional loss and enhancing the supporting strength.

Another purpose of the present invention is to provide a clamping claw structure. Two rotating nuts are respectively connected to a driving module and are mounted on a single long-stroke screw. When the driving module, such as a motor combined with a belt, drives the corresponding nut to rotate, the rotating nuts of the two driving modules can be translated arbitrarily on the single screw body, without being restricted by the center line or the synchronous displacement limit, to complete the clamping operation. On the other hand, when the driving module and the nut are translated together and the clamping plate is connected for the clamping operation, the driving module can be directly subjected to force and is not subject to torsional loss due to the length of the screw body. Furthermore, the driving module is mounted on the single screw body through the rotating nut, so the supporting position of the driving module is movable. When the rotating nut drives the clamping piece to clamp and take out parts, the force-bearing position of the drive module and the nut is the supporting position, which can further enhance the supporting strength of the drive module.

Another purpose of the present invention is to provide a clamping claw structure. Since two sets of driving modules are mounted on a single long-stroke screw body through a rotating nut frame, they can be translated on the screw body separately without being restricted by the center line. When the clamping claw structure needs to increase the stroke length, the stroke length can be increased by adding an extension screw on one side and/or both sides of the screw body without redesigning the clamping claw structure, which helps to increase the diversity of product applications.

To achieve the above-mentioned purpose, the present invention provides a clamping claw structure, including a screw body, a first nut, a second nut, a first driving module, a second driving module, a first clamping plate and a second clamping plate. The screw body extends along a first direction. The first nut and the second nut are respectively sleeved on both sides of the screw body and are symmetrical to each other. The first driving module is connected to the first nut, assembled to drive the first nut to rotate, and displace relative to the screw body in the first direction, and allow the first nut to pass through the center line of the screw body. The second driving module is connected to the second nut, assembled to drive the second nut to rotate, and displace relative to the screw body in the first direction, and allow the second nut to pass through the center line of the screw body. The first clamping piece and the second clamping piece are connected to the first nut and the second nut respectively, wherein when the first driving module drives the first nut or/and the second driving module drives the second nut, the first clamping piece and the second clamping piece are relatively displaced in a first direction and cooperate with each other to achieve a clamping action.

Some typical embodiments that embody 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 can have various variations in different aspects, all of which do not deviate from the scope of the present invention, and the descriptions and drawings therein are essentially used for illustrative purposes rather than for limiting the present invention. For example, if the following content of the present disclosure describes that a first feature is disposed on or above a second feature, it means that it includes an embodiment in which the first feature and the second feature are directly in contact, and also includes an embodiment in which the additional feature can be disposed between the first feature and the second feature, so that the first feature and the second feature may not be in direct contact. In addition, different embodiments in the present disclosure may use repeated reference symbols and/or marks. These repetitions are for the purpose of simplification and clarity and are not intended to limit the relationship between the various embodiments and/or the described appearance structures. Furthermore, in order to facilitate the description of the relationship between a component or feature and another (plural) component or (plural) feature in the drawings, spatially related terms, such as "left", "right" and similar terms, may be used. In addition to the orientations shown in the drawings, spatially related terms are used to cover different orientations of the device in use or operation. The device may also be positioned otherwise (for example, rotated 90 degrees or located in other orientations), and the description of the spatially related terms used may be interpreted accordingly. In addition, when a component is referred to as being "connected to" or "coupled to" another component, it may be directly connected to or coupled to the other component, or there may be intervening components. Although the numerical ranges and parameters of the broad scope of the present disclosure are approximate values, the numerical values are stated as accurately as possible in the specific examples. In addition, it is understood that although the terms "first", "second", etc. may be used in the scope of the patent application to describe different components, these components should not be limited by these terms, and the components described accordingly in the embodiments are represented by different component symbols. These terms are for distinguishing different components. For example: the first component may be referred to as the second component, and similarly, the second component may also be referred to as the first component without departing from the scope of the embodiments. The term "and/or" used in this way includes any or all combinations of one or more of the related listed items.

Referring to Figures 1 to 3, in this embodiment, a clamping claw structure 1 is provided, which includes a screw body 10, a first nut 21, a second nut 22, a first driving module 30, a second driving module 35, a first clamping piece 41, and a second clamping piece 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 rotatable nuts, and are respectively sleeved on both sides of the screw body 10, and are bilaterally symmetrical to each other. When the first nut 21 or the second nut 22 is driven by the first driving module 30 or the second driving module 35 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 by the external thread 11 on the screw body 10. In this embodiment, the first driving module 30 is connected to the first nut 21, and is assembled to drive the first nut 21 to rotate and displace relative to the screw body 10 in a first direction (i.e., the X-axis direction), and allows the first nut 21 to pass through the center line M of the screw body 10. In addition, the second driving module 35 is connected to the second nut 22, and is assembled to drive the second nut 22 to rotate and displace relative to the screw body 10 in the first direction (i.e., the X-axis direction), and allows the second nut 22 to pass through the center line M of the screw body 10. The first clamping piece 41 and the second clamping piece 42 are respectively connected to the first nut 21 and the second nut 22. In this embodiment, the displacement of the first nut 21 and the second nut 22 on the screw body 10 is driven by the first driving module 30 and the second driving module 35, respectively, and can be performed separately. When the first driving module 30 drives the first nut 21 or/and the second driving module 35 drives the second nut 22, the first clamping piece 41 and the second clamping piece 42 can generate relative displacement in the first direction (ie, the X-axis direction) and cooperate with each other to achieve a clamping action.

It is worth noting that in this embodiment, when the clamping claw structure 1 performs the clamping action, the first driving module 30 can be enabled alone to drive the first nut 21 and the first clamping piece 41 or the second driving module 35 can be enabled to drive the second nut 22 and the second clamping piece 42, or the first driving module 30 and the second driving module 35 can be enabled at the same time. The displacement of the first clamping piece 41 relative to the second clamping piece 42 is not limited to symmetrical displacement or synchronous displacement. The first clamping piece 41 driven by the first driving module 30 and the first nut 21 and the second clamping piece 42 driven by the second driving module 35 and the second nut 22 can be respectively displaced to the left and right sides of the center line M, and form different distances with the center line M, as shown in Figure 4A. The first clamping piece 41 driven by the first driving module 30 and the first nut 21 and the second clamping piece 42 driven by the second driving module 35 and the second nut 22 can also be simultaneously displaced to the right side of the center line M (as shown in FIG. 4B ) or the left side of the center line M (as shown in FIG. 4C ). In other words, the single screw body 10 combines two rotating first nuts 21 and second nuts 22, and the first clamping piece 41 connected to the first nut 21 or the second clamping piece 42 connected to the second nut 22 can move in the entire section of the screw body 10 without being restricted by the center line M, thereby avoiding torsional loss and enhancing the supporting strength.

In the present embodiment, the clamp structure 1 further includes a body fixing plate 50, which can be, for example, two body fixing plates 50 parallel to each other and then spliced into a fixing frame, or a single body fixing plate 50 can be used as a fixing frame, but in the description of the embodiment, only a single body fixing plate 50 is used for illustration, which is not limited to the present case. The screw body 10 is fixedly arranged on the body fixing plate 50. The present case does not limit the manner in which the screw body 10 is arranged on the body fixing plate 50. In addition, in the present embodiment, the clamp structure 1 further includes a rail 60, a first slider 61 and a second slider 62. The rail 60 can be, for example, composed of two body fixing plates 60 parallel to each other, or can be used alone, but in the embodiment, only a single rail 60 is used for illustration, which is not limited to the present case. In this embodiment, the rails 60 are arranged on the body fixing plate 50 along the first direction (i.e., the X-axis direction), and are arranged parallel to each other relative to the screw body 10 in space. In this embodiment, the first slider 61 and the second slider 62 are respectively arranged across the paired rails 60. The first clamping piece 41 is connected to the first nut 21 through the first slider 61, and allows the first nut 21, the first slider 61 and the first clamping piece 41 to be smoothly displaced relative to the screw body 10 and the rails 60 in the first direction (i.e., the X-axis direction). In addition, the second clamping piece 42 is connected to the second nut 22 through the second slider 62, and allows the second nut 22, the second slider 62 and the second clamping piece 42 to be smoothly displaced relative to the screw body 10 and the linear guide 60 in the first direction (ie, the X-axis direction).

In this embodiment, the first driving 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 drives the pulley 33 and the first nut 21 to rotate through the belt 32, allowing the first nut 21 to drive the first clamping piece 41 to move relative to the screw body 10 in the first direction (i.e., the X-axis direction). In addition, in this embodiment, the second driving 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 drives the pulley 38 and the second nut 22 to rotate through the belt 37, allowing the second nut 22 to drive the second clamping piece 42 to move relative to the screw body 10 in the first direction (i.e., the X-axis direction). Of course, the way in which the first driving module 30 drives the first nut 21 and the second driving module 35 drives the second nut 22 is not limited to the types of motors 31, 36, belts 32, 37 and pulleys 33, 38, and can be adjusted according to actual application requirements.

It should be noted that in this embodiment, the two rotating first nuts 21 and the second nuts 22 are respectively connected to the first driving module 30 and the second driving module 35, and are mounted on the single long-stroke screw body 10 and acted upon by the body outer thread 11. When the first driving module 30 drives the corresponding first nut 21 to rotate or/and the second driving module 35 drives the corresponding second nut 22 to rotate, the two sets of rotating first nuts 21 and/or second nuts 22 can be arbitrarily translated on the screw body 10, without being restricted by the center line M and without being restricted by the synchronous displacement limit, and the clamping operation can be completed. On the other hand, the first drive module 30 and the first nut 21 move together in translation, and the second drive module 35 and the second nut 22 move together in translation. When the first nut 21 and the second nut 22 are respectively connected to the first clamping piece 41 and the second clamping piece 42 for clamping, the first drive module 30 and the second drive module 35 can be directly subjected to force without suffering from the torsional loss problem caused by the length of the screw. Furthermore, the first drive module 30 is framed on the single screw body 10 through the rotatable first nut 21, and the second drive module 35 is framed on the single screw body 10 through the rotatable second nut 22, so the supporting position of the first drive module 30 and the supporting position of the second drive module 35 are both movable. When the rotatable first nut 21 drives the first clamping piece 41 and the rotatable second nut 22 drives the second clamping piece 42 to clamp and take out parts, the force-bearing positions of the first driving module 30 and the first nut 21 and the force-bearing positions of the second driving module 35 and the second nut 22 are support positions, which can further enhance the support strength of the first driving module 30 and the second driving module 35.

Refer to Figures 5 to 7. They disclose the clamp structure 1a of the second preferred embodiment of the present invention. In this embodiment, the clamp structure 1a is similar to the clamp structure 1 shown in Figures 1 to 3, and the same component numbers represent the same components, structures and functions. In this embodiment, the clamp structure 1a further includes an extension plate 70, an extension screw 80 and an extension rail 63 to increase the stroke length of the clamp structure 1a. The extension plate 70 is detachably connected to a side end 51 of the main body fixing plate 50 through a connecting member 71 in the first direction (i.e., the X-axis direction). The connecting member 71 does not exceed the overlap range of the extension plate 70 and the main body fixing plate 50 along the first direction (i.e., the X-axis direction) in the visual direction, so that the main body fixing plate 50 and the extension plate 70 are fixed in a parallel locking manner, avoiding vertical stacking locking in the Y-axis or Z-axis direction, so as not to increase the overall plate thickness. The extension screw 80 and the extension rail 63 can be supported by the extension plate 70.

Refer to Figures 5 to 8, 9A and 9B. In this embodiment, the connector 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 screws arranged concentrically. The operating end 714 of the first locking member 711 and the 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 is assembled to limit 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 around the axis but prevent them from being separated 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. Thus, the user can operate the first locking member 711 and the second locking member 712 through the window 52 to complete the connection between 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 of the same rotation direction or two screws of different rotation directions. Of course, in other embodiments, the main body fixing plate 50 and the extension plate 70 can also be parallel locked through other splicing connectors. This case is not limited to this and will not be repeated.

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

Refer to Figures 5 to 14. In this embodiment, the extension screw 80 includes a coupling portion 82 and a support portion 85 located at two opposite ends. The coupling portion 82 is detachably connected to the extension end 12 of the screw body 10a so that the end point E1 of the body external thread 11 continues to the starting point S1 of the extension external thread 81. The support portion 85 fixes the other end of the extension screw 80 to the extension plate 70 to provide support. The screw body 10a includes a front coupling screw hole 13 disposed at the extension end 12, and the coupling portion 82 includes a coupling external thread 83 corresponding to the front coupling screw hole 13. In this embodiment, the internal thread of the front coupling screw hole 13 and the coupling external thread 83 have the same thread pitch D, and the coupling portion 82 has a coupling length L1, which is N times the thread pitch D, N is an integer, and N≧1. In addition, the starting point S1 of the extended external thread 81 has an extended thread pitch angle A1. In this embodiment, the starting point S2 of the coupling external thread 83 has a coupling thread pitch angle A2, and the extended thread pitch angle A1 is equal to the coupling thread pitch angle A2, whereby the end point E1 of the main body external thread 11 continues the starting point S1 of the extended external thread 81.

In this embodiment, the coupling portion 82 further includes a positioning section 84, which is disposed between the coupling external thread 83 and the extension external thread 81. The screw body 10a includes a front positioning opening 14, which is spatially relative to the positioning section 84, and the front coupling screw hole 13 is connected to the outside through the front positioning opening 14. The alignment of the front positioning opening 14 and the positioning section 84 helps to improve the coupling efficiency of the extension screw 80 and the screw body 10a. In other embodiments, the positioning section 84 and the front positioning opening 14 can be omitted, as shown in FIG. 14. By designing the coupling length L2 of the coupling portion 82 of the extension screw 80a to be N times the thread pitch D, it is also possible to achieve that the end point E1 of the main body external thread 11 is connected to the starting point S1 of the extended external thread 81.

It should be noted that the method of combining the extension screw 80 with the screw body 10a is not limited to the above method. Refer to Figures 7, 15 and 16. The screw body 10a and the extension screw 80b can be combined through a coupling member 90. In this embodiment, the screw body 10a includes a front coupling screw hole 13 disposed at the extension end 12. The extension screw 80b includes a rear coupling screw hole 87 and a support portion 85 (see Figure 7) respectively disposed at opposite ends, the support portion 85 is connected to the extension plate 70, and the front coupling screw hole 13 and the rear coupling screw hole 87 are respectively engaged with the two opposite ends of the coupling member 90, so that the extension screw 80b is connected to the extension end 12 of the screw body 10a. In this embodiment, the coupling member 90 includes a positioning body 91, a front coupling thread 92, and a rear coupling thread 93. The front coupling thread 92 and the rear coupling thread 93 are respectively disposed at opposite ends of the positioning body 91 and are assembled to engage with the front coupling screw hole 13 and the rear coupling screw hole 87. In addition, in this embodiment, the screw body 10a includes a front positioning opening 14, which is spatially relative to the positioning body 91, and the front coupling screw hole 13 is connected to the outside through the front positioning opening 14. The extension screw 80b also includes a rear positioning opening 86, which is spatially relative to the positioning body 91, and the rear coupling screw hole 87 is connected to the outside through the rear positioning opening 86. In this embodiment, the sum of the lengths T2 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 coupling member 90. Thus, the coupling member 90 can accurately couple the extended screw 80b with the screw body 10a, and realize that the end point E1 of the body external thread 11 is connected to the starting point S1 of the extended external thread 81, as shown in FIG. 10B. As shown in FIG. 15, in this embodiment, the rotation direction of the front coupling thread 92 is the same as the rotation direction of the body external thread 11, but opposite to the rotation direction of the rear coupling thread 93. As shown in FIG. 17 , in other embodiments, the rotation direction of the front coupling thread 92′ of the coupling member 90′ is opposite to the rotation direction of the body outer thread 11 and the rotation direction of the rear coupling thread 93. In other embodiments, the rotation direction of the coupling outer thread 83, the front coupling threads 92, 92′, the rear coupling threads 93 and the corresponding front coupling screw holes 13 and rear coupling screw holes 87 can be adjusted according to actual application requirements, and are not limited to the rotation direction of the body outer thread 11 and the extension outer thread 81. Of course, the extension plate 70, the extension screw rod 80 and the extension rail 63 can be arranged on one side or both sides, and are not limited to symmetrical arrangements.

As can be seen from the above, the first drive module 30 and the second drive module 35 of the present invention are respectively mounted on a single long-stroke screw body 10a and the extension screws 80, 80a, 80b through the rotating first nut 21 and the second nut 22, and can be translated on the screw body 10a and the extension screws 80, 80a, 80b respectively without being restricted by the center line M. When the clamping claw structure 1a needs to increase the stroke length, the stroke length can be increased by adding the extension screws 80, 80a, 80b on one side and/or both sides of the screw body 10a, without redesigning the clamping claw structure 1a, which helps to increase the diversity of product applications. Of course, the length of the screw body 10a, the number, type and length of the extension screws 80, 80a, 80b, etc. can be adjusted according to actual needs. The present invention is not limited to this.

In summary, the present invention provides a clamping claw structure, which combines two rotating nuts with a single screw, and the clamping piece connected to the nut can move in full range without being restricted by the center line, while avoiding torsional loss and enhancing the supporting strength. The two rotating nuts are each connected to a driving module and are mounted on a single long-stroke screw. When the driving module, such as a motor combined with a belt, drives the corresponding nut to rotate, the rotating nuts of the two sets of driving modules can be arbitrarily translated on the single screw body, without being restricted by the center line, and are not limited by the synchronous displacement limit to complete the clamping operation. On the other hand, the drive module and the nut move together in translation. When the clamping plate is connected for clamping, the drive module can be directly stressed and is not subject to torsional wear due to the length of the screw body. Furthermore, the drive module is mounted on a single screw body through a rotating nut, so the support position of the drive module is movable. When the rotating nut drives the clamping plate to clamp parts, the force-bearing position of the drive module and the nut is the support position, which can further enhance the support strength of the drive module. Since the two sets of drive modules are mounted on a single long-stroke screw body through rotating nuts, they can be separately translated on the screw body without being restricted by the center line. When the claw structure needs to increase the stroke length, the stroke length can be increased by adding an extension screw on one side and/or both sides of the screw body without redesigning the claw structure, which helps to increase the diversity of product applications.

This case can be modified in various ways by a person familiar with this technology, but all of them will not deviate from the scope of protection sought by the attached patent application.

1, 1a: Clamping claw structure 10, 10a: Screw body 11: Body outer thread 12: Extension end 13: Front joint screw hole 14: Front positioning port 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 clamping plate 42: Second clamping plate 50: Body fixing plate 51: Side end 52: Window 60: Track 61: First slider 62: Second slider 63: Extension track 70: Extension plate 71: Connector 711: First locking piece 712: Second locking piece 713: Limiting piece 714, 715: Operating end 80, 80a, 80b: Extension screw 81: Extension external thread 82: Joint 83: Joint external thread 84: Positioning section 85: Supporting part 86: Rear positioning port 87: Rear joint screw hole 90, 90': Joint 91: Positioning body 92, 92': Front joint thread 93: Rear joint thread A1: Extension thread pitch A2: Joint thread pitch D: Thread pitch E1: End point L1, L2: Joint length M: Center line S1, S2: starting point T1, T2, T3: length X, Y, Z: axis

Figure 1 is a three-dimensional structural diagram of the first preferred embodiment of the present invention; Figure 2 is a structural cross-sectional diagram of the first preferred embodiment of the present invention; Figure 3 is an internal structural diagram of the first preferred embodiment of the present invention; Figures 4A to 4C are examples of different relative displacements of the first clamping plate and the second clamping plate in the first preferred embodiment of the present invention; Figure 5 is a three-dimensional structural diagram of the second preferred embodiment of the present invention; Figure 6 is a structural decomposition diagram of the second preferred embodiment of the present invention; Figure 7 is a structural cross-sectional diagram of the second preferred embodiment of the present invention; Figure 8 is a schematic diagram of the extension plate connected to the main body fixing plate through a connector; Figure 9A is a three-dimensional structural diagram of the connecting member; Figure 9B is a cross-sectional structural diagram of the connecting member; Figure 10A is a schematic diagram of the disassembly of the screw body and the extension screw; Figure 10B is a schematic diagram of the combination of the screw body and the extension screw Figure 11 is a cross-sectional structural diagram of the screw body and the extension screw; Figure 12 is another cross-sectional structural diagram of the screw body and the extension screw; Figure 13 is a three-dimensional structural diagram of the combination of the extension screw; Figure 14 is a front view of the combination of the extension screw; Figure 15 is a structural exploded diagram of the screw body and the extension screw combined through a combination; Figure 16 is a cross-sectional structural diagram of the screw body and the extension screw combined through the combination; Figure 17 is a structural exploded view showing that the screw body and the extension screw are connected through another connecting piece; and Figure 18 is a structural cross-sectional view showing that the screw body and the extension screw are connected through another connecting piece.

1: Clamp structure

10: Screw body

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 clip

42: Second clip

50: Main body fixing plate

60: Track

61: First slider

62: Second slider

M: midline

X, Y, Z: axis

Claims (10)

A clamping claw structure includes: A screw body extending along a first direction; A first nut and a second nut, respectively sleeved on two sides of the screw body and symmetrical to each other; A first driving module connected to the first nut, assembled to provide power to drive the first nut to rotate and displace relative to the screw body in the first direction, and allow the first nut to pass through the center line of the screw body, wherein the first driving module is driven by the first nut to synchronously displace relative to the screw body in the first direction; A second driving module connected to the second nut, assembled to provide power to drive the second nut to rotate, and displace relative to the screw body in the first direction, and allow the second nut to pass through the center line of the screw body, wherein the second driving module is driven by the second nut to synchronously displace relative to the screw body in the first direction; and A first clamp and a second clamp, respectively connected to the first nut and the second nut, wherein when the first driving module drives the first nut or/and the second driving module drives the second nut, the first clamp and the second clamp are relatively displaced in the first direction, and cooperate with each other to achieve a clamping action. A clamping claw structure as described in claim 1, wherein the first driving module includes a motor, a belt and a pulley, the pulley is concentrically connected to the first nut, and the motor drives the pulley and the first nut to rotate via the belt, allowing the first nut to drive the first clamping plate to move relative to the screw body in the first direction. A clamping claw structure as described in claim 1, wherein the second driving module includes a motor, a belt and a pulley, the pulley is concentrically connected to the second nut, and the motor drives the pulley and the second nut to rotate via the belt, allowing the second nut to drive the second clamping plate to move relative to the screw body in the first direction. The clamping claw structure as described in claim 1 further includes a body fixing plate, wherein the screw body is fixedly disposed on the body fixing plate. The clamping claw structure as described in claim 4 further includes a rail, a first slider and a second slider, wherein the rail is arranged on the main body fixing plate along the first direction and is spatially relative to the screw body, wherein the first clamp is connected to the first nut through the first slider, and allows the first nut, the first slider and the first clamp to be displaced relative to the screw body and the rail in the first direction; wherein the second clamp is connected to the second nut through the second slider, and allows the second nut, the second slider and the second clamp to be displaced relative to the screw body and the rail in the first direction. The clamping claw structure as described in claim 5 further includes an extension plate, which is detachably connected to a side end of the main body fixing plate in the first direction through a connecting member, wherein 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 arranged concentrically, the operating end of the first locking member and the operating end of the second locking member are facing each other, and the limiting member is arranged between the first locking member and the second locking member, and is assembled to limit the axial distance between the first locking member and the second locking member, wherein a window is formed when the extension plate is connected to the main body fixing plate, and the operating end of the first locking member and the operating end of the second locking member are exposed through the window. The clamping claw structure as described in claim 6 further includes an extension rail disposed on the extension plate and connected to one end of the rail. The clamping claw structure as described in claim 6 further includes an extension screw, which is arranged on the extension plate, and the extension screw is detachably connected to an extension end of the screw body. The extension screw and the screw body are arranged concentrically in the first direction, wherein the screw body has a body external thread, and the extension screw has an extended external thread, and the end point of the body external thread is connected to the starting point of the extended external thread, wherein the extension screw includes a coupling portion and a supporting portion, which are respectively located at two opposite ends, and the coupling portion is detachably connected to the extension end of the screw body, and the supporting portion is fixed to the extension plate. A clamping claw structure as described in claim 8, wherein the coupling portion further includes a positioning section and a coupling external thread, the positioning section is arranged between the coupling external thread and the extended external thread, the screw body includes a front coupling screw hole and a front positioning opening, and is spatially relative to the positioning section, and the front coupling screw hole is connected to the outside through the front positioning opening. A clamping claw structure as described in claim 9, wherein the screw body includes the front combining screw hole arranged at the extension end, the extension screw includes a rear combining screw hole and the supporting portion respectively arranged at two opposite ends, the supporting portion is connected to the extension plate, the front combining screw hole and the rear combining screw hole are respectively engaged with two opposite ends of a coupling member, so that the extension screw is connected to the extension end of the screw body.

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