CN114890129A

CN114890129A - Gripper mechanism and handling device

Info

Publication number: CN114890129A
Application number: CN202210645200.7A
Authority: CN
Inventors: 张志平; 何昆; 严洁波; 何敏; 李军
Original assignee: Guangzhou Shell-Conning Mechanical Equipment Co ltd
Current assignee: Guangzhou Shell-Conning Mechanical Equipment Co ltd
Priority date: 2022-06-09
Filing date: 2022-06-09
Publication date: 2022-08-12

Abstract

The invention relates to a clamping jaw mechanism and a carrying device, wherein when a plurality of materials are clamped, the clamping jaw mechanism is driven to move up and down, so that a plurality of first clamping pieces are respectively aligned and inserted into a plurality of gaps among the materials, and a plurality of materials are respectively inserted into a plurality of first clamping spaces correspondingly, and then the clamping jaw mechanism can stably clamp the plurality of materials by driving an expansion abutting part to act and switching from a contraction state to an expansion state so as to tightly abut against the materials in the first clamping spaces. When the clamping jaw mechanism clamps a plurality of materials and transfers the materials to a target position, the expansion abutting part is driven to act, the expansion state is recovered to the contraction state, and all the materials can be loosened. The clamping device has the advantages that each material is clamped and fixed in each first clamping space respectively, the clamping force of each material is basically the same and can be controlled better through the action of the driving expansion abutting part, the materials are not easy to fall off and are clamped easily in the clamping process, and meanwhile the work efficiency of clamping the materials is high.

Description

Gripper mechanism and handling device

Technical Field

The invention relates to the technical field of mechanical carrying, in particular to a clamping jaw mechanism and a carrying device.

Background

As production capacity has increased, the production of materials, including but not limited to bottles, cans, boxes, etc., has become semi-automated or automated, with increased production efficiency. Generally, after finishing the production and/or assembly operation, the materials are further processed, such as labeling operation or various appearance detection, etc., one by one on the outer wall of the materials, after the materials are processed, the materials are smoothly conveyed outwards, the materials output outwards are grouped on the platform to be taken by the grouping feeding mechanism, so that a plurality of materials are orderly arranged on the platform to be taken so as to be clamped by the clamping jaw mechanism of the plate edge device, and after the clamping jaw mechanism clamps a plurality of materials at one time, the materials are carried to a preset position by the carrying device, including but not limited to boxing operation.

The traditional clamping jaw mechanism is used for clamping materials one by one and transferring the materials, so that the working efficiency is relatively low; or a plurality of materials are got to the synchronous clamp, but the in-process of getting a plurality of materials is got to the clamp, and the size of the tight dynamics of clamp is difficult to control suitable, and when the clamp force is great, the material is hindered to the clamp that appears easily, and when the clamp force is less, lead to the handling easily in, the phenomenon that the individual material drops appears, and the operation of pressing from both sides the material simultaneously is comparatively loaded down with trivial details, and work efficiency is lower.

Disclosure of Invention

Based on this, it is necessary to overcome prior art's defect, provides a gripper mechanism and handling device, and it can realize that the synchronous clamp of a plurality of materials is got, presss from both sides the material effect stable, is difficult to appear that the material presss from both sides the in-process and drops and press from both sides the phenomenon of hindering, and the work efficiency who presss from both sides the material simultaneously is higher.

The technical scheme is as follows: a jaw mechanism, the jaw mechanism comprising:

a first mounting seat;

first holder, first holder is a plurality of, and is a plurality of first holder set up at interval in on the first mount pad and mutually support and be formed with a plurality of first centre gripping spaces that are used for the centre gripping material, every first centre gripping space corresponds be equipped with the inflation butt portion on at least one outer wall in the first holder, the inflation butt portion can take place the inflation and be located with inseparable butt first centre gripping space the material to and take place the shrink and be located in order to loosen first centre gripping space the material.

In one embodiment, a plurality of the first clamping members are arranged on the first mounting seat in a rectangular array.

In one embodiment, the expansion abutment is provided on an outer wall of each of the first clamps.

In one embodiment, the first clamping member includes a support rod main body and a first power member, the expansion abutting portion is an elastic sleeve circumferentially sleeved on the support rod main body, the first power member is connected with the expansion abutting portion, and the first power member can drive the expansion abutting portion to expand.

In one embodiment, the gripper mechanism further comprises a telescoping mechanism, a second mount, and a plurality of second grippers; the telescopic mechanism is arranged on the first mounting seat, is connected with the second mounting seat and is used for driving the second mounting seat to move; the plurality of second clamping pieces are arranged on the second mounting seat at intervals, the plurality of second clamping pieces are positioned on the periphery of the plurality of first clamping pieces, and the plurality of second clamping pieces and the plurality of first clamping pieces are matched with each other to form at least one second clamping space for clamping materials.

In one embodiment, the clamping jaw mechanism further comprises a supporting block arranged on the first mounting seat, and a guide rod slidably arranged on the supporting block, wherein the guide rod is connected with the second mounting seat;

the second mount pad is a plurality of, and is a plurality of the second mount pad set up respectively in a plurality of sides of first mount pad, telescopic machanism is a plurality of, and is a plurality of telescopic machanism and a plurality of the second mount pad one-to-one sets up.

The carrying device comprises the clamping jaw mechanism and a carrying mechanism, wherein the clamping jaw mechanism is arranged on the carrying mechanism.

In one embodiment, the handling device further comprises a buffer arranged between the handling mechanism and the gripper mechanism.

In one embodiment, the number of the buffers is at least two, and the at least two buffers are arranged at intervals in the area between the carrying mechanism and the clamping jaw mechanism.

In one embodiment, the carrying device further includes a controller and a sensing element, the sensing element is disposed on the carrying mechanism or the clamping jaw mechanism and is used for sensing a change in a distance between the carrying mechanism and the clamping jaw mechanism, and the controller is electrically connected to the sensing element and the carrying mechanism, respectively.

Foretell gripper mechanism and handling device for when a plurality of materials of placing on the centre gripping waiting to get the platform, drive gripper mechanism lift displacement, make a plurality of first holders aim at respectively and insert a plurality of spaces between the material to and make a plurality of materials correspond respectively and insert a plurality of first centre gripping spaces, then through ordering about the action of inflation butt portion, switch to the inflation state by the contraction state, with the material that closely butt is located first centre gripping space, gripper mechanism just can realize steadily cliping a plurality of materials. When the clamping jaw mechanism clamps a plurality of materials and transfers the materials to a target position, the expansion abutting part is driven to act, the expansion state is recovered to the contraction state, and all the materials can be loosened. Wherein, because press from both sides each material respectively and tightly be fixed in each first centre gripping space, the clamp force of each material is the same basically and all can realize controlling better through the action of drive inflation butt portion, and the material is difficult to appear droing and is hindered by the clamp in the clamp process, and the work efficiency of pressing from both sides the material simultaneously is higher.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate embodiments of the invention and, together with the description, serve to explain the invention and not to limit the invention.

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.

FIG. 1 is a schematic view of a gripper mechanism according to an embodiment of the present invention;

FIG. 2 is a schematic diagram of a material gripping mechanism according to an embodiment of the present invention;

fig. 3 is a schematic view of a third hidden mounting seat of a clamping jaw mechanism according to an embodiment of the present invention;

FIG. 4 is a schematic view of another embodiment of the third hidden mounting base of the clamping jaw mechanism according to the present invention;

FIG. 5 is a schematic structural view of the gripper mechanism according to an embodiment of the present invention, wherein the first clamping member and the second clamping member cooperate to clamp a material;

FIG. 6 is a schematic view of a first clamping member of the clamping jaw mechanism of the embodiment of the present invention cooperating to clamp a material;

fig. 7 is a schematic structural diagram of a conveying apparatus according to an embodiment of the invention.

10. A jaw mechanism; 11. a first mounting seat; 12. a first clamping member; 121. an expanding abutment; 122. a first clamping space; 13. a telescoping mechanism; 14. a second mounting seat; 15. a second clamping member; 151. a second clamping space; 16. a support block; 17. a guide bar; 18. a third mounting seat; 20. material preparation; 21. a pore; 30. a carrying mechanism; 40. a buffer; 50. an inductive element.

Detailed Description

In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.

Referring to fig. 1 to 5, fig. 1 shows a schematic structural diagram of a clamping jaw mechanism 10 according to an embodiment of the present invention, fig. 2 shows a schematic structural diagram of the clamping jaw mechanism 10 according to an embodiment of the present invention for clamping a material 20, fig. 3 shows a schematic structural diagram of a clamping jaw mechanism 10 according to an embodiment of the present invention with one view of hiding a third mounting seat 18, fig. 4 shows a schematic structural diagram of a clamping jaw mechanism 10 according to an embodiment of the present invention with another view of hiding the third mounting seat 18, and fig. 5 shows a schematic structural diagram of the clamping jaw mechanism 10 according to an embodiment of the present invention with a first clamping member 12 and a second clamping member 15 cooperating to clamp the material 20. An embodiment of the present invention provides a clamping jaw mechanism 10, where the clamping jaw mechanism 10 includes: a first mounting seat 11 (shown in fig. 4) and a first clamping member 12. The first clamping members 12 are disposed on the first mounting seat 11 at intervals, and a plurality of first clamping spaces 122 (as shown in fig. 5) for clamping the material 20 are formed by the first clamping members 12 in cooperation with each other. At least one outer wall of the first clamping member 12 corresponding to each first clamping space 122 is provided with an expansion abutting part 121 (shown in figure 1). The expanding abutment 121 is capable of expanding to tightly abut the material 20 located in the first clamping space 122 and contracting to release the material 20 located in the first clamping space 122.

It should be noted that, in an embodiment, each first clamping space 122 is formed by two, three, four or other numbers of first clamping members 12, for example, in a matching manner, that is, after each material 20 is placed in the corresponding first clamping space 122, two, three, four or other numbers of first clamping members 12 are used to perform abutting clamping fixation.

In addition, it should be noted that the "corresponding first clamping member 12" in the first clamping member 12 corresponding to the first clamping space 122 refers to all the first clamping members 12 for forming the first clamping space 122 in a matching manner.

When the clamping jaw mechanism 10 is used for clamping a plurality of materials 20 placed on a platform to be taken, the clamping jaw mechanism 10 is driven to move up and down, so that the plurality of first clamping pieces 12 are respectively aligned and inserted into a plurality of gaps between the materials 20, the plurality of materials 20 are respectively and correspondingly inserted into the plurality of first clamping spaces 122, then the expansion abutting part 121 is driven to act, the contraction state is switched to the expansion state, so that the materials 20 in the first clamping spaces 122 are tightly abutted, and the clamping jaw mechanism 10 can stably clamp the plurality of materials 20. When the gripper mechanism 10 has gripped a plurality of materials 20 and transferred to the target position, the expanding abutment portion 121 is actuated to return from the expanded state to the contracted state, so that all the materials 20 can be released. Because the materials 20 are respectively clamped and fixed in the first clamping spaces 122, the clamping force of each material 20 is basically the same and can be better controlled by driving the expansion abutting part 121 to act, the materials 20 are not easy to fall off and are not easily clamped in the clamping process, and meanwhile, the work efficiency of clamping the materials is higher.

Referring to fig. 4 or 5, in one embodiment, a plurality of first clamping members 12 are arranged on the first mounting seat 11 in a rectangular array. So, to a plurality of materials 20 that are the rectangle array and place on waiting to get the platform on the surface, the hole 21 between material 20 also correspondingly is the rectangle array and arranges, and a plurality of holes 21 just can insert a plurality of first holders 12 respectively, and each material 20 enters into each first centre gripping space 122 respectively to can realize waiting to get a plurality of materials 20 that are the rectangle array and place on the platform surface and shift in step.

As an example, when the plurality of materials 20 on the platform to be taken are arranged in a rectangular array with n rows and m columns, the first clamping member 12 of the clamping jaw mechanism 10 is correspondingly arranged in a rectangular array with n +1 rows and m +1 columns, and the formed first clamping space 122 is also formed in a rectangular array with n rows and m columns, and can be respectively filled with each material 20 arranged in a rectangular array on the platform to be taken. For example, n is 2 and m is 3 as illustrated in the figure.

Referring to fig. 1, in one embodiment, each of the first clamping members 12 has an expanding abutment 121 on an outer wall thereof. Therefore, the material 20 can be clamped stably, the material 20 is not easy to fall off and is not easy to be clamped in the clamping process, and the work efficiency of clamping the material is high.

In one embodiment, the first clamping member 12 includes a support rod body (not shown) and a first power member (not shown). The expansion abutting part 121 is an elastic sleeve which is sleeved on the support rod main body in a surrounding manner, the first power part is connected with the expansion abutting part 121, and the expansion abutting part 121 can be driven by the first power part to expand. Thus, when the material 20 needs to be clamped, the first power member acts, the first power member enables the expansion abutting part 121 to expand, and the expansion abutting part 121 can tightly abut against the material 20 located in the first clamping space 122 after being expanded, so that the effect of clamping the material 20 is achieved; when it is desired to release the material 20, the expanding abutment 121 returns to its original shape, thereby releasing the material 20.

In one embodiment, the first power member is, for example, slidably sleeved on a sliding sleeve, one end of the sliding sleeve is connected to the elastic sleeve, the other end of the sliding sleeve is used for connecting to the pushing mechanism, and one end of the elastic sleeve, which is far away from the sliding sleeve, is positioned on the support body. Specifically, the support rod body is wound with a limiting groove, and the elastic sleeve is disposed in the limiting groove, that is, one end of the elastic sleeve is positioned on the support body by abutting against a groove wall of the limiting groove, and of course, the elastic sleeve can also be positioned on the support body by other connecting methods, for example, but not limited to, a bonding method, a method of connecting fasteners such as screws, bolts, pins, buckles, and rivets, and the like. When the pushing mechanism pushes the sliding sleeve, the sliding sleeve transmits power to the elastic sleeve, the elastic sleeve correspondingly expands and deforms outwards after receiving the pushing force of the sliding sleeve, and the elastic sleeve plays a role in being tightly abutted to the material 20 after deforming. When the pushing mechanism drives the sliding sleeve to move in the direction away from the elastic sleeve, the elastic sleeve is restored to the original state, and the material 20 is loosened.

It should be noted that the pushing mechanism includes, but is not limited to, a pneumatic cylinder, a hydraulic cylinder, a motor screw, and other power structure forms. The pushing mechanism is specifically disposed on the first mounting seat 11, for example. For the sake of simplicity of construction, the pushing mechanism is provided, for example, as one and is synchronously connected to the sliding sleeves of the plurality of first clamping members 12, respectively. Namely, a pushing mechanism is adopted to synchronously drive a plurality of sliding sleeves to move so as to synchronously adjust the working state of the first clamping piece 12.

Of course, as an alternative, the pushing mechanism is provided in a plurality of numbers, and is provided corresponding to the plurality of sliding sleeves, so that the sliding sleeves can be driven to move independently, and the working state of each first clamping member 12 can be adjusted according to actual requirements.

It should be noted that the specific material of the elastic sleeve is selected from silicone, rubber, plastic, and the like.

In another embodiment, the elastic sleeve is, for example, an inflatable and deflatable air bag, the first power member is an air tube disposed on the support bar body or an inflation channel formed on the support bar body, and the first power member is used for communicating with the inflation and deflation mechanism. Therefore, when the air inflation and deflation mechanism provides air pressure for the air bag through the first power part, the air bag expands after being inflated, and the function of abutting against and fixing the material 20 can be achieved; when the air in the air bag is discharged outwards through the first power member, the air bag is restored to the original state under the action of the elastic force of the air bag, and the material 20 is correspondingly loosened.

Referring to fig. 5, in one embodiment, the clamping jaw mechanism 10 further includes a telescopic mechanism 13, a second mounting base 14, and a plurality of second clamping members 15. The telescopic mechanism 13 is installed on the first installation seat 11, and the telescopic mechanism 13 is connected with the second installation seat 14 and used for driving the second installation seat 14 to move. The plurality of second clamping members 15 are arranged on the second mounting seat 14 at intervals, the plurality of second clamping members 15 are positioned at the periphery of the plurality of first clamping members 12, and the plurality of second clamping members 15 and the plurality of first clamping members 12 are matched with each other to form at least one second clamping space 151 for clamping the material 20. Therefore, the material 20 can be clamped and fixed by the first clamping member 12 of the first clamping space 122 by being placed in the first clamping space 122, and can also be placed in the second clamping space 151, after being placed in the second clamping space 151, the second mounting seat 14 is driven to move, and the second mounting seat 14 drives the second clamping member 15 to move, so that the material 20 can be clamped or loosened in the second clamping space 151. Further, the gripper mechanism 10 can grip more materials 20, and the number of materials 20 to be handled at one time increases.

It should be noted that the telescopic mechanism 13 is configured to provide a driving force for the second mounting seat 14 to move back and forth, so that the second mounting seat 14 drives the second clamping member 15 to move toward a direction close to or away from the first clamping member 12 (the moving direction is shown by an arrow in fig. 4), and the specific structural form of the telescopic mechanism is many, including but not limited to an air cylinder, a hydraulic cylinder, a motor lead screw, a motor gear and rack drive, a motor chain drive, a motor synchronous belt drive, and the like, and the telescopic mechanism can be flexibly adjusted and arranged according to actual requirements, which is not limited herein.

Referring to fig. 6, fig. 6 is a schematic structural diagram illustrating the first clamping member 12 of the clamping jaw mechanism 10 cooperatively clamping the material 20 according to an embodiment of the present invention. It should be noted that, as an alternative, the telescopic mechanism 13, the second mounting seat 14, and the plurality of second clamping members 15 may also be omitted, that is, the plurality of first clamping spaces 122 formed by the plurality of first clamping members 12 in cooperation with each other are used to clamp the plurality of materials 20, respectively.

Referring to fig. 4 and 5, in one embodiment, the clamping jaw mechanism 10 further includes a supporting block 16 disposed on the first mounting seat 11, and a guiding rod 17 slidably disposed on the supporting block 16, wherein the guiding rod 17 is connected to the second mounting seat 14.

Furthermore, optionally, the number of the second mounting seats 14 is multiple, the multiple second mounting seats 14 are respectively disposed on the multiple sides of the first mounting seat 11, the number of the telescopic mechanisms 13 is multiple, and the multiple telescopic mechanisms 13 and the multiple second mounting seats 14 are disposed in one-to-one correspondence.

Specifically, the first mounting base 11 is a rectangular mounting plate, and the plurality of first clamping members 12 are arranged in a rectangular array on the first mounting base 11. The number of the second mounting seats 14 is four, and the four second mounting seats are respectively located on four sides of the first mounting seat 11. Every is provided with the one row of second holder 15 that the interval set up on the first mount pad 11, and one row of second holder 15 can mutually support rather than the adjacent one row of first holder 12 and form a plurality of second centre gripping spaces 151.

Referring to fig. 1 and 7, fig. 7 is a schematic structural diagram of a conveying apparatus according to an embodiment of the present invention, in an embodiment, the conveying apparatus includes the clamping jaw mechanism 10 according to any of the embodiments, the conveying apparatus further includes a conveying mechanism 30, and the clamping jaw mechanism 10 is disposed on the conveying mechanism 30.

When the carrying device clamps a plurality of materials 20 placed on a platform to be taken, the clamping jaw mechanism 10 is driven to move up and down, so that the plurality of first clamping pieces 12 are respectively aligned and inserted into a plurality of gaps between the materials 20, and the plurality of materials 20 are respectively and correspondingly inserted into the plurality of first clamping spaces 122, and then the expansion abutting part 121 is driven to act, so that the contraction state is switched to the expansion state, the materials 20 in the first clamping spaces 122 are tightly abutted, and the clamping jaw mechanism 10 can stably clamp the plurality of materials 20. When the gripper mechanism 10 has gripped a plurality of materials 20 and transferred to the target position, the expanding abutment portion 121 is actuated to return from the expanded state to the contracted state, so that all the materials 20 can be released. Because the materials 20 are respectively clamped and fixed in the first clamping spaces 122, the clamping force of each material 20 is basically the same and can be better controlled by driving the expansion abutting part 121 to act, the materials 20 are not easy to fall off and are not easily clamped in the clamping process, and meanwhile, the work efficiency of clamping the materials is higher.

Referring to fig. 7, in one embodiment, the handling apparatus further includes a buffer 40 disposed between the handling mechanism 30 and the clamping jaw mechanism 10. Thus, during the process of carrying and clamping the material 20, the buffer 40 plays a role in buffering, and can prevent the clamping jaw mechanism 10 from damaging the carrying mechanism 30 due to collision with an external object. In addition, especially in the process of fetching the materials 20, when the first clamping piece 12 of the clamping jaw mechanism 10 is not correctly inserted into the aperture 21 between the materials 20, the clamping jaw mechanism 10 will be deflected due to the collision between the clamping jaw mechanism and the materials 20, and the damage to the carrying mechanism 30 can be avoided under the buffering action of the buffer 40.

Referring to fig. 7, in an embodiment, the buffer 40 includes, but is not limited to, one or more combinations of a spring, an elastic block, an elastic column, an elastic rod, and an elastic plate, which can be flexibly adjusted and configured according to actual requirements, and is not limited herein.

Referring to fig. 7, in one embodiment, the number of the buffers 40 is at least two, and at least two buffers 40 are arranged at intervals in the area between the carrying mechanism 30 and the clamping jaw mechanism 10.

Referring to fig. 7, in one embodiment, the handling apparatus further includes a controller (not shown) and a sensing element 50. The sensing element 50 is disposed on the carrying mechanism 30 or the clamping jaw mechanism 10, and is used for sensing a distance change between the carrying mechanism 30 and the clamping jaw mechanism 10, and the controller is electrically connected to the sensing element 50 and the carrying mechanism 30, respectively. When the controller determines that the distance between the transport mechanism 30 and the gripper mechanism 10 has changed, the controller stops the transport mechanism 30.

In one embodiment, the handling device further comprises an alarm (not shown). The alarm is electrically connected with the controller. When the controller judges that the distance between the carrying mechanism 30 and the clamping jaw mechanism 10 changes, the controller controls the warning device to warn, so that a timely warning effect is achieved, and a worker correspondingly checks whether the clamping jaw mechanism 10 collides with an external object or whether the clamping jaw mechanism is accurately inserted into a hole 21 between the materials 20 or the like.

In one embodiment, the sensing element 50 includes, but is not limited to, a proximity switch, an optical coupling sensor, an ultrasonic distance meter, a magnetic sensor, etc., as long as it can be used to sense a change in the distance between the handling mechanism 30 and the jaw mechanism 10.

Referring again to fig. 1 and 7, in one embodiment, the gripper mechanism 10 further includes a third mounting base 18. The third mount 18 is connected to the carrying mechanism 30 through a buffer 40. In addition, when the first mounting seat 11 is provided with the supporting block 16, the third mounting seat 18 is specifically mounted on the supporting block 16. Wherein, the supporting block 16 is provided in plurality and is located between the first mounting seat 11 and the third mounting seat 18.

The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.

The above examples only show some embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.

In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the 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, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.

In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.

It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.

Claims

1. A jaw mechanism, characterized in that the jaw mechanism comprises:

a first mounting seat;

2. Gripper mechanism according to claim 1, characterized in that a plurality of the first clamping members are arranged in a rectangular array on the first mounting seat.

3. A jaw mechanism as claimed in claim 1, wherein said expansion abutment is provided on an outer wall of each said first jaw.

4. The jaw mechanism of claim 1, wherein the first clamping member includes a support rod body and a first power member, the expanding abutting portion is an elastic sleeve circumferentially disposed on the support rod body, the first power member is connected to the expanding abutting portion, and the first power member can drive the expanding abutting portion to expand.

5. The jaw mechanism of claim 1, further comprising a telescoping mechanism, a second mount, and a plurality of second clamps; the telescopic mechanism is arranged on the first mounting seat, is connected with the second mounting seat and is used for driving the second mounting seat to move; the plurality of second clamping pieces are arranged on the second mounting seat at intervals, the plurality of second clamping pieces are positioned on the periphery of the plurality of first clamping pieces, and the plurality of second clamping pieces and the plurality of first clamping pieces are matched with each other to form at least one second clamping space for clamping materials.

6. The jaw mechanism of claim 5, further comprising a support block disposed on said first mount, and a guide bar slidably disposed on said support block, said guide bar being coupled to said second mount;

the second mount pad is a plurality of, and is a plurality of the second mount pad set up respectively in a plurality of sides of first mount pad, telescopic machanism is a plurality of, and is a plurality of telescopic machanism sets up with a plurality of the second mount pad one-to-one.

7. A handling device, characterized in that it comprises a gripper mechanism according to any one of claims 1-6, and a handling mechanism on which the gripper mechanism is arranged.

8. The transfer device of claim 7, further comprising a buffer disposed between the transfer mechanism and the gripper mechanism.

9. Handling device according to claim 8, characterised in that the buffers are at least two, at least two buffers being arranged at intervals in the area between the handling mechanism and the gripper mechanism.

10. The handling apparatus according to claim 7, further comprising a controller and a sensing element, wherein the sensing element is disposed on the handling mechanism or the gripper mechanism and is used for sensing a change in a distance between the handling mechanism and the gripper mechanism, and the controller is electrically connected to the sensing element and the handling mechanism respectively.