CN217345521U - Clamping jaw device - Google Patents

Abstract

The embodiment of the application provides a clamping jaw device, and belongs to the technical field of clamping jaws. The clamping jaw device is used for being assembled at the execution tail end and comprises an installation frame, a rotating shaft, a plurality of clamping jaw assemblies and a first driving piece, wherein the installation frame is provided with a connecting part which is used for being connected with the execution tail end; the rotating shaft is rotatably arranged on the mounting frame; the plurality of clamping jaw assemblies are distributed at intervals along the circumferential direction of the rotating shaft, and the clamping jaw assemblies are used for clamping a target piece; the first driving piece is arranged on the mounting frame and used for driving the rotating shaft to rotate; wherein, be equipped with buffer assembly between clamping jaw subassembly and the pivot, buffer assembly is used for providing the cushioning effect when clamping jaw subassembly and target piece are got. The clamping jaw device can be compatible with grabbing of various materials, and safety in the grabbing process can be improved.

Description

Clamping jaw device

Technical Field

The application relates to the technical field of clamping jaws, in particular to a clamping jaw device.

Background

At present, the existing material taking clamping jaw equipment mostly grabs a single product and cannot be compatible with clamping of multiple products, so that the compatibility of the clamping jaw equipment is poor, different types of products can be grabbed only by replacing the clamping jaw, and the working efficiency of the equipment is low. In addition, when the product is grabbed by the clamping jaw equipment, the phenomenon of mistaken collision possibly exists between the clamping jaw equipment and the product, and the product and the equipment are easily damaged.

SUMMERY OF THE UTILITY MODEL

The embodiment of the application provides a clamping jaw device, can be compatible with the snatching of multiple material to can improve the security of snatching the in-process.

The embodiment of the application provides a clamping jaw device, which is used for being assembled at an execution tail end and comprises an installation frame, a rotating shaft, a plurality of clamping jaw assemblies and a first driving piece, wherein the installation frame is provided with a connecting part which is used for being connected with the execution tail end; the rotating shaft is rotatably arranged on the mounting frame; the plurality of clamping jaw assemblies are distributed at intervals along the circumferential direction of the rotating shaft, and the clamping jaw assemblies are used for clamping a target piece; the first driving piece is arranged on the mounting frame and used for driving the rotating shaft to rotate; wherein, be equipped with buffer assembly between clamping jaw subassembly and the pivot, buffer assembly is used for providing the cushioning effect when clamping jaw subassembly and target piece are got.

In this scheme, be provided with a plurality of clamping jaw assemblies through the interval in the circumference of pivot, a plurality of clamping jaw assemblies are integrated in the pivot, each clamping jaw assembly can snatch the target member of different models respectively, when the clamping jaw device carries out the target member and snatchs, only need rotate through driving piece drive pivot, make corresponding clamping jaw assembly and target member when corresponding, under the terminal driving action of execution, can make clamping jaw assembly can remove by the target member, then utilize clamping jaw assembly to snatch alright to the target member of corresponding model, therefore the setting of a plurality of clamping jaw assemblies, can realize snatching the target member of different models, it is wider to snatch the scope, compatibility is stronger, the clamp that has improved clamping jaw device gets efficiency. More importantly, through be provided with the buffering subassembly between pivot and clamping jaw assembly, the buffering subassembly can descend when grabbing the target piece after the clamping jaw device targets in place along the motion of carrying out the end, clamping jaw assembly and target piece contact back, the buffering subassembly has certain cushioning effect, the straightness that hangs down when clamping jaw assembly snatchs the product can be played, avoid taking place the rigidity collision between clamping jaw assembly and the target piece, thereby stopped to cause the harm to the target piece or to equipment, the reliability and the security of clamping jaw device in the snatching process have been improved.

In some embodiments, the buffer assembly comprises a first sleeve, a second sleeve and an elastic element, wherein the first sleeve is used for being connected with the rotating shaft, and a sliding cavity is formed in the first sleeve; the second sleeve is used for being connected with the clamping jaw assembly and can be slidably arranged in the sliding cavity; the elastic piece is located in the sliding cavity and arranged between the second sleeve and the first sleeve, and the elastic piece is used for providing elastic force when the second sleeve slides in the sliding cavity.

Among the above-mentioned technical scheme, through first sleeve pipe and second sleeve pipe relative slip, the extrusion deformation of elastic component can play the cushioning effect to clamping jaw assembly, and when clamping jaw assembly snatched the target member, the elastic component warp and holds power, can avoid the rigidity contact between clamping jaw assembly and the target member, provides certain cushioning effect.

In some embodiments, the outer wall of the second sleeve is convexly provided with a guide post, the outer peripheral wall of the first sleeve is correspondingly provided with a guide hole extending along the axial direction of the first sleeve, the guide post penetrates through the guide hole, and the guide hole is used for guiding the guide post to slide along the length direction of the guide hole under the action of external force on the second sleeve.

Among the above-mentioned technical scheme, guide post and guiding hole cooperation for the second sleeve pipe only can be followed its axial slip in sliding cavity, plays the effect of direction, avoids the second sleeve pipe to take place the condition of relative rotation in sliding cavity. Simultaneously, the guiding hole not only can play the guide effect for the second sleeve pipe when removing for the second sleeve pipe can be in smooth intracavity steady removal, and the length direction's of guiding hole both ends can play the effect of blockking to the second sleeve pipe in addition, thereby restrict the stroke of second sleeve pipe on smooth intracavity, let the second sleeve pipe at predetermined stroke within range motion, ensure the accuracy nature and the stability of buffering subassembly buffering.

In some embodiments, the number of the guide posts is provided as a plurality, and the plurality of guide posts are distributed at intervals along the circumferential direction of the second sleeve.

Among the above-mentioned technical scheme, through being provided with a plurality of guide posts in second sheathed tube circumference, a plurality of guide posts cooperate with the guiding hole that corresponds, and a plurality of guide posts cooperate jointly, and is stronger to the spacing effect of second sleeve pipe at the sliding guide of sliding chamber for the second sleeve pipe is higher at the removal accuracy nature of sliding chamber.

In some embodiments, the clamping jaw device further comprises a coupler and a bearing with a seat, wherein the coupler is arranged between the output end of the first driving piece and the rotating shaft; the rolling bearing is arranged on the mounting frame and used for mounting the rotating shaft to bear the radial force of the rotating shaft.

Among the above-mentioned technical scheme, through the setting of shaft coupling, can play the connection effect between first driving piece and the pivot for the power of first driving piece can transmit for the pivot, and through be provided with the rolling bearing in the pivot, can play the supporting role to the pivot, and the rolling bearing can bear the radial force of pivot, thereby guarantees the rotation precision of pivot, makes the rotatory switching between a plurality of clamping jaw assemblies more accurate reliable.

In some embodiments, the jaw assembly comprises a mounting plate, two clamping plates and a second driving member, the mounting plate is connected with the buffer assembly; the two clamping plates are matched for clamping a target piece; the second driving piece is arranged on the mounting plate and used for driving at least one of the two clamping plates to move so that the two clamping plates can approach or move away.

In the technical scheme, the two clamping plates can be close to or far away from each other through the second driving piece, so that the target piece can be clamped. The second driving part can drive one of the two clamping plates to move, and can also drive the two clamping plates to move mutually, and the second driving part can be an air cylinder.

In some embodiments, the mounting plate has a guide slot on a side thereof adjacent the clamping plate, the clamping plate being a sliding fit in the guide slot.

Among the above-mentioned technical scheme, through being provided with the guide way on the mounting panel, the guide way can lead to the removal of splint for the removal of splint when being close to or keeping away from has the directionality, lets clamping jaw assembly's the clamp process more reliable and more stable.

In some embodiments, the jaw apparatus further comprises a pneumatic slip ring for electrical connection of the plurality of jaw assemblies upon rotation of the shaft, the pneumatic slip ring having a fixed end connected to the shaft and a movable end rotatable relative to the fixed end.

Among the above-mentioned technical scheme, because a plurality of clamping jaw assemblies are under the rotation effect of pivot, the position of each clamping jaw assembly can take place corresponding change for the mounting bracket, in order to guarantee the electric circuit connection between a plurality of clamping jaw assemblies, consequently through being provided with pneumatic sliding ring, pneumatic sliding ring can guarantee the connection of circuit, the gas circuit of each clamping jaw assembly when the pivot is rotatory, ensures clamping jaw device's normal work.

In some embodiments, the mounting frame includes a supporting plate, the supporting plate has an avoiding hole, the avoiding hole is used for at least partial penetration of the movable end, the avoiding hole has a gap with the periphery of the movable end, and the supporting plate is used for circumferentially limiting the movable end.

Among the above-mentioned technical scheme, through being provided with the layer board on the mounting bracket, the hole of dodging on the layer board can wear to establish for the expansion end of pneumatic sliding ring, and the hole of dodging has the clearance with the periphery of expansion end, and mainly used carries on spacingly to the expansion end of pneumatic sliding ring, improves the stability of expansion end when rotary motion.

In some embodiments, the first drive is provided as a servo motor. The servo motor is used as a power source, so that the rotation precision is high.

Additional features and advantages of the present application will be described in detail in the detailed description which follows.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained from the drawings without inventive effort.

FIG. 1 is a schematic diagram of a jaw apparatus provided in accordance with certain embodiments of the present application;

FIG. 2 is a schematic structural view of the cushioning assembly of FIG. 1;

fig. 3 is a cross-sectional view of fig. 2.

Icon: 10-a mounting frame; 11-a connecting portion; 12-a fixing plate; 13-motor mounting plate; 14-a connecting rod; 15-a connecting rod; 16-a pallet; 17-avoiding holes; 20-a rotating shaft; 30-a jaw assembly; 31-a mounting plate; 32-clamping plate; 33-a second drive member; 40-a buffer assembly; 41-a first sleeve; 42-a second sleeve; 43-an elastic member; 44-a guide post; 45-a pilot hole; 50-a coupler; 60-a pedestal bearing; 70-a pneumatic slip ring; 80-a first drive member; 100-a jaw apparatus.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some embodiments of the present application, but not all embodiments. The components of the embodiments of the present application, as generally described and illustrated in the figures herein, could be arranged and designed in a wide variety of different configurations.

Thus, the following detailed description of the embodiments of the present application, presented in the accompanying drawings, is not intended to limit the scope of the claimed application, but is merely representative of selected embodiments of the application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.

It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.

In the description of the embodiments of the present application, it should be noted that the indication of the orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship which is usually placed when the product of the application is used, and is only for the convenience of describing the application and simplifying the description, and does not indicate or imply that the indicated device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the application. Furthermore, the terms "first," "second," "third," and the like are used solely to distinguish one from another, and are not to be construed as indicating or implying relative importance.

In the description of the present application, it is further noted that, unless otherwise explicitly stated or limited, the terms "disposed" and "connected" are to be interpreted broadly, e.g., as being either fixedly connected, detachably connected, or integrally connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meaning of the above terms in the present application can be understood in a specific case by those of ordinary skill in the art.

Examples

The embodiment of the present application provides a clamping jaw apparatus 100, the clamping jaw apparatus 100 is configured to be mounted at an execution terminal, please refer to fig. 1, fig. 2 and fig. 3, the clamping jaw apparatus 100 includes a mounting frame 10, a rotating shaft 20, a plurality of clamping jaw assemblies 30 and a first driving member 80, the mounting frame 10 has a connecting portion 11, and the connecting portion 11 is configured to be connected with the execution terminal (not shown in the figure); the rotating shaft 20 is rotatably arranged on the mounting rack 10; a plurality of clamping jaw assemblies 30 are distributed at intervals along the circumferential direction of the rotating shaft 20, and the clamping jaw assemblies 30 are used for clamping a target piece; the first driving member 80 is mounted on the mounting frame 10, and the first driving member 80 is used for driving the rotating shaft 20 to rotate; a buffer assembly 40 is arranged between the clamping jaw assembly 30 and the rotating shaft 20, and the buffer assembly 40 is used for providing a buffer effect when the clamping jaw assembly 30 and the target member are clamped.

In this scheme, be provided with a plurality of clamping jaw assemblies 30 through the interval in the circumference of pivot 20, a plurality of clamping jaw assemblies 30 are integrated in pivot 20, each clamping jaw assembly 30 can snatch the target member of different models respectively, when clamping jaw device 100 carries out the target member and snatchs, only need rotate through driving piece drive pivot 20, when making corresponding clamping jaw assembly 30 correspond with the target member, under the terminal driving action of execution, can make clamping jaw assembly 30 can remove beside the target member, then utilize clamping jaw assembly 30 to snatch alright to the target member of corresponding model, consequently, the setting of a plurality of clamping jaw assemblies 30, can realize snatching the target member of different models, it is wider to snatch the scope, compatibility is stronger, the clamp that has improved clamping jaw device 100 gets efficiency. More importantly, through being provided with buffering subassembly 40 between pivot 20 and clamping jaw assembly 30, buffering subassembly 40 can descend when grabbing the target piece after clamping jaw device 100 targets in place along the motion of carrying out the end, clamping jaw assembly 30 contacts the back with the target piece, buffering subassembly 40 has certain cushioning effect, can play clamping jaw assembly 30 straightness that hangs down when snatching the product, avoid taking place the rigidity collision between clamping jaw assembly 30 and the target piece, thereby stopped to cause the harm to the target piece or to equipment, the reliability and the security of clamping jaw device 100 in the grabbing process have been improved.

The execution end can be an execution end of a three-axis mechanical arm or a manipulator, the target part can be various products, such as electric components and the like, such as a PCB (printed circuit board), and the target parts of different types can be understood that the PCBs of different types can be PCBs of different sizes and PCBs of different shapes, and the like. In addition, the damping member 40 may have various structures, for example, the damping member 40 may be a cylinder, an air bag, a spring, etc., which can provide a damping effect to the jaw assembly 30.

In addition, the mounting rack 10 may be a frame structure with various shapes, in this embodiment, the mounting rack 10 includes a connecting plate, a fixing plate 12 and a motor mounting plate 13, the connecting plate is a connecting portion 11, and a plurality of connecting holes are formed in the connecting plate, and are used for connecting with the execution terminal. The motor mounting plate 13 is located on one side of the fixing plate 12 close to the first driving member 80, and the motor mounting plate 13 is mounted on the fixing plate 12 through a plurality of connecting rods 14.

In some embodiments, the damping assembly 40 includes a first sleeve 41, a second sleeve 42, and an elastic member 43, the first sleeve 41 is used for connecting with the rotating shaft 20, the first sleeve 41 has a sliding cavity therein; a second sleeve 42 for connection to the jaw assembly 30, the second sleeve 42 being slidably disposed within the slide cavity; the elastic member 43 is located in the sliding cavity and is disposed between the second sleeve 42 and the first sleeve 41, and the elastic member 43 is used for providing an elastic force when the second sleeve 42 slides in the sliding cavity.

Through relative sliding of the first sleeve 41 and the second sleeve 42, the elastic member 43 can buffer the clamping jaw assembly 30 through extrusion deformation, and when the clamping jaw assembly 30 grabs the target object, the elastic member 43 deforms to store force, so that rigid contact between the clamping jaw assembly 30 and the target object can be avoided, and a certain buffering effect is provided.

The elastic member 43 may be an elastic member such as a spring, a rubber column, or an elastic sheet, and in this embodiment, the elastic member 43 is a spring.

In some embodiments, the outer wall of the second sleeve 42 is convexly provided with a guide post 44, the outer peripheral wall of the first sleeve 41 is correspondingly provided with a guide hole 45 extending along the axial direction thereof, the guide post 44 is arranged in the guide hole 45 in a penetrating manner, and the guide hole 45 is used for guiding the guide post 44 to slide along the length direction of the guide hole 45 when the second sleeve 42 is subjected to an external force.

Through the cooperation of the guide post 44 and the guide hole 45, the second sleeve 42 can only slide along the axial direction thereof in the sliding cavity, so as to play a guiding role and avoid the relative rotation of the second sleeve 42 in the sliding cavity. Meanwhile, the guide hole 45 not only can guide the second sleeve 42 when moving, so that the second sleeve 42 can move smoothly in the sliding cavity, but also two ends of the guide hole 45 in the length direction can block the second sleeve 42, so that the stroke of the second sleeve 42 on the sliding cavity is limited, the second sleeve 42 moves in a preset stroke range, and the buffering accuracy and stability of the buffering assembly 40 are ensured.

Wherein the guiding column 44 may be a guiding pin, a guiding rod, etc. In the present embodiment, the guide post 44 is employed as a guide pin.

In some embodiments, the number of guide posts 44 is provided in a plurality, and the plurality of guide posts 44 are spaced apart along the circumference of the second sleeve 42. Through being provided with a plurality of guide posts 44 in second sleeve pipe 42 circumference, a plurality of guide posts 44 cooperate with corresponding guiding hole 45, and a plurality of guide posts 44 cooperate jointly, and is stronger to the spacing effect of second sleeve pipe 42 at the sliding guide of sliding chamber for second sleeve pipe 42 is higher at the removal accuracy nature of sliding chamber.

Wherein the number of the guiding columns 44 may be two, three or four, etc. In the present embodiment, the number of the guide posts 44 is set to four, and the included angles between the four guide posts 44 are 90 ° to each other.

In some embodiments, the jaw apparatus 100 further comprises a coupler 50 and a pedestal bearing 60, the coupler 50 being disposed between the output end of the first driving member 80 and the rotating shaft 20; the mounted bearing 60 is disposed on the mounting bracket, and the mounted bearing 60 is used for mounting the rotating shaft 20 to bear the radial force of the rotating shaft 20. Through the setting of shaft coupling 50, can play the connection effect between first driving piece 80 and the pivot 20 for the power of first driving piece 80 can transmit for pivot 20, and through be provided with the rolling bearing 60 on pivot 20, can play the supporting role to pivot 20, rolling bearing 60 can bear the radial force of pivot 20, thereby guarantees the rotation accuracy of pivot 20, makes the rotatory switching between a plurality of clamping jaw assemblies 30 more accurate reliable.

In some embodiments, the jaw assembly 30 includes a mounting plate 31, two clamp plates 32, and a second drive 33, the mounting plate 31 being connected to the damping assembly 40; the two clamping plates 32 cooperate to clamp the target piece; a second driving member 33 is installed on the mounting plate 31, and the second driving member 33 is used for driving at least one of the two clamping plates 32 to move so that the two clamping plates 32 can move closer to or away from each other.

The two clamping plates 32 can be moved toward or away from each other by the second driving member 33, so that the object can be gripped. The second driving member 33 may drive one of the two clamping plates 32 to move, or drive both of the two clamping plates 32 to move, and the second driving member 33 may be an air cylinder.

In some embodiments, the mounting plate 31 has a guide slot on a side thereof adjacent the clamping plate 32, the clamping plate 32 being a sliding fit in the guide slot. By providing the guide slot on the mounting plate 31, the guide slot can guide the movement of the clamping plate 32, so that the movement of the clamping plate 32 when approaching or departing is directional, and the clamping process of the clamping jaw assembly 30 is more stable and reliable.

In some embodiments, the jaw apparatus 100 further comprises a pneumatic slip ring 70, the pneumatic slip ring 70 for electrical connection of the plurality of jaw assemblies 30 when the shaft 20 rotates, the pneumatic slip ring 70 having a fixed end connected to the shaft 20 and a movable end rotatable relative to the fixed end.

Because the position of each clamping jaw assembly 30 changes correspondingly relative to the mounting frame under the rotation action of the rotating shaft 20, in order to ensure the electrical line connection between the clamping jaw assemblies 30, the pneumatic slip ring 70 is provided, so that the pneumatic slip ring 70 can ensure the connection of the electrical circuit and the air circuit of each clamping jaw assembly 30 when the rotating shaft 20 rotates, and ensure the normal operation of the clamping jaw device 100.

The pneumatic slip ring 70 is a common pneumatic slip ring structure in the market, and the internal structure of the pneumatic slip ring is not described herein again.

In some embodiments, the mounting frame 10 includes a supporting plate 16, the supporting plate 16 has a relief hole 17, the relief hole 17 is used for at least partially penetrating the movable end, the relief hole 17 has a gap with the periphery of the movable end, and the supporting plate 16 is used for circumferentially limiting the movable end. Through being provided with layer board 16 on the mounting bracket 10, dodging hole 17 on layer board 16 can supply the active end of pneumatic sliding ring 70 to wear to establish, dodging hole 17 and the periphery of active end and having the clearance, mainly used carries on spacingly to the active end of pneumatic sliding ring 70, improves the stability of active end when rotary motion.

Wherein, the supporting plate 16 and the motor mounting plate 13 are respectively arranged at the opposite sides of the fixing plate 12, and the supporting plate 16 is arranged on the fixing plate 12 through the connecting rod 15.

In some embodiments, the first drive 80 is provided as a servo motor. The rotation accuracy of the rotary shaft 20 is high by using the servo motor as a power source.

It should be noted that the features of the embodiments in the present application may be combined with each other without conflict.

The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. Clamping jaw device for being assembled at an execution end, characterized by comprising:

a mounting bracket having a connecting portion for connecting with the actuating tip;

the rotating shaft is rotatably arranged on the mounting rack;

the clamping jaw assemblies are distributed at intervals along the circumferential direction of the rotating shaft and used for clamping a target piece;

the first driving piece is arranged on the mounting rack and used for driving the rotating shaft to rotate;

the clamping jaw assembly is used for clamping a target piece, and a buffer assembly is arranged between the clamping jaw assembly and the rotating shaft and used for providing a buffer effect when the target piece is clamped.

2. The jaw apparatus of claim 1, wherein said buffer assembly comprises:

the first sleeve is used for being connected with the rotating shaft, and a sliding cavity is formed in the first sleeve;

the second sleeve is used for being connected with the clamping jaw assembly and is slidably arranged in the sliding cavity;

and the elastic piece is positioned in the sliding cavity and is arranged between the second sleeve and the first sleeve.

3. The clamping jaw device as claimed in claim 2, wherein a guiding column is protruded from an outer wall of the second sleeve, a guiding hole extending along an axial direction of the outer wall of the first sleeve is correspondingly formed in an outer wall of the first sleeve, the guiding column penetrates through the guiding hole, and the guiding hole is used for guiding the guiding column to slide along a length direction of the guiding hole when the second sleeve is subjected to an external force.

4. The jaw apparatus of claim 3, wherein said guide posts are provided in a plurality, and a plurality of said guide posts are spaced circumferentially of said second sleeve.

5. The jaw apparatus of claim 1, wherein said jaw apparatus further comprises:

the coupling is arranged between the output end of the first driving piece and the rotating shaft;

the rolling bearing is arranged on the mounting frame and used for bearing the rotating shaft to bear the radial force of the rotating shaft.

6. The jaw apparatus of claim 1, wherein said jaw assembly comprises:

the mounting plate is connected with the buffer assembly;

the two clamping plates are matched for clamping a target piece;

the second driving piece is arranged on the mounting plate and used for driving at least one of the two clamping plates to move so that the two clamping plates can get close to or get away from each other.

7. The jaw apparatus of claim 6, wherein a side of said mounting plate adjacent said clamping plate has a guide slot, said clamping plate slidably engaging said guide slot.

8. The jaw apparatus of claim 1, further comprising:

the pneumatic slip ring is used for electrically connecting the clamping jaw assemblies when the rotating shaft rotates, and is provided with a fixed end and a movable end, the fixed end is connected with the rotating shaft, and the movable end can rotate relative to the fixed end.

9. The clamping jaw device as claimed in claim 8, wherein said mounting bracket includes a support plate, said support plate having an avoiding hole for at least part of said movable end to pass through, said avoiding hole having a gap with the periphery of said movable end, said support plate being used for circumferential limitation of said movable end.

10. The jaw apparatus of claim 1, wherein said first drive member is configured as a servo motor.

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