CN219522164U - Clamping jaw mechanism and manipulator - Google Patents

Abstract

The utility model discloses a clamping jaw mechanism, which comprises: two clamping fingers; a base; the two sliding parts are arranged on the base in a sliding manner and extend out of two sides of the base respectively, the sliding part on each side is connected with one of the clamping fingers, and the sliding parts are provided with guide holes; the driving assembly comprises a cam, a rotating piece and two bolts, wherein the cam is connected with the rotating piece, and the two bolts are symmetrically arranged on the rotating piece and respectively inserted into the corresponding guide holes; the pushing component is arranged on the base and elastically pushes against the cam, and the driving component is used for driving the rotating piece to rotate when the cam rotates, so that the two bolts inserted into the guide holes drive the two sliding pieces to slide along opposite directions, and the two clamping fingers are close to or far away from each other to clamp or loosen materials. The clamping jaw mechanism provided by the utility model has the advantages that the clamping effect of clamping fingers to clamp or loosen materials is realized, the clamping jaw mechanism has better holding force, and accessories such as an air cylinder and the like are not needed, so that the cost and the production cost of the clamping jaw mechanism are reduced. The utility model also discloses a manipulator.

Description

Clamping jaw mechanism and manipulator

Technical Field

The utility model relates to the technical field of clamping jaw mechanism equipment, in particular to a clamping jaw mechanism and a manipulator.

Background

In general production, a clamping jaw mechanism is required to clamp and loosen materials so as to facilitate the transportation, processing and the like of the materials. The common clamping jaw mechanism is generally composed of an air cylinder, an electromagnetic valve, fingers and the like, compressed air is needed to be used as power when the clamping jaw mechanism grabs materials, the direction of the compressed air is controlled through the electromagnetic valve, the opening and closing functions of the air cylinder are controlled, and therefore the effects of clamping and loosening are achieved. However, since a large number of jaw mechanisms are required to be used in production, the cost of accessories such as air cylinders, solenoid valves and the like of the jaw mechanisms is high, so that the use cost of the jaw mechanisms is high, and the production cost is increased.

Disclosure of Invention

In view of the foregoing, it is necessary to provide a jaw mechanism and a manipulator, which achieve the effects of clamping and loosening through a mechanical structure, and reduce the production cost.

The embodiment of the utility model provides a clamping jaw mechanism, which comprises two clamping fingers and further comprises: the two clamping fingers are respectively arranged on two opposite sides of the base; the two sliding parts are arranged at intervals, are arranged on the base in a sliding mode and extend out of two sides of the base respectively, the sliding parts on each side are connected with one of the clamping fingers, guide holes are formed in the sliding parts, and the extending directions of the guide holes are perpendicular to the sliding directions of the sliding parts; the driving assembly is rotationally arranged on the base and comprises a cam, a rotating piece and two bolts, the cam is fixedly connected with the rotating piece, and the two bolts are symmetrically arranged on the rotating piece relative to the rotation axis of the driving assembly and are respectively inserted into the guide holes corresponding to the sliding piece; the pushing component is arranged on the base, is positioned on one side of the cam and elastically pushes against the cam, and the driving component is used for driving the rotating piece to rotate when the cam rotates, so that two bolts inserted into the guide holes drive the two sliding pieces to slide in opposite directions, and further the two clamping fingers are close to or far away from each other to be used for clamping or loosening materials.

According to the clamping jaw mechanism, the rotating piece is driven to rotate by the cam through rotating the cam, and then the two sliding pieces are driven to slide in opposite directions through the two bolts and the two guide holes, so that the two clamping fingers are close to or far away from each other and are used for clamping or loosening materials; the pushing component elastically pushes against the cam, so that the cam is prevented from reversely rotating, and the clamping jaw mechanism has better holding force no matter being opened or closed. According to the clamping jaw mechanism provided by the embodiment of the utility model, the mechanical structure formed by the base, the two sliding parts, the driving assembly and the pushing assembly is used for realizing the effect of clamping or loosening materials by the two clamping fingers, the clamping jaw mechanism has good holding force, accessories such as an air cylinder and an electromagnetic valve are not needed, electric and gas resources are saved, and the cost and the production cost of the clamping jaw mechanism are reduced.

In some embodiments, the cam has a diamond structure, the number of the pushing components is two, and the two pushing components are respectively arranged at two sides of the cam along the sliding direction of the sliding piece so as to elastically push the cam.

In some embodiments, the pushing component includes an elastic element, a pushing element and a fixing element, where the fixing element is fixedly disposed on the base, one end of the elastic element abuts against the fixing element, the other end of the elastic element abuts against the pushing element, and the pushing element elastically pushes against the cam under the action of the elasticity of the elastic element.

In some embodiments, the clamping jaw mechanism further comprises two limiting members, the two limiting members are arranged at intervals, the two limiting members are slidably arranged on the base and respectively extend out of two sides of the base, the limiting member on each side is connected with one of the clamping fingers, the two limiting members are arranged above the two sliding members and correspond to each other one by one, and the sliding member connected with one clamping finger is arranged below the limiting member connected with the other clamping finger; the two limiting parts are respectively arranged at two sides of the cam along the extending direction of the guide hole, the cam is provided with a first diagonal line and a second diagonal line which are perpendicular to each other, and the distance between the two limiting parts is larger than the length of the second diagonal line and smaller than the length of the first diagonal line.

In some embodiments, the sliding member is provided with a stop portion protruding along at least one side of the extending direction of the guide hole, and the guide hole extends to the stop portion, and the stop portion is used for limiting the sliding range of the sliding member on the base.

In some embodiments, the clamping jaw mechanism further comprises a connecting plate and two guiding pieces arranged on the connecting plate, wherein the connecting plate is connected to the lower side of the base and is positioned between the two clamping fingers, so that the guiding pieces are used for guiding the clamping jaw mechanism when materials are taken and placed.

In some embodiments, the drive assembly further comprises a connector having one end connected to the cam and the other end for connecting to a robotic arm.

In some embodiments, the side surface of the clamping finger facing the base is provided with an avoidance groove, and the avoidance groove of one clamping finger is correspondingly arranged with one end of the sliding piece connected to the other clamping finger, which is away from the other clamping finger.

In some embodiments, the clamping finger is provided with a bearing part for bearing materials, and the bearing part extends towards the base along the sliding direction of the sliding piece.

The embodiment of the utility model also provides a mechanical arm, which comprises the clamping jaw mechanism according to any one of the technical schemes.

According to the mechanical structure clamping jaw mechanism formed by the base, the two sliding parts, the driving assembly and the pushing assembly, the effect of clamping or loosening materials by the two clamping fingers is achieved, the clamping jaw mechanism of the mechanical hand has good holding force, accessories such as an air cylinder and an electromagnetic valve are not needed, electric and gas resources are saved, and the cost and the production cost of the mechanical hand are reduced.

Drawings

Fig. 1 is a schematic perspective view of a jaw mechanism according to an embodiment of the present utility model.

Fig. 2 is an exploded view of the jaw mechanism shown in fig. 1.

Fig. 3 is a schematic view of yet another exploded construction of the jaw mechanism shown in fig. 1.

Fig. 4 is a top view of the jaw mechanism of fig. 1 with the upper and middle plates omitted.

Fig. 5 is a schematic view of the jaw mechanism of fig. 4 with the cam rotated to a first position.

Fig. 6 is a schematic view of the jaw mechanism of fig. 4 with the cam rotated to a second position.

Description of the main reference signs

Jaw mechanism 100

Finger 10

Avoidance groove 12

Support portion 14

Base 20

Upper plate 22

Middle plate 24

Lower plate 26

Slider 30

Guide hole 32

Stop 34

Drive assembly 40

Cam 42

First diagonal 422

Second diagonal 424

Rotating member 44

Latch 46

Connector 48

Pushing assembly 50

Elastic member 52

Push member 54

Fixing member 56

Stop 60

Connecting plate 70

Guide 80

Detailed Description

Embodiments of the present utility model are described in detail below, examples of which are illustrated in the accompanying drawings, wherein the same or similar reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary only for explaining the present utility model and are not to be construed as limiting the present utility model.

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

In the description of the present utility model, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; the two components can be connected in a mechanical mode, can be electrically connected or can be communicated with each other, can be directly connected, can be indirectly connected through an intermediate medium, and can be communicated with each other inside the two components or can be in interaction relation with each other. The specific meaning of the above terms in the present utility model can be understood by those of ordinary skill in the art according to the specific circumstances.

Some embodiments of the present utility model will be described in detail below with reference to the accompanying drawings.

Referring to fig. 1, an embodiment of the present utility model provides a clamping jaw mechanism 100, wherein the clamping jaw mechanism 100 includes a clamping finger 10, a base 20, a slider 30, a driving assembly 40 and a pushing assembly 50.

Specifically, referring to fig. 2 and 3 in combination, the number of the clamping fingers 10 is two, when the two clamping fingers 10 are close to each other, they are used for clamping materials, and when they are far away from each other, the clamping fingers 10 may be made of plastic, rubber or other non-metal materials, or may be made of metal materials such as iron, aluminum, stainless steel, or may include both non-metal materials and metal materials, for example, the part of the clamping fingers 10 used for contacting the materials is non-metal material, and the other part is metal material, which may be specifically set according to the actual situation.

The base 20 is used for supporting the clamping fingers 10, the sliding piece 30, the driving assembly 40 and the pushing assembly 50, so that the clamping jaw mechanism 100 is arranged in a centralized manner, and the two clamping fingers 10 are respectively arranged on two opposite sides of the base 20.

The number of the sliding pieces 30 is two, the two sliding pieces 30 are arranged at intervals, the two sliding pieces 30 are arranged in the base 20 in a sliding mode and respectively extend out of two sides of the base 20, namely one sliding piece 30 extends out of one side of the base 20, the other sliding piece 30 extends out of the other side of the base 20, the sliding piece 30 on each side is connected with one corresponding clamping finger 10, the sliding piece 30 is provided with a guide hole 32, and the extending direction of the guide hole 32 is mutually perpendicular to the sliding direction of the sliding piece 30. The guide hole 32 is formed on a side of the middle of the slider 30, which is away from the corresponding finger 10.

The driving assembly 40 is rotatably disposed on the base 20, the driving assembly 40 includes a cam 42, a rotating member 44, and two pins 46, the two pins 46 are respectively corresponding to the two sliding members 30 one by one, the cam 42 and the rotating member 44 are fixedly connected, the two pins 46 are symmetrically disposed on the rotating member 44 relative to the rotation axis of the driving assembly 40, and the two pins 46 are respectively inserted into the guide holes 32 of the corresponding sliding members 30. Wherein the cam 42 may have a diamond-shaped structure, the cam 42 has a first diagonal 422 and a second diagonal 424 perpendicular to each other, and the first diagonal 422 has a length greater than that of the second diagonal 424.

The pushing component 50 is disposed on the base 20 and located on one side of the cam 42 and elastically pushes against the cam 42, and the driving component 40 is configured to rotate the rotating member 44 when the cam 42 rotates, so that the two pins 46 inserted into the guiding holes 32 drive the two sliding members 30 to slide in opposite directions, i.e. the sliding directions of the two sliding members 30 are opposite, so that the two clamping fingers 10 are close to or far away from each other, and the two clamping fingers 10 can be used for clamping or loosening materials. The number of the pushing components 50 may be two, and the two pushing components 50 are respectively disposed on two sides of the cam 42 along the sliding direction of the sliding member 30 to elastically push against the cam 42.

The operation of the jaw mechanism 100 of the present embodiment is described below in conjunction with fig. 4, 5 and 6, and it should be understood that this is not a limitation of the embodiments of the present utility model.

Referring to fig. 4, the two fingers 10 of the jaw mechanism 100 are in an open state, the cam 42 is in an initial position, two opposite sides of the cam 42 are substantially parallel to the sliding direction of the slider 30, and the two pushing components 50 respectively provide forces to the cam 42, so that the two fingers 10 of the jaw mechanism 100 have a better opening force. At this point, the jaw mechanism 100 may be moved toward the material such that two gripping fingers 10 are located on either side of the material to be gripped.

Referring to fig. 5, the cam 42 is rotated counterclockwise to a first position where a first diagonal 422 of the cam 42 is substantially parallel to the sliding direction of the sliding member 30, during the rotation of the cam 42 from the initial position to the first position, two acute angle corners of the cam 42 respectively support the two opposite pushing components 50, so that the pushing components 50 shrink to generate a larger elastic force, and meanwhile, the cam 42 drives the rotating member 44 to rotate counterclockwise, and the rotating member 44 drives the two sliding members 30 to slide in opposite directions through the two pins 46 and the two guide holes 32, so that the two fingers 10 approach each other.

Referring to fig. 6, the cam 42 is continuously rotated counterclockwise to a second position where two opposite sides of the cam 42 are substantially parallel to the sliding direction of the sliding member 30, during the rotation of the cam 42 from the first position to the second position, two acute corners of the cam 42 no longer respectively abut against the corresponding abutment assemblies 50, the abutment assemblies 50 release the elastic force to abut against the cam 42 in the rotating direction of the cam 42, and at the same time, the cam 42 continuously drives the rotating member 44 to rotate counterclockwise, and the rotating member 44 drives the two sliding members 30 to continuously slide in opposite directions through the two pins 46 and the two guide holes 32, so that the two clamping fingers 10 continuously approach each other, thereby clamping the material. When the cam 42 rotates to the second position, the two pushing components 50 respectively provide forces for the cam 42, so that the cam 42 has a tendency to continue to rotate anticlockwise, and the situation that the cam 42 rotates in the opposite direction is avoided, so that the two clamping fingers 10 of the clamping jaw mechanism 100 have better clamping force when closed, and the effect of clamping materials is achieved.

It will be appreciated that when it is desired to loosen material, the two fingers 10 may be moved away from each other by rotating the cam 42 in a clockwise direction, so that the material may be loosened.

In other embodiments, the cam 42 may also be elliptical, semi-diamond, or other configurations. Accordingly, when the cam 42 has a semi-elliptical or semi-diamond configuration, the number of the pushing members 50 may be one.

Referring to fig. 2 and 3, in the present embodiment, the base 20 includes an upper plate 22, a middle plate 24 and a lower plate 26 sequentially connected from top to bottom, the upper plate 22 is used for adapting the cam 42 and the pushing component 50, the middle plate 24 is used for adapting the rotating member 44, and the lower plate 26 is used for adapting the sliding member 30. In order to adaptively set the cam 42, the pushing component 50, the rotating component 44, and the sliding component 30, the upper plate 22, the middle plate 24, and the lower plate 26 are respectively provided with corresponding grooves, holes, and other structures, for example, the lower plate 26 is provided with grooves for adapting to the sliding component 30, the middle plate 24 is provided with holes adapting to the rotating component 44, and the upper plate 22 is provided with grooves adapting to the cam 42 and the pushing component 50, which are not described in detail in the embodiment of the utility model.

In this embodiment, the driving assembly 40 further includes a connecting member 48, where the connecting member 48 is substantially rod-shaped, and one end of the connecting member 48 is connected to the cam 42 and the other end of the connecting member 48 is used to connect to a mechanical arm (not shown). Thus, by arranging the connecting piece 48, the clamping jaw mechanism 100 can be connected with the mechanical arm, and the mechanical arm drives the cam 42 to rotate anticlockwise and clockwise through the connecting piece 48, so that the clamping jaw mechanism 100 achieves the effects of clamping and loosening materials; in addition, through the arm, can also drive clamping jaw mechanism 100 and material and remove to realize transporting the efficiency of material.

In this embodiment, the pushing component 50 includes an elastic member 52, a pushing member 54 and a fixing member 56, the fixing member 56 is fixedly disposed on the base 20, one end of the elastic member 52 abuts against the fixing member 56, the other end of the elastic member 52 abuts against the pushing member 54, and the pushing member 54 elastically abuts against the cam 42 under the elastic force of the elastic member 52. In a specific arrangement, each pushing component 50 includes two fixing members 56 and two elastic members 52, the elastic members 52 are springs, the pushing members 54 are generally in a bench shape, and the elastic members 52 are pre-tightly arranged between the upper plate 22 of the base 20 and the pushing members 54. Thus, by providing the pushing component 50 including the elastic member 52 and the pushing member 54, the pushing component 50 has a simple structure and low cost, which is beneficial to reducing the cost of the clamping jaw mechanism 100; in addition, the pushing piece 54 has a larger area and always abuts against the cam 42, so that the pushing component 50 can always provide a force to the cam 42; the two elastic members 52 are beneficial to ensuring the balance of the pushing member 54, and avoiding the pushing member 54 from deflecting and not effectively abutting the cam 42.

In other embodiments, the number of the elastic members 52 of each pushing assembly 50 may be more or less, and the shape of the pushing member 54 may be adaptively set according to the number of the elastic members 52, and may be specifically set according to practical situations.

In this embodiment, the securing member 56 is generally sheet-like or plate-like, and in some embodiments, the securing member 56 may be attached to the middle plate 24 of the base 20 or the upper plate 22 of the base 20. Further, in one embodiment, the securing members 56 are disposed on an outer side of the upper plate 22 of the base 20. Thus, when the pushing assembly 50 is installed, the pushing member 54 is firstly disposed in the upper plate 22, such that the pushing member 54 abuts against the cam 42, then the elastic member 52 is inserted from the outer side surface of the upper plate 22, such that the elastic member 52 abuts against the pushing member 54, and then the fixing member 56 is fixed on the outer side surface of the upper plate 22, such that the elastic member 52 is compressed in the upper plate 22 to provide a pre-tightening force, thereby realizing the installation of the pushing assembly 50, and reducing the installation difficulty of the pushing assembly 50.

In this embodiment, in order to further ensure the moving precision of the clamping finger 10, the clamping jaw mechanism 100 further includes two limiting members 60, the two limiting members 60 are disposed at intervals, the two limiting members 60 are slidably disposed on the upper plate 22 of the base 20 and respectively extend out of two sides of the upper plate 22 of the base 20, the limiting member 60 on each side is connected with one of the clamping fingers 10, the two limiting members 60 are disposed above the two sliding members 30 and in one-to-one correspondence, the sliding member 30 connected to one clamping finger 10 is disposed under the limiting member 60 connected to the other clamping finger 10, i.e. the limiting member 60 and the sliding member 30 connected to one clamping finger 10 are diagonally disposed. Along the extending direction of the guide hole 32, two limiting members 60 are respectively disposed at two sides of the cam 42, and a distance between the two limiting members 60 is greater than a length of the second diagonal 424 and less than a length of the first diagonal 422. Therefore, by arranging the two limiting pieces 60 and limiting the limiting pieces 60 and the sliding pieces 30 connected to the same clamping finger 10 to be diagonally arranged, the limiting pieces 60 and the sliding pieces 30 are matched to ensure the moving precision of the clamping finger 10, and the situation that the clamping finger 10 is deviated during moving is effectively avoided; by defining the relationship between the distance between the two limiting members 60 and the first diagonal 422 and the second diagonal 424, the two limiting members 60 can also limit the rotation range of the cam 42, so that the excessive rotation of the cam 42 is avoided, the excessive clamping of the clamping jaw mechanism 100 is avoided, the clamping force of the clamping jaw mechanism 100 is ensured, and the normal use of the clamping jaw mechanism 100 can be ensured.

In this embodiment, each sliding member 30 is provided with a stop portion 34 protruding from both sides of the guiding hole 32 along the extending direction, and both sides of the guiding hole 32 extend to the stop portions 34, respectively, and the stop portions 34 are used to limit the sliding range of the sliding member 30 on the lower plate 26 of the base 20, that is, the sliding member 30 slides and stops on the lower plate 26 of the base 20 through the stop portions 34, so as to limit the sliding range of the sliding member 30. In this way, by limiting the specific structure of the sliding member 30, the sliding member 30 can stop on the lower plate 26 of the base 20, so as to avoid the situation that the sliding member 30 is separated from the base 20 due to excessive sliding, and ensure the use stability of the clamping jaw mechanism 100; in addition, by stopping the sliding member 30 on the lower plate 26 of the base 20, the rotation range of the cam 42 can be indirectly limited, so as to further ensure the clamping force of the clamping jaw mechanism 100 and ensure the normal use of the clamping jaw mechanism 100.

In other embodiments, a stop 34 may also be provided protruding on one side of each slider 30 along the extending direction of the guide hole 32. The shape of the stopper 60 and the shape of the slider 30 may be the same or different, and may be specifically defined according to the actual situation.

In this embodiment, in order to ensure the accuracy of the gripping device 100 in taking and placing materials, the gripping device 100 further includes a connecting plate 70 and two guiding members 80 disposed on the connecting plate 70, wherein the connecting plate 70 is connected to the lower side of the lower plate 26 of the base 20 and is located between the two gripping fingers 10, the gripping device 100 is guided by the two guiding members 80 when taking and placing materials, and a connecting line between the two gripping fingers 10 is perpendicular to a connecting line between the two guiding members 80. Thus, when the jaw mechanism 100 grips the material, the guide 80 is first inserted into the pin hole for positioning to guide the moving path of the jaw mechanism 100, thereby ensuring the material taking accuracy of the jaw mechanism 100. When the jaw mechanism 100 is placed with material, first, the guide 80 is inserted into the pin hole for positioning to guide the moving path of the jaw mechanism 100, thereby ensuring the discharging accuracy of the jaw mechanism 100. When specifically provided, the end of the guide 80 remote from the web 70 is generally conical, thereby allowing the guide 80 to be inserted relatively easily into the pin bore. It will be appreciated that the pin holes may be provided in a tray for carrying material.

In this embodiment, in order to promote the closing range of two clamping fingers 10, the side of each clamping finger 10 facing the base 20 is provided with the avoidance groove 12, the avoidance groove 12 on one clamping finger 10 is correspondingly arranged with one end of the sliding member 30 connected to the other clamping finger 10, which is away from the other clamping finger 10, one clamping finger 10 is also provided with the other avoidance groove 12 correspondingly arranged with one end of the limiting member 60 connected to the other clamping finger 10, which is away from the corresponding clamping finger 10, and the number of the avoidance grooves 12 is two. Thus, when the two clamping fingers 10 are close to each other, the sliding member 30 and the limiting member 60 can be inserted into the avoiding groove 12 of the opposite clamping fingers 10, so as to promote the closing range of the two clamping fingers 10, facilitate grabbing materials with smaller size, and promote the application range of the clamping jaw mechanism 100. When the guide hole 32 is specifically provided, the avoiding grooves 12 penetrate the clip finger 10 along the extending direction of the guide hole 32, and the two avoiding grooves 12 are provided at intervals.

In this embodiment, each finger 10 is provided with a supporting portion 14 for supporting a material, the supporting portion 14 extends toward the base 20 along the sliding direction of the sliding member 30, and the free end of the supporting portion 14 is substantially wedge-shaped. In this way, the holding part 14 is arranged on the clamping finger 10, so that the clamping finger 10 can also hold the material when clamping the material, and the clamping jaw mechanism 100 can be ensured to clamp the material effectively; by arranging the free end of the bearing part 14 to be approximately wedge-shaped, the bearing part 14 of the clamping finger 10 is convenient to insert into the bottom of the material when the clamping finger 10 clamps the material, and the material taking efficiency is improved.

The embodiment of the utility model also provides a manipulator (not shown), which comprises the clamping jaw mechanism 100 according to the technical scheme. The manipulator may further include a mechanical arm, where the mechanical arm is connected with the connecting piece 48 of the clamping jaw mechanism 100, and the mechanical arm provides an acting force for the clamping jaw mechanism 100 to rotate the cam 42, so that the clamping jaw mechanism 100 achieves the effects of clamping and loosening materials, and the mechanical arm may further drive the clamping jaw mechanism 100 to move, so as to achieve the effect of transferring the materials. In addition, because the clamping jaw mechanism 100 has better holding force, the mechanical arm can also drive the clamping jaw mechanism 100 to polish materials and the like.

It will be evident to those skilled in the art that the utility model is not limited to the details of the foregoing illustrative embodiments, and that the present utility model may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive, the scope of the utility model being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein.

Finally, it should be noted that the above-mentioned embodiments are merely for illustrating the technical solution of the present utility model and not for limiting the same, and although the present utility model has been described in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications and equivalents may be made to the technical solution of the present utility model without departing from the spirit and scope of the technical solution of the present utility model.

Claims (10)

1. A jaw mechanism comprising two gripping fingers, further comprising:

the two clamping fingers are respectively arranged on two opposite sides of the base;

the two sliding parts are arranged at intervals, are arranged on the base in a sliding mode and extend out of two sides of the base respectively, the sliding parts on each side are connected with one of the clamping fingers, guide holes are formed in the sliding parts, and the extending directions of the guide holes are perpendicular to the sliding directions of the sliding parts;

the driving assembly is rotationally arranged on the base and comprises a cam, a rotating piece and two bolts, the cam is fixedly connected with the rotating piece, and the two bolts are symmetrically arranged on the rotating piece relative to the rotation axis of the driving assembly and are respectively inserted into the guide holes corresponding to the sliding piece;

the pushing component is arranged on the base, is positioned on one side of the cam and elastically pushes against the cam, and the driving component is used for driving the rotating piece to rotate when the cam rotates, so that the two bolts inserted into the guide holes drive the two sliding pieces to slide along opposite directions, and further the two clamping fingers are close to or far away from each other to clamp or loosen materials.

2. A jaw mechanism according to claim 1, wherein the cams are diamond-shaped, the number of the pushing members is two, and the pushing members are respectively arranged at two sides of the cams along the sliding direction of the sliding member so as to elastically push the cams.

3. A jaw mechanism according to claim 2, wherein the pushing component comprises an elastic member, a pushing member and a fixing member, the fixing member is fixedly arranged on the base, one end of the elastic member is abutted against the fixing member, the other end of the elastic member is abutted against the pushing member, and the pushing member elastically pushes against the cam under the action of the elastic force of the elastic member.

4. The clamping jaw mechanism as claimed in claim 2, further comprising two limiting members, wherein the two limiting members are arranged at intervals, the two limiting members are slidably arranged on the base and respectively extend out of two sides of the base, the limiting member on each side is connected with one of the clamping fingers, the two limiting members are arranged above the two sliding members and correspond to each other one by one, and the sliding member connected with one clamping finger is arranged below the limiting member connected with the other clamping finger; the two limiting parts are respectively arranged at two sides of the cam along the extending direction of the guide hole, the cam is provided with a first diagonal line and a second diagonal line which are perpendicular to each other, and the distance between the two limiting parts is larger than the length of the second diagonal line and smaller than the length of the first diagonal line.

5. A jaw mechanism according to claim 1, wherein the slide is provided with a stop protruding from at least one side of the direction of extension of the guide hole, the guide hole extending to the stop, the stop defining a sliding range of the slide on the base.

6. A jaw mechanism according to claim 1, further comprising a web and two guides provided to the web, the web being connected to the underside of the base between the two gripping fingers for guiding the jaw mechanism in the removal of material using the guides.

7. A jaw mechanism according to claim 1, wherein the drive assembly further comprises a connector member having one end connected to the cam and the other end for connection to a robotic arm.

8. A jaw mechanism according to claim 1, wherein the side of the gripping fingers facing the base is provided with a relief groove, the relief groove of one gripping finger being provided in correspondence with an end of the slider connected to the other gripping finger facing away from the other gripping finger.

9. A jaw mechanism according to claim 1, wherein the fingers are provided with a support for supporting material, the support extending in the sliding direction of the slider towards the base.

10. A manipulator comprising a jaw mechanism as claimed in any one of claims 1-9.