CN219582881U - Telescopic claw device - Google Patents

Abstract

The utility model relates to a telescopic claw device, and belongs to the field of mechanical arm accessories. Comprising the following steps: the clamping jaw lifting plate, the clamping jaw base plate, the clamping jaw wrench, the clamping jaw rods and the connecting plates; the claw hanging plate is arranged above the claw base plate, the upper ends and the lower ends of the connecting plates are connected with the claw hanging plate and the claw base plate in a one-to-one correspondence mode, the claw wrench is rotatably installed on the claw base plate, and the claw rod penetrates through the side wall of the claw base plate in a telescopic mode. The utility model is beneficial to carrying the workpiece under water through the telescopic claw.

Description

Telescopic claw device

Technical Field

The utility model relates to the field of mechanical arm accessories, in particular to a telescopic claw device.

Background

Along with the continuous extension and pushing of mechanization and automation, the manipulator is widely applied in the industrial field, so that not only is a great deal of labor cost saved, but also the production process is optimized, and the working efficiency is improved. The manipulator has the advantages of strong adaptability in a plurality of subdivision fields of industry, such as the loading and unloading manipulator in the lathe field, the handling manipulator or the stacking manipulator in the handling field, the welding manipulator or the cutting manipulator in the laser field, the spraying manipulator … … in the automobile processing field, the body of the manipulator is formed by multi-axis combination, different connecting terminals are required to be selected according to different application functions and scenes, and the loading and unloading manipulator is required to be selected as a terminal of the manipulator by using a material taking or discharging mechanism matched with a workpiece, so that the actions of taking and loading can be completed by using the manipulator. In combination with a carrying scene and an underwater working environment, a manipulator terminal device for carrying a workpiece underwater by utilizing a telescopic claw needs to be designed.

Disclosure of Invention

The technical problems to be solved by the utility model are as follows: a retractable claw device is provided, which can carry a workpiece semi-automatically under water.

The technical scheme for solving the technical problems is as follows: a telescoping jaw assembly comprising: the clamping jaw lifting plate, the clamping jaw base plate, the clamping jaw wrench, the clamping jaw rods and the connecting plates; the claw hanging plate is arranged above the claw base plate, the upper ends and the lower ends of the connecting plates are connected with the claw hanging plate and the claw base plate in a one-to-one correspondence mode, the claw wrench is rotatably installed on the claw base plate, and the claw rod penetrates through the side wall of the claw base plate in a telescopic mode.

The beneficial effects of the utility model are as follows: the telescopic claw device is connected with the tail end of the manipulator through the claw hanging plate; the jaw substrate is used as a main working part, so that the jaw rod is controlled to stretch in and out of the jaw substrate under the action of the jaw wrench, and the purposes of grabbing and placing workpieces are achieved; the connecting plate is favorable for connecting the claw base plate to the claw hanging plate and then is connected with the terminal of the manipulator.

On the basis of the technical scheme, the utility model can be improved as follows.

Further, the jaw substrate includes: the base plate comprises a plurality of oblong holes, two first connecting rods, two movable sliding grooves, a base plate base body and a plurality of limit grooves, wherein the two movable sliding grooves are arranged on the two first connecting rods in a one-to-one correspondence mode, the first connecting rods and the movable sliding grooves are all arranged in the base plate base body, the oblong holes penetrate through the base plate base body up and down, and the limit grooves are formed in the top surface of the base plate base body.

The beneficial effects of adopting the further scheme are as follows: the structure of the base plate base body and the oblong hole is beneficial to reducing the weight of the whole device on one hand, and on the other hand, the manipulator is beneficial to discharging water entering the base plate base body when carrying, picking and placing the workpiece underwater and when moving from water to air, so that the load of the manipulator is reduced.

Further, the base plate base body is of a hollow shell structure, the limiting grooves are of a circular groove-shaped structure, and the limiting grooves are symmetrically distributed about the center of the jaw wrench.

The beneficial effects of adopting the further scheme are as follows: the limit grooves are matched with spring collision beads on the jaw wrench, so that self-locking is facilitated, the jaw wrench is fixed in the two limit grooves which are symmetrical in center, and accordingly the jaw rod keeps a posture of extending out of the substrate body.

Further, the two first connecting rods are L-shaped rod-shaped structures which are symmetrically arranged left and right, the front ends and the rear ends of the first connecting rods are in one-to-one corresponding connection with the inner walls of the front end and the rear end of the substrate base body, and the movable sliding chute is an oblong through hole arranged on the horizontal plane of the first connecting rods.

The beneficial effects of adopting the further scheme are as follows: the first connecting rod plays a role in transmitting power, namely, the action of the jaw wrench is transmitted to the jaw rod; the movable chute determines the length of the clamping claw rod which is retracted to the substrate base body by limiting the rotation angle of the clamping claw wrench.

Further, the jaw wrench includes: the wrench comprises a wrench base body, a second connecting rod, a third connecting rod, two positioning columns and two spring collision beads, wherein the spring collision beads are arranged at the bottom end of the wrench base body, the second connecting rod vertically penetrates through the wrench base body, the second connecting rod is vertically connected with the third connecting rod, and the positioning columns are arranged on the third connecting rod.

Further, the spanner base member is cavity shell structure, and two spring collision beads one-to-one set up the spanner base member bottom is on both sides about, the second connecting rod is for setting up the shaft-like structure in the middle of the spanner base member, the second connecting rod with connect in the middle of the third connecting rod, two the reference column is the one-to-one sets up the columnar structure on both sides about the third connecting rod top.

The beneficial effects of adopting the further scheme are as follows: the wrench base body is used for providing a manually operated object when the telescopic rotation state of the clamping claw rod is changed every time, and the second connecting rod is used for transmitting the rotation of the wrench base body to the third connecting rod and the positioning column on the third connecting rod.

Further, two the reference columns are in one-to-one correspondence and are in adaptive sliding connection with two movable sliding grooves, and the spring collision beads are of hemispherical structures matched with the limiting grooves.

The beneficial effects of adopting the further scheme are as follows: the positioning column is in sliding fit with the movable chute, so that the movement of the jaw wrench is transmitted to the jaw matrix, and power is provided for the expansion and contraction of the jaw rod; the adaptation of spring ball and spacing groove is then favorable to forming the auto-lock with the jack catch spanner, and then makes the jack catch pole maintain the flexible state.

Further, the claw rod comprises a telescopic rod and a spring, the telescopic rod penetrates through the left side wall and the right side wall of the substrate base body and is of a rod-shaped structure, and the spring penetrates through the vertical surface of the first connecting rod.

Further, the spring is sleeved on one end of the telescopic rod, which is positioned inside the substrate base body, and one end of the telescopic rod, which is far away from the inside of the substrate base body, is of a conical structure.

The beneficial effects of adopting the further scheme are as follows: the telescopic rod is used as a main part connected with the workpiece, and the inner end far away from the substrate body is arranged into a conical structure, so that the telescopic rod is beneficial to better inserting the workpiece into the workpiece and is beneficial to stably taking and placing the workpiece; the spring is sleeved with the telescopic rod, so that the elastic force of the spring is transmitted to the telescopic rod, the reverse thrust is conveniently provided when the telescopic rod retreats into the substrate body, and the force application during manual operation is reduced; the connection of the spring and the vertical surface of the first connecting rod is favorable for transmitting the rotation of the jaw wrench to the telescopic rod, so that the telescopic rod is promoted to extend out of the substrate base body.

Further, the claw hanging plate is connected with the tail end of the manipulator through a flange, and the connecting plate is of a hollowed-out plate-shaped structure with the claw hanging plate and the claw base plate being matched with each other in size.

The beneficial effects of adopting the further scheme are as follows: the claw hanging plate is beneficial to fixing the whole device at the tail end of the manipulator, so that the whole device is used as a picking and placing component of the manipulator; the structure of the connecting plate is beneficial to reducing the weight of the whole device while connecting the claw substrates, thereby reducing the work load of the manipulator.

Drawings

FIG. 1 is a schematic diagram of an overall structure according to an embodiment of the present utility model;

fig. 2 is a schematic connection diagram of a jaw substrate, a jaw wrench and a jaw rod according to an embodiment of the present utility model;

FIG. 3 is a schematic diagram showing an internal structure of a jaw substrate according to an embodiment of the present utility model;

fig. 4 is a schematic diagram of an internal structure of a jaw substrate according to an embodiment of the present utility model;

fig. 5 is a schematic diagram of a jaw wrench according to an embodiment of the present utility model;

fig. 6 is a schematic structural diagram of a telescopic rod according to an embodiment of the present utility model.

Wherein the double-headed arrow in fig. 1 indicates the mounting orientation of the components.

In the drawings, the list of components represented by the various numbers is as follows:

1. claw hanging plates; 2. a claw substrate; 3. a jaw wrench; 4. a detent lever; 5. a connecting plate; 21. a slotted hole; 22. a first link; 23. a movable chute; 24. a substrate base; 25. a limit groove; 31. a wrench base; 32. a second link; 33. a third link; 34. positioning columns; 35. spring ball; 41. a telescopic rod; 42. and (3) a spring.

Detailed Description

The principles and features of the present utility model are described below with examples given for the purpose of illustration only and are not intended to limit the scope of the utility model.

As shown in fig. 1, a telescopic jaw apparatus includes: a claw hanging plate 1, a claw base plate 2, a claw wrench 3, a plurality of claw rods 4 and a plurality of connecting plates 5; the claw hanging plate 1 is arranged above the claw base plate 2, the claw hanging plate 1 and the claw base plate 2 are connected to the upper end and the lower end of the connecting plates 5 in a one-to-one correspondence mode, the claw wrench 3 is rotatably installed on the claw base plate 2, and the claw rod 4 telescopically penetrates through the side wall of the claw base plate 2.

The following description is needed: the jaw rod 4 in the technical scheme of the utility model is mainly used for forming a correspondence with a workpiece, namely, a hole-shaped structure matched with the jaw rod 4 is arranged on the side wall of the workpiece, when other types of workpieces need to be taken, placed and carried, the jaw rod 4 matched with the workpiece can be designed according to the carrying hole positions of the other types of workpieces, but the carrying, taking and carrying principle still extends and contracts through the jaws.

The beneficial effects of the utility model are as follows: the telescopic claw device is connected with the tail end of the manipulator through the claw hanging plate; the jaw substrate is used as a main working part, so that the jaw rod is controlled to stretch in and out of the jaw substrate under the action of the jaw wrench, and the purposes of grabbing and placing workpieces are achieved; the connecting plate is favorable for connecting the claw base plate to the claw hanging plate and then is connected with the terminal of the manipulator.

Preferably, as shown in fig. 3 and 4, the jaw substrate 2 includes: the novel glass substrate comprises a plurality of oblong holes 21, two first connecting rods 22, two movable sliding grooves 23, a substrate base 24 and a plurality of limiting grooves 25, wherein the two movable sliding grooves 23 are arranged on the two first connecting rods 22 in a one-to-one correspondence manner, the first connecting rods 22 and the movable sliding grooves 23 are all arranged in the substrate base 24, the oblong holes 21 are through holes penetrating through the substrate base 24 up and down, and the limiting grooves 25 are arranged on the top surface of the substrate base 24.

The beneficial effects of adopting the preferable scheme are as follows: the structure of the base plate base body and the oblong hole is beneficial to reducing the weight of the whole device on one hand, and on the other hand, the manipulator is beneficial to discharging water entering the base plate base body when carrying, picking and placing the workpiece underwater and when moving from water to air, so that the load of the manipulator is reduced.

Preferably, as shown in fig. 3 and 4, the substrate base 24 is a hollow shell structure, the limiting grooves 25 are in a circular groove structure, and a plurality of the limiting grooves 25 are symmetrically distributed about the center of the jaw wrench 3.

The beneficial effects of adopting the preferable scheme are as follows: the limit grooves are matched with spring collision beads on the jaw wrench, so that self-locking is facilitated, the jaw wrench is fixed in the two limit grooves which are symmetrical in center, and accordingly the jaw rod keeps a posture of extending out of the substrate body.

Preferably, as shown in fig. 3 and 4, the two first links 22 are L-shaped rod structures symmetrically arranged left and right, the front and rear ends of the first links 22 are in one-to-one abutting contact with the inner walls of the front and rear ends of the substrate base 24, and the movable chute 23 is an oblong through hole arranged on the horizontal plane of the first link 22.

The beneficial effects of adopting the preferable scheme are as follows: the first connecting rod plays a role in transmitting power, namely, the action of the jaw wrench is transmitted to the jaw rod; the movable chute determines the length of the clamping claw rod which is retracted to the substrate base body by limiting the rotation angle of the clamping claw wrench.

Preferably, as shown in fig. 5, the jaw wrench 3 includes: the wrench comprises a wrench body 31, a second connecting rod 32, a third connecting rod 33, two positioning columns 34 and two spring collision beads 35, wherein the spring collision beads 35 are arranged at the bottom end of the wrench body 31, the second connecting rod 32 vertically penetrates through the wrench body 31, the second connecting rod 32 is vertically connected with the third connecting rod 33, and the positioning columns 34 are arranged on the third connecting rod 33.

Preferably, as shown in fig. 5, the wrench base 31 is a hollow shell structure, two spring balls 35 are disposed on the left and right sides of the bottom end of the wrench base 31 in a one-to-one correspondence manner, the second connecting rod 32 is a rod structure disposed in the middle of the wrench base 31, the second connecting rod 32 is connected with the middle of the third connecting rod 33, and two positioning columns 34 are disposed on the left and right sides of the top end of the third connecting rod 33 in a one-to-one correspondence manner.

The beneficial effects of adopting the preferable scheme are as follows: the wrench base body is used for providing a manually operated object when the telescopic rotation state of the clamping claw rod is changed every time, and the second connecting rod is used for transmitting the rotation of the wrench base body to the third connecting rod and the positioning column on the third connecting rod.

Preferably, as shown in fig. 2 to 5, the two positioning posts 34 are slidably connected with the two movable sliding grooves 23 in a one-to-one correspondence manner, and the spring collision beads 35 are hemispherical structures matched with the limiting grooves 25.

The following description is needed: in the preferred embodiment of the present utility model, the two positioning posts 34 are slidably connected to the two movable sliding grooves 23 in a one-to-one correspondence manner, that is, the positioning posts 34 pass through the limiting grooves 25 from bottom to top, and the positioning posts 34 are driven to move in the limiting grooves 25 by the rotation of the third connecting rod 33, but in other embodiments, the positioning posts 34 may also pass through the limiting grooves 25 from top to bottom, and the positioning posts 34 are driven to move in the limiting grooves 25 by the rotation of the third connecting rod 33.

The beneficial effects of adopting the preferable scheme are as follows: the positioning column is in sliding fit with the movable chute, so that the movement of the jaw wrench is transmitted to the jaw matrix, and power is provided for the expansion and contraction of the jaw rod; the adaptation of spring ball and spacing groove is then favorable to forming the auto-lock with the jack catch spanner, and then makes the jack catch pole maintain the flexible state.

Preferably, as shown in fig. 3 and 4, the jaw lever 4 includes a telescopic lever 41 and a spring 42, the telescopic lever 41 is a rod-shaped structure penetrating through left and right side walls of the base plate base 24, and the spring 42 penetrates through a vertical surface of the first link 22.

Preferably, as shown in fig. 3 and 4, the spring 42 is sleeved on one end of the telescopic rod 41 located inside the substrate base 24, and one end of the telescopic rod 41 away from the inside of the substrate base 24 has a conical structure.

The beneficial effects of adopting the preferable scheme are as follows: the telescopic rod is used as a main part connected with the workpiece, and the inner end far away from the substrate body is arranged into a conical structure, so that the telescopic rod is beneficial to better inserting the workpiece into the workpiece and is beneficial to stably taking and placing the workpiece; the spring is sleeved with the telescopic rod, so that the elastic force of the spring is transmitted to the telescopic rod, the reverse thrust is conveniently provided when the telescopic rod retreats into the substrate body, and the force application during manual operation is reduced; the connection of the spring and the vertical surface of the first connecting rod is favorable for transmitting the rotation of the jaw wrench to the telescopic rod, so that the telescopic rod is promoted to extend out of the substrate base body.

Preferably, as shown in fig. 1, the claw hanging plate 1 is connected with the tail end of the manipulator through a flange, and the connecting plate 5 is a hollow plate-shaped structure with the sizes of the claw hanging plate 1 and the claw base plate 2 being matched.

The beneficial effects of adopting the preferable scheme are as follows: the claw hanging plate is beneficial to fixing the whole device at the tail end of the manipulator, so that the whole device is used as a picking and placing component of the manipulator; the structure of the connecting plate is beneficial to reducing the weight of the whole device while connecting the claw substrates, thereby reducing the work load of the manipulator.

The working of the utility model is illustrated by one example:

as shown in fig. 1 to 6, in the initial state, the telescopic rod 41 is positioned inside the base plate base 24, and the spring 42 is in the extended state. When an object is to be carried, first, the jaw wrench 3 needs to be manually screwed, and the third link 33 is changed from the inclined state to the horizontal state, that is, from the state of fig. 3 to the state of fig. 2. By rotating the wrench base 31, the spring ball 35 is moved out of the two inclined limit grooves 25 symmetrical about the center of the jaw wrench 3 in fig. 3, and gradually displaced toward the two horizontal limit grooves 25 symmetrical about the center of the jaw wrench 3 in fig. 2. In this process, since the wrench base 31 rotates, the second link 32 and the wrench base 31 synchronously rotate, and further the third link 33 is driven to rotate, and the third link 33 rotates to drive the positioning column 34 to rotate in the movable chute 23, and since the movable chute 23 limits the positioning column 34 to move forward and backward, the positioning column 34 converts the rotation of the third link 33 into the left-right movement of the first link 22. In the above-described process, the distance between the two first links 22 is changed from small to large from a position near the middle of the substrate base 24 to a position far from the middle of the substrate base 24. In this process, the spring 42 is compressed, the telescopic rod 41 sleeved with the spring 42 is pushed out of the substrate base 24, when the spring ball 35 is displaced into the two horizontal limit grooves 25 symmetrical about the center of the jaw wrench 3 in fig. 2, the rotation of the wrench base 31 is stopped, and the limit grooves 25 fix the spring ball 35, that is, form self-locking to the jaw wrench 3, at this time, the telescopic rod 41 maintains the state of extending out of the substrate base 24.

The telescopic rod 41 and the positioning hole on the workpiece are connected in an adapting way, so that the workpiece can be carried, or the gesture can be adjusted by using a mechanical arm before carrying, the positions of the telescopic rod 41 on the side wall of the substrate base 24 are in one-to-one correspondence with the positioning holes on the workpiece, and the telescopic rod 41 extends out of the substrate base 24 through the operation, so that the telescopic rod 41 can be directly inserted into the positioning hole of the workpiece.

After the carrying is finished, only the wrench base body 31 is required to be reversely rotated, the spring collision bead 35 is moved out of the two horizontal limit grooves 25 which are symmetrical about the center of the jaw wrench 3 in fig. 2, at this time, under the reaction force of the spring 42, the wrench base body 31 is not required to be continuously rotated by hand, the spring force can move the spring collision bead 35 to an initial state, the components can be reset to the initial state, and the telescopic rod 41 is retracted into the substrate base body 24.

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", "axial", "radial", "circumferential", 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 being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore 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 at least one such feature. In the description of the present utility model, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.

In the present utility model, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. 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.

In the present utility model, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present utility model. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.

While embodiments of the present utility model have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the utility model, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the utility model.

Claims (10)

1. A telescoping pawl apparatus, comprising: the clamping jaw lifting plate (1), a clamping jaw base plate (2), a clamping jaw wrench (3), a plurality of clamping jaw rods (4) and a plurality of connecting plates (5);

the claw hanging plate (1) is arranged above the claw base plate (2), the claw hanging plate (1) and the claw base plate (2) are connected to the upper ends and the lower ends of the connecting plates (5) in a one-to-one correspondence mode, the claw wrench (3) is rotatably installed on the claw base plate (2), and the claw rod (4) telescopically penetrates through the side wall of the claw base plate (2).

2. A telescopic jaw device according to claim 1, characterized in that the jaw base plate (2) comprises: a plurality of slotted holes (21), two first connecting rods (22), two movable sliding grooves (23), base plate base member (24) and a plurality of spacing groove (25), two movable sliding grooves (23) one-to-one set up two on first connecting rod (22), first connecting rod (22) with movable sliding grooves (23) all set up in base plate base member (24), slotted hole (21) are run through from top to bottom base plate base member (24) through-hole, spacing groove (25) set up base plate base member (24) top surface.

3. The telescopic jaw device according to claim 2, wherein the base plate base body (24) is of a hollow shell structure, the limiting grooves (25) are of a circular groove-shaped structure, and a plurality of the limiting grooves (25) are distributed symmetrically with respect to the center of the jaw wrench (3).

4. The telescopic claw device according to claim 2, wherein the two first connecting rods (22) are L-shaped rod-shaped structures symmetrically arranged left and right, front ends and rear ends of the first connecting rods (22) are in one-to-one correspondence to be abutted against inner walls of front ends and rear ends of the substrate base body (24), and the movable sliding chute (23) is an oblong through hole arranged on a horizontal plane of the first connecting rods (22).

5. A telescopic jaw device according to claim 2, characterized in that the jaw wrench (3) comprises: spanner base member (31), second connecting rod (32), third connecting rod (33), two reference columns (34) and two spring ball (35), spring ball (35) set up spanner base member (31) bottom, run through from top to bottom second connecting rod (32) spanner base member (31), second connecting rod (32) are connected perpendicularly third connecting rod (33), reference column (34) set up on third connecting rod (33).

6. The telescopic jaw device according to claim 5, wherein the wrench base body (31) is a hollow shell structure, two spring collision beads (35) are arranged on the left side and the right side of the bottom end of the wrench base body (31) in a one-to-one correspondence manner, the second connecting rod (32) is a rod-shaped structure arranged in the middle of the wrench base body (31), the second connecting rod (32) is connected with the middle of the third connecting rod (33), and two positioning columns (34) are arranged on the left side and the right side of the top end of the third connecting rod (33) in a one-to-one correspondence manner.

7. The telescopic jaw device according to claim 5, wherein two positioning columns (34) are in one-to-one fit sliding connection with two movable sliding grooves (23), and the spring collision beads (35) are of hemispherical structures matched with the limiting grooves (25).

8. A telescopic jaw apparatus according to claim 2, wherein the jaw lever (4) comprises a telescopic lever (41) and a spring (42), the telescopic lever (41) is a rod-like structure penetrating the left and right side walls of the base plate base body (24), and the spring (42) penetrates the vertical surface of the first link (22).

9. The telescopic jaw device according to claim 8, wherein the spring (42) is sleeved on one end of the telescopic rod (41) located inside the base plate base body (24), and one end of the telescopic rod (41) away from the inside of the base plate base body (24) is in a conical structure.

10. The telescopic jaw device according to claim 1, wherein the jaw lifting plate (1) is connected with the tail end of the manipulator through a flange, and the connecting plate (5) is of a hollowed-out plate-shaped structure with the sizes of the jaw lifting plate (1) and the jaw base plate (2) being matched.