Jaw mechanism and handling device

Abstract

The present invention relates to a jaw mechanism and a handling device. When clamping a plurality of materials, the jaw mechanism is driven to move up and down, so that a plurality of first clamping members are respectively aligned and inserted into a plurality of gaps between the materials, and the plurality of materials are respectively inserted into a plurality of first clamping spaces. Then, by driving the expansion abutting portion to act, it is switched from a contracted state to an expanded state to tightly abut against the materials located in the first clamping space, and the jaw mechanism can stably clamp the plurality of materials. After the jaw mechanism clamps the plurality of materials and transfers them to the target position, by driving the expansion abutting portion to act, it is restored from the expanded state to the contracted state, and all the materials can be released. Each material is respectively clamped and fixed in each first clamping space, the clamping force of each material is basically the same and can be better controlled by driving the expansion abutting portion to act. The materials are not likely to fall off or be damaged during the clamping process, and at the same time, the working efficiency of material clamping is relatively high.

Description

Technical Field

[0001] The present invention relates to the technical field of mechanical handling, and particularly to a jaw mechanism and a handling device. Background Art

[0002] With the gradual improvement of production capacity, the production of materials, including but not limited to products such as bottles, cans, boxes, etc., has gradually become semi-automated or automated, and the production efficiency is getting higher and higher. Generally, after the production processing and / or assembly operations of the materials are completed, for example, label pasting operations or various appearance inspections are carried out on the outer walls of the materials one by one. After the materials are processed, they are then conveyed outwards. The materials output outwards are grouped on the waiting-to-be-picked platform by a grouping and loading mechanism, so that a plurality of materials are neatly arranged on the waiting-to-be-picked platform, so as to be clamped by the jaw mechanism of the plate edge device. After the jaw mechanism clamps a plurality of materials at one time, it is transported to a preset position by a handling device, including but not limited to boxing operations.

[0003] Traditional jaw mechanisms either achieve clamping and transferring materials one by one, and such working efficiency is relatively low; or they clamp a plurality of materials synchronously. However, during the process of clamping a plurality of materials, it is difficult to control the clamping force appropriately. When the clamping force is large, it is easy to damage the materials; when the clamping force is small, it is easy to cause individual materials to fall off during the handling process. At the same time, the clamping operation is relatively cumbersome and the working efficiency is low. Summary of the Invention

[0004] Based on this, it is necessary to overcome the defects of the prior art and provide a jaw mechanism and a handling device, which can achieve synchronous clamping of a plurality of materials, the clamping effect is stable, it is not easy to have the phenomena of material falling off and being damaged during the clamping process, and at the same time, the clamping working efficiency is relatively high.

[0005] The technical solution is as follows: A jaw mechanism, the jaw mechanism includes:

[0006] A first mounting seat;

[0007] A first clamping member, there are a plurality of the first clamping members, and the plurality of first clamping members are spaced apart and arranged on the first mounting seat and cooperate with each other to form a plurality of first clamping spaces for clamping materials. At least one outer wall of the first clamping members corresponding to each first clamping space is provided with an expansion abutting portion, and the expansion abutting portion can expand to tightly abut the material located in the first clamping space, and can contract to release the material located in the first clamping space.

[0008] In one embodiment, the plurality of first clamping members are arranged in a rectangular array on the first mounting seat.

[0009] In one embodiment, the outer wall of each of the first clamping members is provided with the expansion abutting portion.

[0010] In one embodiment, the first clamping member includes a support rod body and a first power member. The expansion abutting portion is an elastic sleeve that is sleeved around the support rod body. The first power member is connected to the expansion abutting portion, and the first power member can drive the expansion abutting portion to expand.

[0011] In one embodiment, the jaw mechanism further includes a telescopic mechanism, a second mounting seat, and a plurality of second clamping members; the telescopic mechanism is mounted on the first mounting seat, the telescopic mechanism is connected to the second mounting seat, and is used to drive the second mounting seat to move; a plurality of the second clamping members are spaced apart and mounted on the second mounting seat, a plurality of the second clamping members are located outside a plurality of the first clamping members, and a plurality of the second clamping members and a plurality of the first clamping members cooperate with each other to form at least one second clamping space for clamping materials.

[0012] In one embodiment, the jaw mechanism further includes a support block disposed on the first mounting seat and a guide rod slidably disposed on the support block, and the guide rod is connected to the second mounting seat;

[0013] There are a plurality of the second mounting seats, and the plurality of second mounting seats are respectively disposed on a plurality of sides of the first mounting seat. There are a plurality of the telescopic mechanisms, and the plurality of telescopic mechanisms are arranged in one-to-one correspondence with the plurality of second mounting seats.

[0014] A handling device, the handling device includes the jaw mechanism as described above, and the handling device further includes a handling mechanism, and the jaw mechanism is disposed on the handling mechanism.

[0015] In one embodiment, the handling device further includes a buffer disposed between the handling mechanism and the jaw mechanism.

[0016] In one embodiment, there are at least two buffers, and the at least two buffers are spaced apart and arranged in the area between the handling mechanism and the jaw mechanism.

[0017] In one embodiment, the handling device further includes a controller and a sensing element. The sensing element is disposed on the handling mechanism or the jaw mechanism and is used to sense the change in the distance between the handling mechanism and the jaw mechanism. The controller is electrically connected to the sensing element and the handling mechanism respectively.

[0018] When the above-mentioned jaw mechanism and handling device are used to hold a plurality of materials placed on the platform to be picked up, the jaw mechanism is driven to move up and down, so that a plurality of first clamping members are respectively aligned and inserted into a plurality of gaps between the materials, and a plurality of materials are respectively inserted into a plurality of first clamping spaces. Then, by driving the expansion abutting portion to act, it is switched from the contracted state to the expanded state to tightly abut against the materials located in the first clamping space, and the jaw mechanism can stably hold a plurality of materials. When the jaw mechanism clamps a plurality of materials and transfers them to the target position, driving the expansion abutting portion to act and returning from the expanded state to the contracted state can release all the materials. Among them, since each material is respectively clamped and fixed in each first clamping space, the clamping force of each material is basically the same and can be better controlled by driving the expansion abutting portion to act. The materials are not likely to fall off and be damaged during the clamping process, and at the same time, the working efficiency of clamping materials is relatively high. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The drawings forming a part of this application are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0021] Figure 1 Structural schematic diagram of the jaw mechanism according to an embodiment of the present invention;

[0022] Figure 2 Structural schematic diagram of the jaw mechanism of the present invention clamping materials;

[0023] Figure 3 Structural schematic diagram of a perspective of the jaw mechanism of the present invention hiding the third mounting seat;

[0024] Figure 4 Structural schematic diagram of another perspective of the jaw mechanism of the present invention hiding the third mounting seat;

[0025] Figure 5 Structural schematic diagram of the first clamping member and the second clamping member of the jaw mechanism of the present invention cooperating to clamp materials;

[0026] Figure 6 Structural schematic diagram of the first clamping member of the jaw mechanism of the present invention cooperating to clamp materials;

[0027] Figure 7 Structural schematic diagram of a handling device according to an embodiment of the present invention.

[0028] 10. Jaw mechanism; 11. First mounting seat; 12. First clamping member; 121. Expansion abutting portion; 122. First clamping space; 13. Telescopic mechanism; 14. Second mounting seat; 15. Second clamping member; 151. Second clamping space; 16. Support block; 17. Guide rod; 18. Third mounting seat; 20. Material; 21. Pore; 30. Handling mechanism; 40. Buffer; 50. Sensing element. Specific embodiments

[0029] To make the above objects, features and advantages of the present invention more obvious and understandable, the following detailed description of the specific embodiments of the present invention will be given with reference to the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present invention. However, the present invention can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present invention. Therefore, the present invention is not limited by the specific embodiments disclosed below.

[0030] Refer to Figures 1 to 5 , Figure 1 which shows the structural schematic diagram of the jaw mechanism 10 according to an embodiment of the present invention, Figure 2 which shows the structural schematic diagram of the jaw mechanism 10 clamping the material 20 according to an embodiment of the present invention, Figure 3 which shows a perspective structural schematic diagram of the jaw mechanism 10 hiding the third mounting seat 18 according to an embodiment of the present invention, Figure 4 which shows another perspective structural schematic diagram of the jaw mechanism 10 hiding the third mounting seat 18 according to an embodiment of the present invention, Figure 5 which shows the structural schematic diagram of the first clamping member 12 and the second clamping member 15 of the jaw mechanism 10 cooperating to clamp the material 20 according to an embodiment of the present invention. A jaw mechanism 10 provided by an embodiment of the present invention includes: a first mounting seat 11 (as Figure 4 shown) and a first clamping member 12. There are multiple first clamping members 12, and the multiple first clamping members 12 are spaced apart on the first mounting seat 11 and cooperate with each other to form multiple first clamping spaces 122 (as Figure 5 shown) for clamping the material 20. At least one outer wall of the first clamping member 12 corresponding to each first clamping space 122 is provided with an expansion abutting portion 121 (as Figure 1 shown). The expansion abutting portion 121 can expand to tightly abut the material 20 located in the first clamping space 122, and can contract to release the material 20 located in the first clamping space 122.

[0031] It should be noted that, in one embodiment, each first clamping space 122 is formed by, for example, two, three, four or other numbers of first clamping members 12. That is, after each material 20 is placed in the corresponding first clamping space 122, two, three, four or other numbers of first clamping members 12 are used to abut and clamp for fixation.

[0032] In addition, it should also be noted that the "corresponding first clamping members 12" in the first clamping members 12 corresponding to the first clamping space 122 refer to all the first clamping members 12 used to cooperate to form the first clamping space 122.

[0033] When the above-mentioned jaw mechanism 10 is used to clamp a plurality of materials 20 placed on the platform to be picked up, the jaw mechanism 10 is driven to move up and down, so that a plurality of first clamping members 12 are respectively aligned and inserted into a plurality of gaps between the materials 20, and a plurality of materials 20 are respectively inserted into a plurality of first clamping spaces 122. Then, by driving the expansion abutting portion 121 to act, it is switched from the contracted state to the expanded state to tightly abut the material 20 located in the first clamping space 122, and the jaw mechanism 10 can stably clamp a plurality of materials 20. When the jaw mechanism 10 clamps a plurality of materials 20 and transfers them to the target position, the expansion abutting portion 121 is driven to act, and it returns from the expanded state to the contracted state, so that all the materials 20 can be released. Among them, since each material 20 is respectively clamped and fixed in each first clamping space 122, the clamping forces of each material 20 are basically the same and can be better controlled by driving the expansion abutting portion 121 to act. The materials 20 are not likely to fall off and be damaged during the picking process, and at the same time, the working efficiency of clamping materials is relatively high.

[0034] Please refer to Figure 4 or Figure 5 , in one embodiment, a plurality of first clamping members 12 are arranged in a rectangular array on the first mounting seat 11. Thus, for a plurality of materials 20 placed in a rectangular array on the surface of the platform to be picked up, the pores 21 between the materials 20 are also arranged in a rectangular array correspondingly. A plurality of first clamping members 12 can be respectively inserted into a plurality of pores 21, and each material 20 enters each first clamping space 122 respectively, so as to realize the synchronous transfer of a plurality of materials 20 placed in a rectangular array on the surface of the platform to be picked up.

[0035] As an example, when a plurality of materials 20 on the platform to be picked up are arranged in a rectangular array with n rows and m columns, correspondingly, the first clamping members 12 of the jaw mechanism 10 are, for example, arranged in a rectangular array with n + 1 rows and m + 1 columns, and the formed first clamping spaces 122 are also in a rectangular array with n rows and m columns, and can respectively hold each material 20 arranged in a rectangular array on the platform to be picked up. For example, in the figure, n is shown as 2 and m is shown as 3.

[0036] Please refer to Figure 1 In one embodiment, an expansion abutting portion 121 is provided on the outer wall of each first clamping member 12. In this way, the material 20 can be clamped more firmly, and the material 20 is not likely to fall off or be damaged during the clamping process, and at the same time, the working efficiency of clamping the material is relatively high.

[0037] In one embodiment, the first clamping member 12 includes a support rod main body (not marked in the figure) and a first power member (not marked in the figure). The expansion abutting portion 121 is an elastic sleeve sleeved around the support rod main body, and the first power member is connected to the expansion abutting portion 121. The first power member can drive the expansion abutting portion 121 to expand. In this way, when it is necessary to clamp the material 20, the first power member acts, and the first power member causes the expansion abutting portion 121 to expand. After the expansion abutting portion 121 expands, it can tightly abut the material 20 located in the first clamping space 122, so as to play a role in clamping the material 20; when it is necessary to release the material 20, the expansion abutting portion 121 returns to its original state, and the material 20 can be released.

[0038] In one embodiment, the first power member is, for example, a sliding sleeve sleeved on the sliding sleeve. One end of the sliding sleeve is connected to the elastic sleeve, and the other end of the sliding sleeve is used to connect to the pushing mechanism. One end of the elastic sleeve away from the sliding sleeve is positioned on the support main body. Specifically, a limiting groove is wound around the support rod main body, and the elastic sleeve is arranged in the limiting groove, that is, one end of the elastic sleeve is positioned on the support main body by abutting against the groove wall of the limiting groove. Of course, it can also be positioned on the support main body by other connection methods, such as including but not limited to bonding methods, using fasteners such as screws, bolts, pins, buckles, rivets, etc. to connect. When the pushing mechanism pushes the sliding sleeve, the sliding sleeve transmits the power to the elastic sleeve, and the elastic sleeve expands and deforms outward correspondingly after receiving the driving force of the sliding sleeve. After the elastic sleeve deforms, it plays a role in tightly abutting the material 20. When the pushing mechanism drives the sliding sleeve to move in a direction away from the elastic sleeve, the elastic sleeve returns to its original state and releases the material 20.

[0039] It should be noted that the pushing mechanism includes but is not limited to power structure forms such as cylinders, hydraulic cylinders, motor lead screws, etc. Specifically, the pushing mechanism is, for example, arranged on the first mounting seat 11. For the sake of simplifying the structure, the pushing mechanism is, for example, arranged as one and is synchronously connected to the sliding sleeves of a plurality of first clamping members 12 respectively. That is, one pushing mechanism is used to realize synchronous driving of the movement of a plurality of sliding sleeves to realize synchronous adjustment of the working state of the first clamping members 12.

[0040] Of course, as an optional solution, the pushing mechanism is arranged in multiple numbers and is correspondingly arranged with multiple sliding sleeves, so that the movement of the sliding sleeves can be driven independently of each other to adjust the working state of each first clamping member 12 according to actual needs.

[0041] It should be noted that the specific material of the elastic sleeve is selected from silicone, rubber, plastic, etc.

[0042] In another embodiment, the elastic sleeve is specifically, for example, an inflatable and deflatable airbag, and the first power member is an air pipe disposed on the main body of the support rod or an air flow passage formed on the main body of the support rod. The first power member is used to communicate with the inflation and deflation mechanism. Thus, when the inflation and deflation mechanism provides gas pressure to the airbag through the first power member, the airbag expands after inflation and can play a role in abutting and fixing the material 20; when the gas in the airbag is discharged outward through the first power member, it returns to its original state under the action of its own elastic force and correspondingly releases the material 20.

[0043] Please refer to Figure 5 , in one embodiment, the jaw mechanism 10 further includes a telescopic mechanism 13, a second mounting seat 14, and a plurality of second clamping members 15. The telescopic mechanism 13 is mounted on the first mounting seat 11. The telescopic mechanism 13 is connected to the second mounting seat 14 and is used to drive the second mounting seat 14 to move. The plurality of second clamping members 15 are spaced apart and mounted on the second mounting seat 14. The plurality of second clamping members 15 are located outside the plurality of first clamping members 12. The plurality of second clamping members 15 and the plurality of first clamping members 12 cooperate with each other to form at least one second clamping space 151 for clamping the material 20. Thus, the material 20 can not only be placed in the first clamping space 122 and clamped and fixed by the first clamping members 12 in the first clamping space 122, but also be placed in the second clamping space 151. After being placed in the second clamping space 151, by driving the second mounting seat 14 to move, the second mounting seat 14 drives the second clamping members 15 to move, so that the material 20 can be clamped or released in the second clamping space 151. Furthermore, the jaw mechanism 10 can clamp more materials 20, and the number of materials 20 transported at one time increases.

[0044] It should be noted that the telescopic mechanism 13 is used to provide a driving force for the second mounting seat 14 to move back and forth, so that the second mounting seat 14 drives the second clamping members 15 to move in a direction approaching or departing from the first clamping members 12 (the moving direction is as shown by the arrow in Figure 4 ). Its specific structural forms are numerous, including but not limited to cylinders, hydraulic cylinders, motor lead screws, motor gear racks, motor chain drives, motor synchronous belt drives, etc., and can be flexibly adjusted and set according to actual needs, and will not be limited here.

[0045] Please refer to Figure 6 , Figure 6The schematic structural diagram of the first clamping member 12 of the jaw mechanism 10 according to an embodiment of the present invention cooperating to clamp the material 20 is shown. It should be noted that, as an alternative solution, the telescopic mechanism 13, the second mounting seat 14, and the plurality of second clamping members 15 can also be omitted, that is, the plurality of first clamping spaces 122 formed by the cooperation of the plurality of first clamping members 12 can be used to respectively clamp the plurality of materials 20.

[0046] Please refer to Figure 4 and Figure 5 , in an embodiment, the jaw mechanism 10 further includes a support block 16 disposed on the first mounting seat 11 and a guide rod 17 slidably disposed on the support block 16, and the guide rod 17 is connected to the second mounting seat 14.

[0047] In addition, optionally, there are a plurality of second mounting seats 14, and the plurality of second mounting seats 14 are respectively disposed on a plurality of sides of the first mounting seat 11. There are a plurality of telescopic mechanisms 13, and the plurality of telescopic mechanisms 13 are disposed in one-to-one correspondence with the plurality of second mounting seats 14.

[0048] Specifically, the first mounting seat 11 is a rectangular mounting plate, and the plurality of first clamping members 12 are arranged in a rectangular array on the first mounting seat 11. The second mounting seats 14 are correspondingly provided in four, and are respectively located on the four sides of the first mounting seat 11. A row of second clamping members 15 are arranged at intervals on each first mounting seat 11, and a row of second clamping members 15 and an adjacent row of first clamping members 12 can cooperate with each other to form a plurality of second clamping spaces 151.

[0049] Please refer to Figure 1 and Figure 7 , Figure 7 The schematic structural diagram of a handling device according to an embodiment of the present invention is shown. In an embodiment, a handling device includes the jaw mechanism 10 of any of the above embodiments, and the handling device further includes a handling mechanism 30, and the jaw mechanism 10 is disposed on the handling mechanism 30.

[0050] When the above-mentioned handling device clamps a plurality of materials 20 placed on the platform to be picked up, it drives the jaw mechanism 10 to move up and down, so that a plurality of first clamping members 12 are respectively aligned and inserted into a plurality of gaps between the materials 20, and a plurality of materials 20 are respectively inserted into a plurality of first clamping spaces 122. Then, by driving the expansion abutting portion 121 to act, it is switched from the contracted state to the expanded state to tightly abut against the materials 20 located in the first clamping space 122, and the jaw mechanism 10 can stably clamp a plurality of materials 20. When the jaw mechanism 10 clamps a plurality of materials 20 and transfers them to the target position, driving the expansion abutting portion 121 to act and returning from the expanded state to the contracted state can release all the materials 20. Among them, since each material 20 is respectively clamped and fixed in each first clamping space 122, the clamping force of each material 20 is basically the same and can be better controlled by driving the expansion abutting portion 121 to act. The materials 20 are not likely to fall off or be damaged during the clamping process, and at the same time, the working efficiency of clamping materials is relatively high.

[0051] Please refer to Figure 7 , in one embodiment, the handling device further includes a buffer 40 disposed between the handling mechanism 30 and the jaw mechanism 10. In this way, during the process of handling and clamping the materials 20, the buffer 40 plays a buffering role and can prevent the jaw mechanism 10 from colliding with external objects and causing damage to the handling mechanism 30. In addition, especially during the process of clamping the materials 20, when the first clamping member 12 of the jaw mechanism 10 is not correctly inserted into the pores 21 between the materials 20, the jaw mechanism 10 will be deflected due to the collision with the materials 20. Under the buffering action of the buffer 40, damage to the handling mechanism 30 can be avoided.

[0052] Please refer to Figure 7 , in one embodiment, the buffer 40 includes but is not limited to one or a combination of a spring, an elastic block, an elastic column, an elastic rod, and an elastic plate, as long as it can play a buffering role, and it can be flexibly adjusted and set according to actual needs, and will not be limited here.

[0053] Please refer to Figure 7 , in one embodiment, there are at least two buffers 40, and at least two buffers 40 are spaced apart and arranged in the area between the handling mechanism 30 and the jaw mechanism 10.

[0054] Please refer to Figure 7, in one embodiment, the handling device further includes a controller (not shown in the figure) and a sensing element 50. The sensing element 50 is disposed on the handling mechanism 30 or the gripper mechanism 10 and is used to sense the change in the distance between the handling mechanism 30 and the gripper mechanism 10. The controller is electrically connected to the sensing element 50 and the handling mechanism 30 respectively. Thus, when the controller determines that the distance between the handling mechanism 30 and the gripper mechanism 10 changes, it controls the handling mechanism 30 to stop.

[0055] In one embodiment, the handling device further includes a warning device (not shown in the figure). The warning device is electrically connected to the controller. When the controller determines that the distance between the handling mechanism 30 and the gripper mechanism 10 changes, it controls the warning device to perform a warning action, which plays a timely reminder role. The staff can accordingly check whether the gripper mechanism 10 collides with external objects, or whether it accurately inserts into the gap 21 between the materials 20, etc.

[0056] In one embodiment, the sensing element 50 includes, but is not limited to, a proximity switch, an optocoupler sensor, an ultrasonic rangefinder, a magnetic sensor, etc., as long as it can be used to sense the change in the distance between the handling mechanism 30 and the gripper mechanism 10.

[0057] Please refer again to Figure 1 and Figure 7 , in one embodiment, the gripper mechanism 10 further includes a third mounting seat 18. The third mounting seat 18 is connected to the handling mechanism 30 through a buffer 40. In addition, when a support block 16 is provided on the first mounting seat 11, the third mounting seat 18 is specifically mounted on the support block 16. Among them, a plurality of support blocks 16 are provided and are located between the first mounting seat 11 and the third mounting seat 18.

[0058] The technical features of the above embodiments can be combined arbitrarily. For the sake of brief description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope recorded in this specification.

[0059] The above embodiments only express several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent should be subject to the appended claims.

[0060] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. are based on the orientation or positional relationship shown in the drawings. These are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it should not be construed as a limitation to the present invention.

[0061] In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first" and "second" may explicitly or implicitly include at least one of such features. In the description of the present invention, the meaning of "a plurality" is at least two, such as two, three, etc., unless otherwise specifically and clearly defined.

[0062] In the present invention, unless otherwise clearly specified and limited, the terms "mounted", "connected", "coupled", "fixed", etc. should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the internal communication of two elements or the interaction relationship between two elements, unless otherwise clearly limited. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0063] In the present invention, unless otherwise clearly specified and limited, the first feature being "on" or "under" the second feature may be that the first and second features are in direct contact, or the first and second features are indirectly in contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may be that the first feature is directly above or obliquely above the second feature, or merely indicates that the first feature has a higher horizontal height than the second feature. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or merely indicates that the first feature has a lower horizontal height than the second feature.

[0064] It should be noted that when an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. When an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and do not represent the only implementation.

Claims

1. A jaw mechanism, characterized in that, The gripper mechanism includes: A first mounting base; A first clamping member, there are multiple first clamping members, and the multiple first clamping members are arranged on the first mounting base at intervals and cooperate with each other to form multiple first clamping spaces for clamping materials. At least one outer wall of the first clamping members corresponding to each first clamping space is provided with an expansion abutting portion, and the expansion abutting portion can expand to tightly abut the material located in the first clamping space, and can contract to release the material located in the first clamping space; The gripper mechanism further includes a telescopic mechanism, a second mounting base and multiple second clamping members; the telescopic mechanism is installed on the first mounting base, the telescopic mechanism is connected to the second mounting base and is used to drive the second mounting base to move; multiple second clamping members are installed on the second mounting base at intervals, the multiple second clamping members are located outside the multiple first clamping members, and the multiple second clamping members and the multiple first clamping members cooperate with each other to form at least one second clamping space for clamping materials; the multiple first clamping members are arranged in a rectangular array on the first mounting base.

2. The jaw mechanism according to claim 1, characterized in that Each of the first clamping spaces is formed by the cooperation of two, three or four of the first clamping members.

3. The jaw mechanism according to claim 1, characterized in that The expansion abutting portion is provided on the outer wall of each of the first clamping members.

4. The jaw mechanism according to claim 1, wherein The first clamping member includes a support rod main body and a first power member, the expansion abutting portion is an elastic sleeve sleeved around the support rod main body, the first power member is connected to the expansion abutting portion, and the first power member can drive the expansion abutting portion to expand.

5. The jaw mechanism according to claim 1, wherein The gripper mechanism further includes a support block arranged on the first mounting base and a guide rod slidably arranged on the support block, and the guide rod is connected to the second mounting base.

6. The jaw mechanism according to claim 5, wherein There are multiple second mounting bases, and the multiple second mounting bases are respectively arranged on multiple sides of the first mounting base. There are multiple telescopic mechanisms, and the multiple telescopic mechanisms are arranged in one-to-one correspondence with the multiple second mounting bases.

7. A handling device, characterized in that, The handling device includes the gripper mechanism according to any one of claims 1 to 6, and the handling device further includes a handling mechanism, and the gripper mechanism is arranged on the handling mechanism.

8. The handling device according to claim 7, characterized in that The handling device further includes a buffer arranged between the handling mechanism and the gripper mechanism.

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

10. The handling device according to claim 7, characterized in that, The handling device further includes a controller and a sensing element, the sensing element is arranged on the handling mechanism or the gripper mechanism and is used to sense the change in the distance between the handling mechanism and the gripper mechanism, and the controller is electrically connected to the sensing element and the handling mechanism respectively.

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