Parallel gripper

Abstract

The present invention discloses a parallel jaw, comprising: a first clamp and a second clamp; a cylinder block having a first chamber and a second chamber; a first piston structure connected to the first clamp and separating the first chamber into a first transmission chamber and a first driving chamber, the first piston structure being capable of sliding in the first driving chamber along the opening direction of the first clamp under the drive of a driving medium; a second piston structure connected to the second clamp and separating the second chamber into a second transmission chamber and a second driving chamber, the second piston structure being capable of sliding in the second driving chamber along the closing direction of the second clamp under the drive of a driving medium; wherein, the first transmission chamber and the second transmission chamber are communicated with each other and filled with a transmission medium. The present invention uses a transmission medium for transmission to realize the synchronous opening and closing of the first clamp and the second clamp, reduces the requirement for machining accuracy, and has a simple structure with fewer components, thereby reducing the processing cost and facilitating the miniaturization of the volume of the parallel jaw.

Description

Technical Field

[0001] The present invention relates to the technical field of industrial automation, and in particular, to a parallel jaw. Background Art

[0002] Parallel jaws are widely used in the field of automation technology as actuating devices for gripping or grasping workpieces, which can effectively improve production efficiency and work safety. The existing parallel jaws are connected by a gear meshing with racks on two clamping jaws. The driving cylinder drives the racks to move, and the gears and racks are used for transmission to achieve the synchronous operation of the two clamping jaws. However, in order to avoid the shaking of the two clamping jaws during movement, it is necessary to ensure that the gears and racks have high machining accuracy, so the machining cost is relatively high. In addition, since racks need to be provided on the clamping jaws, it will also increase the overall width and height of the parallel jaws, making it difficult to achieve the goal of making the parallel jaws more compact in size. Summary of the Invention

[0003] The object of the present invention is to provide a parallel jaw to solve the technical problems that the current parallel jaws adopt gear-rack transmission, resulting in high machining cost due to high requirements for the machining accuracy of gears and racks, and it is difficult to achieve more compact size.

[0004] The above object of the present invention can be achieved by the following technical solutions:

[0005] The present invention provides a parallel jaw, including: a first clamping jaw and a second clamping jaw, having an opening and closing direction, and the opening and closing direction includes a closing direction and an opening direction; a cylinder block, having a first chamber and a second chamber; a first piston structure, connected to the first clamping jaw and separating the first chamber into a first transmission chamber and a first driving chamber, and the first piston structure can slide along the opening direction of the first clamping jaw under the drive of a driving medium in the first driving chamber; a second piston structure, connected to the second clamping jaw and separating the second chamber into a second transmission chamber and a second driving chamber, and the second piston structure can slide along the closing direction of the second clamping jaw under the drive of a driving medium in the second driving chamber; wherein, the first transmission chamber and the second transmission chamber are connected and filled with a transmission medium.

[0006] In an embodiment of the present invention, the driving medium is gas, and the transmission medium is liquid.

[0007] In an embodiment of the present invention, the liquid is hydraulic oil.

[0008] In an embodiment of the present invention, the first piston structure includes a first piston and a first piston rod. The first piston is in sealed sliding fit with the first chamber and divides the first chamber into a first transmission chamber and a first driving chamber. One end of the first piston rod extends into the first chamber and is connected to the first piston, and the other end of the first piston rod is connected to the first clamp through a first connection structure.

[0009] In an embodiment of the present invention, the second piston structure includes a second piston and a second piston rod. The second piston is in sealed sliding fit with the second chamber and divides the second chamber into a second transmission chamber and a second driving chamber. One end of the second piston rod extends into the second chamber and is connected to the second piston, and the other end of the second piston rod is connected to the second clamp through a second connection structure.

[0010] In an embodiment of the present invention, the cylinder block has opposite first and second ends in the opening and closing direction. The first transmission chamber and the second transmission chamber are both arranged towards the first end, and the first driving chamber and the second driving chamber are both arranged towards the second end; the first piston rod extends into the first transmission chamber and is connected to the first piston, and the second piston rod extends into the second transmission chamber and is connected to the second piston; or the first piston rod extends into the first driving chamber and is connected to the first piston, and the second piston rod extends into the second driving chamber and is connected to the second piston.

[0011] In an embodiment of the present invention, the first transmission chamber and the second transmission chamber are connected and communicated through a connection channel, and the connection channel is arranged at one end of the first transmission chamber and the second transmission chamber far from the first driving chamber and the second driving chamber.

[0012] In an embodiment of the present invention, the cylinder block is provided with a first track and a second track along the opening and closing direction. The first connection structure is in sliding fit with the first track, and the second connection structure is in sliding fit with the second track.

[0013] In an embodiment of the present invention, the cylinder block is provided with a third track and a fourth track along the opening and closing direction. The third track is connected and communicated with the first track, the fourth track is connected and communicated with the second track, the first clamp is in sliding fit with the third track, and the second clamp is in sliding fit with the fourth track.

[0014] In an embodiment of the present invention, the length of the third track is greater than the length of the first track, and the length of the fourth track is greater than the length of the second track.

[0015] In an embodiment of the present invention, the first clamp has a first sliding portion, the first sliding portion is slidably engaged with the third track and is connected to the first connection structure, and at least one first mounting hole is provided at an end of the first sliding portion away from the first connection structure; the second clamp has a second sliding portion, the second sliding portion is slidably engaged with the fourth track and is connected to the second connection structure, and at least one second mounting hole is provided at an end of the second sliding portion close to the second connection structure.

[0016] In an embodiment of the present invention, the first sliding portion and the first connection structure are connected by a first fastener disposed along the opening and closing direction; and / or the first sliding portion and the first connection structure are in interference fit through a matching convex portion and concave portion; and / or the first sliding portion and the first connection structure are connected by a second fastener disposed along a direction perpendicular to the opening and closing direction.

[0017] In an embodiment of the present invention, the second sliding portion and the second connection structure are connected by a first fastener disposed along the opening and closing direction; and / or the second sliding portion and the second connection structure are in interference fit through a matching convex portion and concave portion; and / or the second sliding portion and the second connection structure are connected by a second fastener disposed along a direction perpendicular to the opening and closing direction.

[0018] In an embodiment of the present invention, a first injection port and a second injection port are provided on the cylinder block, the first injection port is communicated with the first driving cavity, and the second injection port is communicated with the second driving cavity.

[0019] The features and advantages of the present invention are:

[0020] For the parallel jaws of the present invention, by injecting a driving medium into the first driving cavity, the first piston structure drives the first clamp to move along its opening direction under the drive of the driving medium. At the same time, the transmission medium in the first transmission cavity will flow into the second transmission cavity, so that the second piston structure drives the second clamp to also move along its opening direction under the transmission of the transmission medium in the second transmission cavity; by injecting a driving medium into the second driving cavity, the second piston structure drives the second clamp to move along its closing direction under the drive of the driving medium. At the same time, the transmission medium in the second transmission cavity will flow into the first transmission cavity, thereby driving the first clamp to also move along its opening direction; it can be seen that the present invention uses a transmission medium for transmission to realize the synchronous opening and closing of the first clamp and the second clamp, avoiding the technical problem of jitter during operation due to the non-conforming fit clearance between the first clamp and the second clamp and the transmission structure. Therefore, the requirement for machining accuracy is reduced, and the structure is simple with fewer components, thus reducing the processing cost and facilitating the miniaturization of the volume of the parallel jaws. Description of the Drawings

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for description in the embodiments. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0022] Figure 1 It is a three-dimensional view of the parallel jaws of the present invention.

[0023] Figure 2 It is an internal three-dimensional view of the parallel jaws of the present invention.

[0024] Figure 3 It is an internal top view of the cylinder block of the present invention.

[0025] Figure 4 It is a partial three-dimensional view of the cylinder block of the present invention.

[0026] Figure 5 It is a schematic structural diagram of the first clamp of the present invention.

[0027] Figure 6 It is a schematic structural diagram of the connection structure and the second clamp in the second embodiment of the present invention.

[0028] Figure 7 It is a schematic structural diagram of the connection structure and the second clamp in the third embodiment of the present invention.

[0029] Figure 8 It is a schematic structural diagram of the connection structure and the second clamp in the fourth embodiment of the present invention.

[0030] In the figure:

[0031] 1. Cylinder block; 101. First chamber; 102. First drive chamber; 103. First transmission chamber; 104. Second chamber; 105. Second drive chamber; 106. Second transmission chamber; 107. First track; 108. Second track; 109. Third track; 110. Fourth track; 111. First injection port; 112. First end cover; 113. Second end cover; 114. Third injection port; 115. Fourth injection port; 116. Connection channel; 117. Third end cover; 118. Fourth end cover; 119. First channel; 120. Second channel;

[0032] 2. First clamp; 201. First sliding part; 202. First mounting hole; 203. First connecting hole; 3. Second clamp; 301. Second sliding part; 302. Second mounting hole; 4. First piston structure; 401. First piston; 402. First piston rod; 5. Second piston structure; 501. Second piston; 502. Second piston rod; 601. First connecting structure; 602. Second connecting structure; 603. First fastener; 604. Convex part; 605. Concave part; 606. Second fastener. Detailed implementation

[0033] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0034] As Figure 1 and Figure 2 shown, the present invention provides a parallel jaw, comprising: a first clamp 2 and a second clamp 3, having an opening and closing direction, the opening and closing direction including an opening direction and a closing direction; a cylinder block 1, having a first chamber 101 and a second chamber 104; a first piston structure 4, connected to the first clamp 2 and separating the first chamber 101 into a first transmission chamber 103 and a first driving chamber 102, the first piston structure 4 being able to slide along the opening and closing direction under the drive of a driving medium in the first driving chamber 102; a second piston structure 5, connected to the second clamp 3 and separating the second chamber 104 into a second transmission chamber 106 and a second driving chamber 105, the second piston structure 5 being able to slide along the opening and closing direction under the drive of a driving medium in the second driving chamber 105; wherein, the first transmission chamber 103 and the second transmission chamber 106 are connected and filled with a transmission medium.

[0035] Among them, as Figure 1 shown, the closing direction of the first clamp 2 and the second clamp 3 is the direction of approaching each other, and the opening direction of the first clamp 2 and the second clamp 3 is the direction of moving away from each other, that is, the closing direction of the first clamp 2 is direction B, the opening direction of the first clamp 2 is direction A, while the closing direction of the second clamp 3 is direction A, and the opening direction of the second clamp 3 is direction B.

[0036] The parallel jaws of the present invention inject a driving medium into the first driving chamber 102, so that the first piston structure 4 drives the first clamp 2 to move along its opening direction A under the driving of the driving medium. At the same time, the transmission medium in the first transmission chamber 103 will flow into the second transmission chamber 106, so that the second piston structure 5 drives the second clamp 3 to move along its opening direction B under the transmission of the transmission medium in the second transmission chamber 106; by injecting the driving medium into the second driving chamber 105, the second piston structure 5 drives the second clamp 3 to move along its closing direction A under the driving of the driving medium. At the same time, the transmission medium in the second transmission chamber 106 will flow into the first transmission chamber 103, thereby driving the first clamp 2 to move along its opening direction B; it can be seen that the present invention uses the transmission medium for transmission to realize the synchronous opening and closing of the first clamp 2 and the second clamp 3, avoiding the technical problem of jitter during operation caused by the non-conformance of the fitting clearance between the first clamp 2 and the second clamp 3 and the transmission structure. Therefore, the requirement for processing accuracy is reduced, and the structure is simple with fewer components, thus reducing the processing cost and facilitating the miniaturization of the volume of the parallel jaws.

[0037] Specifically, as Figure 2 and Figure 3 shown, the first chamber 101 and the second chamber 104 are arranged in parallel along the opening and closing direction, and the lengths and cross-sectional areas of the first chamber 101 and the second chamber 104 in the opening and closing direction are equal, that is, the volumes are equal, so that the moving strokes of the first clamp 2 and the second clamp 3 are equal. Since the closing directions of the first clamp 2 and the second clamp 3 are opposite, and the opening directions of the first clamp 2 and the second clamp 3 are opposite, that is, the moving directions of the first piston structure 4 and the second piston structure 5 must also be opposite. Therefore, the first transmission chamber 103 and the second transmission chamber 106 must be located on the same side of the first piston structure 4 and the second piston structure 5, such as Figure 2 and Figure 3 shown on the left side, while the first driving chamber 102 and the second driving chamber 105 are located on the other side of the first piston structure 4 and the second piston structure 5, such as Figure 2 and Figure 3 shown on the right side, that is, the first transmission chamber 103 and the second transmission chamber 106 are arranged at one end of the cylinder block 1, while the first driving chamber 102 and the second driving chamber 105 are arranged at the other end of the cylinder block 1.

[0038] When the first clamp 2 and the second clamp 3 are in a fully open state, the volumes of the first transmission cavity 103 and the second drive cavity 105 are both minimized and close to zero, while the volumes of the second transmission cavity 106 and the first drive cavity 102 are maximized and the length in the opening and closing direction is equal to the stroke required for the first clamp 2 and the second clamp 3 to switch from the open state to the closed state; when the first clamp 2 and the second clamp 3 are in a closed state, the volumes of the second transmission cavity 106 and the first drive cavity 102 are both minimized and close to zero, and the volumes of the first transmission cavity 103 and the second drive cavity 105 are both maximized and the length in the opening and closing direction is equal to the stroke required for the first clamp 2 and the second clamp 3 to switch from the closed state to the open state. The control is simple and stable, and it is beneficial to reduce the length of the cylinder block 1 in the opening and closing direction.

[0039] As Figure 1 and Figure 2 shown, the cylinder block 1 is provided with a first injection port 111 and a second injection port (not shown in the figure). The first injection port 111 is communicated with the first drive cavity 102, and the second injection port is communicated with the second drive cavity 105. The drive medium is injected into the first drive cavity 102 from the first injection port 111 to open the parallel jaws, and the drive medium is injected into the second drive cavity 105 from the second injection port to close the parallel jaws. Specifically, the first injection port 111 and the second injection port are symmetrically arranged on both sides of the cylinder block 1.

[0040] As Figure 2 and Figure 3 shown, the cylinder block 1 is further provided with a third injection port 114 and a fourth injection port 115. A preset amount of transmission medium is injected into the first transmission cavity 103 and / or the second transmission cavity 106 from the third injection port 114 and / or the fourth injection port 115, and then the third injection port 114 and the fourth injection port 115 are blocked by a plug or other blocking members.

[0041] The drive medium and the transmission medium can be selected as suitable fluid media or liquid media according to the clamping requirements of the parallel jaws, and they can be the same or different. In the embodiment of the present invention, the drive medium is a gas, such as air, and the reaction speed is fast. The transmission medium is a liquid, such as hydraulic oil, which is not prone to leakage and has high transmission stability.

[0042] As Figure 2 and Figure 3As shown, in the embodiments of the present invention, the first piston structure 4 includes a first piston 401 and a first piston rod 402. The first piston 401 is in sealed sliding fit with the first chamber 101 and divides the first chamber 101 into a first transmission chamber 103 and a first drive chamber 102. One end of the first piston rod 402 extends into the first chamber 101 and is connected to the first piston 401, and the other end of the first piston rod 402 is connected to the first clamp 2. The second piston structure 5 includes a second piston 501 and a second piston rod 502. The second piston 501 is in sealed sliding fit with the second chamber 104 and divides the second chamber 104 into a second transmission chamber 106 and a second drive chamber 105. One end of the second piston rod 502 extends into the second chamber 104 and is connected to the second piston 501, and the other end of the second piston rod 502 is connected to the second clamp 3.

[0043] Specifically, the first piston rod 402 is connected to the first clamp 2 through a first connection structure 601, and the second piston rod 502 is connected to the second clamp 3 through a second connection structure 602. As Figure 3 and Figure 4 shown, the cylinder block 1 has a first channel 119, and the first end cover 112 and the second end cover 113 are installed at the openings at both ends of the first channel 119, thereby forming the first chamber 101. The first piston rod 402 passes through the first end cover 112 and is connected to the first piston 401 in the first chamber 101. The cylinder block 1 has a second channel 120, and the third end cover 117 and the fourth end cover 118 are installed at the openings at both ends of the second channel 120, thereby forming the second chamber 104. The second piston rod 502 passes through the third end cover 117 and is connected to the second piston 501 in the second chamber 104. Both the first piston 401 and the second piston 501 are pistons with magnetic rings, which can feedback the number of times the parallel jaws open and close.

[0044] As Figure 2 and Figure 3 shown, in the embodiments of the present invention, the first piston rod 402 extends into the first transmission chamber 103 and is connected to the first piston 401, and the second piston rod 502 extends into the second transmission chamber 106 and is connected to the second piston 501. Specifically, the gap space between the first end cover 112 and the first piston 401 forms the first transmission chamber 103, and the gap space between the first piston 401 and the second end cover 113 forms the first drive chamber 102. The gap space between the third end cover 117 and the second piston 501 forms the second transmission chamber 106, and the gap space between the second piston 501 and the fourth end cover 118 forms the second drive chamber 105.

[0045] Optionally, the first piston rod extends into the first driving chamber and is connected to the first piston, and the second piston rod extends into the second driving chamber and is connected to the second piston. Specifically, the clearance space between the first end cap and the first piston forms the first driving chamber, and the clearance space between the first piston and the second end cap forms the first transmission chamber. The clearance space between the third end cap and the second piston forms the second driving chamber, and the clearance space between the second piston and the fourth end cap forms the second transmission chamber.

[0046] The first transmission chamber 103 and the second transmission chamber 106 are connected and communicated through a connection channel 116. The connection channel 116 is arranged near one end of the first transmission chamber 103 and the second transmission chamber 106 that is far away from the first driving chamber 102 and the second driving chamber 105. This is to prevent the first piston structure 4 from sliding past the connection channel 116 and causing the connection channel 116 to be connected to the first driving chamber 102, and to prevent the second piston structure 5 from sliding past the connection channel 116 and causing the connection channel 116 to be connected to the second driving chamber 105. Specifically, the connection channel 116 is arranged perpendicular to the first chamber 101 and the second chamber 104, ensuring the shortest distance of the connection channel 116, so that the transmission medium can flow quickly between the first transmission chamber 103 and the second transmission chamber 106.

[0047] To improve the accuracy and stability of the movement of the first clamping member and the second clamping member in the closing direction, as Figure 1 , Figure 2 and Figure 3 shown, in the embodiments of the present invention, the cylinder block 1 is provided with a first track 107 and a second track 108 along the opening and closing direction. The first connection structure 601 is slidably matched with the first track 107, and the second connection structure 602 is slidably matched with the second track 108. The cylinder block 1 is provided with a third track 109 and a fourth track 110 along the opening and closing direction. The third track 109 is connected and communicated with the first track 107, and the fourth track 110 is connected and communicated with the second track 108. The first clamp 2 is slidably matched with the third track 109, and the second clamp 3 is slidably matched with the fourth track 110.

[0048] As Figure 1 and Figure 2 shown, the length of the third track 109 is greater than the length of the first track 107, and the length of the fourth track 110 is greater than the length of the second track 108. Preferably, the length of the first track 107 is half of the length of the third track 109, and the length of the second track 108 is half of the length of the fourth track 110.

[0049] As Figure 1As shown, in an embodiment of the present invention, the first clamp 2 has a first sliding portion 201. The first sliding portion 201 is slidably engaged with the third track 109 and connected to the first connection structure 601. At least one first mounting hole 202 is provided at an end of the first sliding portion 201 away from the first connection structure 601; the second clamp 3 has a second sliding portion 301. The second sliding portion 301 is slidably engaged with the fourth track 110 and connected to the second connection structure 602. At least one second mounting hole 302 is provided at an end of the second sliding portion 301 close to the second connection structure 602. Specifically, a plurality of first mounting holes 202 are arranged on the first sliding portion 201 along the opening and closing direction for mounting the required gripping jaws. Similarly, a plurality of second mounting holes 302 are arranged on the second sliding portion 301 along the opening and closing direction for mounting the required gripping jaws. The structures of the first clamp 2 and the second clamp 3 are the same and are symmetrically arranged with respect to the center of the cylinder block 1 in the opening and closing direction.

[0050] As Figure 2 shown, in the first embodiment of the present invention, between the first sliding portion 201 and the first connection structure 601, and between the second sliding portion 301 and the second connection structure 602, they are both connected by a first fastener 603 arranged along the opening and closing direction. Specifically, the first fastener 603 is a pin or a bolt. Between the first connection structure 601 and the first piston rod 402, and between the second connection structure 602 and the second piston rod 502, they are also connected by fasteners arranged along the opening and closing direction. At least one second connection hole for mounting the first fastener 603 is provided at an end of the second sliding portion 301 close to the second mounting hole 302. Combining Figure 1 and Figure 5 shown, at least one first connection hole 203 for mounting the first fastener 603 is provided at an end of the first sliding portion 201 away from the first mounting hole 202.

[0051] When the distance between the second connection structure 602 and the second mounting hole 302 is relatively close and there is not enough space to mount the first fastener 603, if enough space is reserved to set the first fastener 603, it is not conducive to reducing the length of the parallel jaws in the opening and closing direction. Therefore, as Figure 6 shown, in the second embodiment of the present invention, the second sliding portion 301 and the second connection structure 602 are in interference fit through a matching convex portion 604 and concave portion 605. Specifically, the convex portion 604 is provided on the second connection structure 602, and the concave portion 605 is provided on the second sliding portion 301. Optionally, the concave portion is provided on the second connection structure, and the convex portion is provided on the second sliding portion.

[0052] To improve the connection stability between the convex portion 604 and the concave portion 605, as Figure 7As shown in the figure, in the third embodiment of the present invention, the second sliding part 301 and the second connection structure 602 are connected by a second fastener 606 arranged in the vertical direction along the opening and closing direction. Specifically, the second fastener 606 is a pin or a bolt, and the second fastener 606 passes through the convex part 604.

[0053] As Figure 8 shown in the figure, in the fourth embodiment of the present invention, the second sliding part 301 is connected to the second connection structure 602 below by a second fastener 606 arranged in the vertical direction along the opening and closing direction. Specifically, the second connection structure 602 is sleeved on the second piston rod 502.

[0054] For other connection manners between the first sliding part 201, the first connection structure 601, and the first piston structure 4, reference can be made to the connection manners between the second sliding part 301, the second connection structure 602, and the second piston structure 5 in the above-mentioned second embodiment, third embodiment, and fourth embodiment, which will not be elaborated here.

[0055] The above are only several embodiments of the present invention. Those skilled in the art can make various changes or modifications to the embodiments of the present invention without departing from the spirit and scope of the present invention according to the content disclosed in the application documents.

Claims

1. A parallel jaw, characterized in that, Comprising: A first clamp (2) and a second clamp (3), having an opening and closing direction, the opening and closing direction including a closing direction and an opening direction; A cylinder block (1), having a first chamber (101) and a second chamber (104); A first piston structure (4), connected to the first clamp (2) and separating the first chamber (101) into a first transmission chamber (103) and a first driving chamber (102), the first piston structure (4) being able to slide along the opening direction of the first clamp (2) under the drive of a driving medium in the first driving chamber (102); A second piston structure (5), connected to the second clamp (3) and separating the second chamber (104) into a second transmission chamber (106) and a second driving chamber (105), the second piston structure (5) being able to slide along the closing direction of the second clamp (3) under the drive of a driving medium in the second driving chamber (105); Wherein, the first transmission chamber (103) and the second transmission chamber (106) are connected and filled with a transmission medium; The driving medium is a gas, and the transmission medium is a liquid.

2. The parallel jaw according to claim 1, wherein The liquid is hydraulic oil.

3. The parallel jaw according to claim 1, wherein The first piston structure (4) includes a first piston (401) and a first piston rod (402), the first piston (401) being in sealed sliding fit with the first chamber (101) and separating the first chamber (101) into a first transmission chamber (103) and a first driving chamber (102), one end of the first piston rod (402) extending into the first chamber (101) and connected to the first piston (401), the other end of the first piston rod (402) being connected to the first clamp (2) through a first connection structure (601).

4. The parallel jaw according to claim 3, wherein The second piston structure (5) includes a second piston (501) and a second piston rod (502), the second piston (501) being in sealed sliding fit with the second chamber (104) and separating the second chamber (104) into a second transmission chamber (106) and a second driving chamber (105), one end of the second piston rod (502) extending into the second chamber (104) and connected to the second piston (501), the other end of the second piston rod (502) being connected to the second clamp (3) through a second connection structure (602).

5. The parallel jaw according to claim 4, wherein The cylinder block (1) has opposite first and second ends in the opening and closing direction, the first transmission chamber (103) and the second transmission chamber (106) are both arranged towards the first end, and the first driving chamber (102) and the second driving chamber (105) are both arranged towards the second end; The first piston rod (402) extends into the first transmission cavity (103) and is connected to the first piston (401), and the second piston rod (502) extends into the second transmission cavity (106) and is connected to the second piston (501); or The first piston rod (402) extends into the first driving cavity (102) and is connected to the first piston (401), and the second piston rod (502) extends into the second driving cavity (105) and is connected to the second piston (501).

6. The parallel jaw according to claim 5, wherein The first transmission cavity (103) and the second transmission cavity (106) are connected and communicated through a connecting channel (116), and the connecting channel (116) is arranged at one end of the first transmission cavity (103) and the second transmission cavity (106) far from the first driving cavity (102) and the second driving cavity (105).

7. The parallel jaw according to claim 5, wherein The cylinder block (1) is provided with a first track (107) and a second track (108) along the opening and closing direction, the first connecting structure (601) is in sliding fit with the first track (107), and the second connecting structure (602) is in sliding fit with the second track (108).

8. The parallel jaw according to claim 7, wherein The cylinder block (1) is provided with a third track (109) and a fourth track (110) along the opening and closing direction, the third track (109) is connected and communicated with the first track (107), the fourth track (110) is connected and communicated with the second track (108), the first clamp (2) is in sliding fit with the third track (109), and the second clamp (3) is in sliding fit with the fourth track (110).

9. The parallel jaw according to claim 8, wherein The length of the third track (109) is greater than the length of the first track (107), and the length of the fourth track (110) is greater than the length of the second track (108).

10. The parallel jaw according to claim 8, wherein The first clamp (2) has a first sliding part (201), the first sliding part (201) is in sliding fit with the third track (109) and is connected to the first connecting structure (601), and at least one first mounting hole (202) is provided at one end of the first sliding part (201) far from the first connecting structure (601); The second clamp (3) has a second sliding part (301), the second sliding part (301) is in sliding fit with the fourth track (110) and is connected to the second connecting structure (602), and at least one second mounting hole (302) is provided at one end of the second sliding part (301) close to the second connecting structure (602).

11. The parallel jaw according to claim 10, wherein The first sliding part (201) is connected to the first connection structure (601) by a first fastener (603) arranged along the opening and closing direction; and / or The first sliding part (201) and the first connection structure (601) are in interference fit through a matching convex part (604) and concave part (605); and / or The first sliding part (201) is connected to the first connection structure (601) by a second fastener (606) arranged along the direction perpendicular to the opening and closing direction.

12. The parallel jaw according to claim 10, wherein The second sliding part (301) is connected to the second connection structure (602) by a first fastener (603) arranged along the opening and closing direction; and / or The second sliding part (301) and the second connection structure (602) are in interference fit through a matching convex part (604) and concave part (605); and / or The second sliding part (301) is connected to the second connection structure (602) by a second fastener (606) arranged along the direction perpendicular to the opening and closing direction.

13. The parallel jaw according to claim 1, wherein The cylinder block (1) is provided with a first injection port (111) and a second injection port. The first injection port (111) is communicated with the first driving cavity (102), and the second injection port is communicated with the second driving cavity (105).

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