Self-adapting active jaw mechanism

Abstract

The present application relates to the technical field of tooling fixture, in particular to a self-adapting movable clamping jaw mechanism, comprising a chuck, a clamping jaw, a clamping finger, a push block and an elastic member; the chuck surface is provided with at least two accommodating spaces; the clamping jaw comprises a clamping jaw body and a clamping part, the clamping jaw body is movably inserted into the accommodating space, the middle part of the clamping jaw body is pivotally connected with the cavity wall of the accommodating space, the top part of the clamping jaw body can be close to or away from the central area of the disc body, and the top part of the clamping jaw body is provided with the clamping part; the push block is movably inserted between the first wedge surface and the cavity wall of the accommodating space close to the central area of the disc body; the elastic member is connected between the top part of the clamping jaw body and the push block; when the push block is subjected to external thrust, the top part of the clamping jaw body can be opened by the elastic member, thereby providing space for inserting and discharging the workpiece to be processed; when the push block loses external thrust, the elastic member can drive the push block and the clamping jaw body to reset, so as to clamp the workpiece to be processed.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of tooling fixtures, in particular to a self-adapting movable clamping jaw mechanism. BACKGROUND

[0002] Movable clamping jaws are widely used in various mechanical rotary machining machines. The movable clamping jaws are used as clamping heads to clamp various bars for machining the circumferential surface of the bars. At present, workpieces are mainly clamped by using fastening bolts in combination with push rods on the movable clamping jaws. During the clamping and installation process, the clamping jaw opening needs to be gradually narrowed according to the outer diameter of the workpiece until the workpiece is clamped. This process is time-consuming and labor-intensive, and the installation efficiency is greatly limited. SUMMARY

[0003] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a self-adapting movable clamping jaw mechanism, which can realize quick clamping and quick unclamping actions, and is suitable for various sizes of bars, significantly improving clamping efficiency.

[0004] The self-adapting movable clamping jaw mechanism according to the embodiment of the present application comprises a chuck, a clamping jaw, a clamping finger, a push block and an elastic member. The chuck comprises a disc body, the disc body is provided with a containing space, the containing space is in communication with the top surface and the bottom surface of the disc body respectively. The clamping jaw comprises a clamping jaw body and a clamping part, the clamping jaw body is movably inserted into the containing space, the clamping jaw body comprises a clamping jaw body top part and a clamping jaw body bottom part, the clamping jaw body bottom part is provided with a first wedge surface on the side wall facing the center area of the disc body, the clamping jaw body is connected with the containing space through a pivot, and the clamping jaw body top part is provided with the clamping part. The push block is movably inserted between the first wedge surface and the cavity wall near the center area of the disc body of the containing space, and the push block is provided with a second wedge surface corresponding to the first wedge surface. The elastic member is connected between the clamping jaw body top part and the push block. The elastic member is used to lift the clamping jaw body top part when the push block is pushed by an external force, so as to make the clamping jaw body top part and the clamping part away from the center area of the disc body, thereby providing space for inserting and unloading the workpiece to be machined. The elastic member is also used to provide a rebound force to drive the push block and the clamping jaw body to reset when the push block is no longer pushed by the external force, so as to make the clamping jaw body top part and the clamping part close to the center area of the disc body, thereby clamping the workpiece to be machined.

[0005] The self-adapting movable clamping jaw mechanism according to the embodiment of the present application has at least the following beneficial effects:

[0006] According to the present application, the movable push block and the foldable clamping jaw are combined, so that the push block can push the top of the clamping jaw to open, thereby increasing the distance between each clamping part; the elastic element, the foldable clamping jaw, and the wedge-shaped surface of the push block and the clamping jaw are combined, so that the top of the clamping jaw can be reset when the pushing force disappears, thereby reducing the distance between each clamping part; in addition, the workpiece is clamped by the elastic force of the elastic element, so that the distance between each clamping part can be adjusted, thereby being suitable for workpieces of different outer diameters and having a wide application range; the present application has a simple structure, a scientific and reasonable design, and is easy to operate, and can realize simple and fast clamping and unloading operations.

[0007] Overall, the present application combines a movable push block and a foldable clamping jaw, so that the push block can push the top of the clamping jaw to open, thereby increasing the distance between each clamping part; the present application combines the elastic element, the foldable clamping jaw, and the wedge-shaped surface of the push block and the clamping jaw, so that the top of the clamping jaw can be reset when the pushing force disappears, thereby reducing the distance between each clamping part; in addition, the workpiece is clamped by the elastic force of the elastic element, so that the distance between each clamping part can be adjusted, thereby being suitable for workpieces of different outer diameters and having a wide application range; the present application has a simple structure, a scientific and reasonable design, and is easy to operate, and can realize simple and fast clamping and unloading operations.

[0008] According to some embodiments of the present application, the first wedge-shaped surface is inclined towards the center area of the disc in the direction from the top of the clamping jaw to the bottom of the clamping jaw.

[0009] According to some embodiments of the present application, the clamping jaw body is provided with two parallel side surfaces, the accommodating space is provided with parallel cavity walls corresponding to the parallel side surfaces, and the pivot shaft vertically penetrates the two parallel side surfaces and is inserted into the parallel cavity walls.

[0010] According to some embodiments of the present application, the clamping disc further comprises a boss, the boss is arranged in the center area of the disc body, the accommodating space penetrates the boss and the disc body, and the pivot shaft is connected with the side wall in the accommodating space.

[0011] According to some embodiments of the present application, the top of the clamping jaw body extends towards the center area of the disc to form an abutting part, and the abutting part is connected with the push block through the elastic element.

[0012] According to some embodiments of the present application, the push block is provided with a limiting member outside the elastic member, and the limiting member is used to limit the displacement of the end of the elastic member.

[0013] According to some embodiments of the present application, the top surface of the push block and the bottom surface of the push block are parallel to each other and are respectively arranged on both sides of the first wedge surface, and the elastic member in the free state is perpendicular to the top surface of the push block and the bottom surface of the push block.

[0014] According to some embodiments of the present application, the elastic member is in the form of a compression spring.

[0015] According to some embodiments of the present application, the clamping part is a clamping finger which is arranged separately from the clamping jaw body, the clamping finger comprises a clamping finger head and a clamping finger tail, the clamping finger tail is connected to the top of the clamping jaw body, the clamping finger head is close to the central area of the disc body, and there is a gap between each clamping finger head.

[0016] According to some embodiments of the present application, the clamping finger tail is provided with an oblong hole, the oblong hole is aligned with a clamping finger mounting hole arranged on the top of the clamping jaw body in a corresponding manner, and a fastener is inserted through the oblong hole and the clamping finger mounting hole.

[0017] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0018] The present application will be further described below in conjunction with the drawings and embodiments, wherein:

[0019] Figure 1 A structure schematic view of a self-adapting movable clamping jaw mechanism according to an embodiment of the present application in a clamping workpiece state;

[0020] Figure 2 A semi-sectional view of a self-adapting movable clamping jaw mechanism according to an embodiment of the present application;

[0021] Figure 3 A structure schematic view of a self-adapting movable clamping jaw mechanism according to an embodiment of the present application when the push block is pushed;

[0022] Figure 4 A semi-sectional view of a self-adapting movable clamping jaw mechanism according to another embodiment of the present application.

[0023] LIST OF REFERENCE NUMERALS:

[0024] Chuck 100; Disc body 110; Containing space 120; Boss 130; Through hole 140; Chuck mounting hole 150; Clamping jaw 200; Clamping jaw body 210; Clamping jaw body bottom 211; Clamping jaw body middle 212; Clamping jaw body top 213; Clamping part 220; First wedge surface 230; Parallel side surface 240; Abutting part 250; Clamping finger mounting hole 260; Push block 300; Second wedge surface 310; Push block top surface 320; Push block bottom surface 330; Elastic member 400; Pivot 500; Limiting member 600; Clamping finger 700; Clamping finger finger head 710; Clamping finger finger tail 720; Long circular hole 730; Workpiece to be processed 800. DETAILED DESCRIPTION

[0025] Embodiments of the present application are described in detail below with reference to examples illustrated in the accompanying drawings, in which the same or similar components or components having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below by reference to the accompanying drawings are exemplary and are intended only to explain the present application, and should not be construed as limiting the present application.

[0026] In the description of the present application, it should be understood that the orientation description, such as the orientation or positional relationship indicated by up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or component referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

[0027] In the description of the present application, if the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, more than, etc. are understood as not including the number, above, below, etc. are understood as including the number. If it is described as first, second, it is only for the purpose of distinguishing technical features, and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or the order of technical features indicated.

[0028] In the description of the present application, unless otherwise explicitly limited, the words such as setting, mounting, connecting, etc. should be broadly understood, and those skilled in the art can reasonably determine the specific meaning of the above words in the present application in combination with the specific content of the technical solution.

[0029] In the description of the application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description, the exemplary description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in one or more embodiments or examples.

[0030] Please refer to Figure 1 and Figure 2 According to some embodiments of the application, the self-adaptive movable jaw mechanism comprises a chuck 100, a jaw 200, a push block 300 and an elastic member 400.

[0031] The chuck 100 comprises a disc body 110, and at least two accommodating spaces 120 are provided through the disc surface of the disc body 110, and the accommodating spaces 120 are respectively communicated with the top surface and the bottom surface of the disc body, and the accommodating spaces 120 are used for placing the jaw 200, the push block 300 and the elastic member 400;

[0032] The jaw 200 comprises a jaw body 210 and a clamping part 220; the jaw body 210 is movably inserted into the accommodating space 120, and the jaw body 210 comprises a jaw body top part 213 and a jaw body bottom part 211, and a jaw body middle part 212 is arranged between the jaw body top part 213 and the jaw body bottom part 211. The jaw body bottom part 211 is provided with a first wedge surface 230 on the side wall facing the central area of the disc body 110, the jaw body middle part 212 is connected with the cavity wall of the accommodating space 120 through a pivot 500, the pivot 500 is perpendicular to the disc diameter line corresponding to the position of the pivot 500, under the action of external force, the jaw body 210 can be flipped back and forth within a certain amplitude around the pivot 500, so that the jaw body top part 213 is close to or away from the central area of the disc body 110; the jaw body top part 213 is provided with the clamping part 220, the clamping part 220 points to the central area of the disc body 110 and is used for clamping the workpiece 800 to be processed;

[0033] The push block 300 is movably arranged between the first wedge surface 230 and the cavity wall of the center area of the disc body 110, and the second wedge surface 310 corresponding to the first wedge surface 230 is arranged on the push block 300. In the free state of the push block 300, the bottom part 211 of the clamping jaw body abuts against the push block 300, and specifically, the first wedge surface 230 and the second wedge surface 310 are mutually attached. The second wedge surface 310 is arranged between the top surface 320 of the push block and the bottom surface 330 of the push block, the top surface 320 of the push block faces the top part 213 of the clamping jaw body, and the bottom surface 330 of the push block is close to or flush with the bottom surface of the disc body 110. It can be understood that when the push force needs to be applied to the push block 300, the push force should act on the bottom surface 330 of the push block to promote the movement of the push block 300 in the direction close to the top part 213 of the clamping jaw body.

[0034] The elastic member 400 is arranged between the top part 213 of the clamping jaw body and the bottom surface 330 of the push block.

[0035] Please refer to Figures 1 to 3 According to the above structural characteristics, the bottom surface of the push block 300 will drive the elastic member 400 to move in the direction close to the top part 213 of the clamping jaw body after being subjected to the external push force, and the clamping jaw body 210 can be flipped, and the bottom part 211 of the clamping jaw body is provided with the first wedge surface 230 to form a position avoiding part. Therefore, the top part 213 of the clamping jaw body can be pushed away from the center area of the disc body 110 after being subjected to the push force of the elastic member 400, so as to carry the clamping part 220 away from the center of the disc body 100. By applying the push force to each push block 300, the distance between each clamping part 220 will be increased, thereby providing the insertion and unloading space for the workpiece 800 to be processed. It can be understood that the elastic member 400 plays a role similar to a push rod in the push stage of the push block 300, and is mainly used to transmit the movement of the push block 300 to the top part 213 of the clamping jaw body to push open the top part 213 of the clamping jaw body. In this process, the elastic member 400 is contracted to a certain extent.

[0036] When the pushing block 300 is no longer subjected to the external pushing force, the elastic member 400 generates a rebound force and reversely pushes the pushing block 300, and the wedge-shaped surface connection between the pushing block 300 and the bottom part 211 of the clamping jaw body can convert the movement of the pushing block 300 in the central area direction of the disc body 110 into the movement of the bottom part 211 of the clamping jaw body in the radial direction of the disc body, which is specifically manifested as that when the pushing block 300 moves towards the bottom surface of the disc body 110 to reset, the pushing block 300 pushes the first wedge-shaped surface 230 to move away from the center of the disc body 110, thereby driving the bottom part 211 of the clamping jaw body to move away from the center of the disc body 110; and the middle part 212 of the clamping jaw body is connected by the pivot 500, so that the clamping jaw body 210 forms a lever structure with the pivot 500 as the fulcrum, and the top part 213 of the clamping jaw body moves reversely with the bottom part 211, so that the distance between each clamping part 220 is reduced during the resetting process of the pushing block 300, so as to clamp the workpiece 800 together.

[0037] It should be understood that as long as the elastic member 400 does not return to the free length, the elastic member 400 will continuously exert the rebound force on the top part 213 of the clamping jaw body, and the embodiment of the present application uses the continuous rebound force to continuously clamp the workpiece 800. In actual application, the length of the elastic member 400 and the clamping part 220 can be designed in advance, so that the elastic member 400 is always in a compressed state when clamping the workpiece, thereby ensuring that the elastic member 400 can provide continuous rebound force.

[0038] In general, the embodiment of the present application combines the movable pushing block 300 and the foldable clamping jaw body 210, so that the pushing block 300 can open the top part 213 of the clamping jaw body under the action of the external pushing force, thereby increasing the distance between each clamping part 220, facilitating the insertion of the workpiece and enabling the workpiece to be quickly unloaded; in addition, the embodiment of the present application combines the rebound trend of the elastic member 400, the foldable setting of the clamping jaw body 210 and the wedge-shaped surface fitting setting of the pushing block 300 and the clamping jaw body 210, so that the top part 213 of the clamping jaw body can be reset without the external pushing force, so that the distance between each clamping part 220 is reduced, thereby realizing the automatic clamping of the workpiece 800; thus, the embodiment of the present application can realize simple and efficient loading and unloading actions; among them, the embodiment of the present application clamps the workpiece by the rebound force of the elastic member 400, so that the distance between each clamping part 220 is adjustable, thereby being able to adapt to workpieces of different outer diameters, and having a wide range of applications.

[0039] Please refer to Figure 2, along the direction from the middle part 212 of the clamping jaw body to the bottom part 211 of the clamping jaw body, the first wedge surface 230 is inclined towards the central area of the disc body 110, and the second wedge surface 310 is arranged correspondingly to the first wedge surface 230. With such an inclined direction, firstly, it can ensure that the bottom part 211 of the clamping jaw body can move towards the center of the disc body 110 when the top part 213 of the clamping jaw body is pushed by the elastic member 400, so that the top part 213 of the clamping jaw body can be lifted; secondly, it can ensure that the push block 300 effectively pushes the bottom part 211 of the clamping jaw body outward during the reset process driven by the elastic member 400, thereby causing each clamping part 220 to gather.

[0040] Please refer to Figure 3 The advantage of arranging the first wedge surface 230 and the second wedge surface 310 in such a direction is that it can reduce the frictional force that the push block 300 is subjected to when moving towards the top part 213 of the clamping jaw body, so that the push block 300 is more smooth to push, which is beneficial to improve the smoothness of the opening and closing of the clamping jaw 200 mechanism. Specifically, according to such an inclined direction, in the initial stage of moving the push block 300 towards the top part 213 of the clamping jaw body, since the elastic member 400 has not significantly lifted the top part 213 of the clamping jaw body, the clamping jaw body 210 is not turned over or is not significantly turned over, at this time the second wedge surface 310 will be slightly separated from the stationary first wedge surface 230 with the movement of the push block 300, so that the push block 300 does not abut against the bottom part 211 of the clamping jaw body in the initial pushing stage, and mainly moves along the cavity wall of the accommodating space 120 towards the central area of the disc body 110. As can be seen, compared with the method of using straight surfaces to fit between the push block 300 and the bottom part 211 of the clamping jaw body, the arrangement of the wedge surfaces can significantly reduce the frictional force that the push block 300 is subjected to when pushing, and the push block 300 is more smooth to move.

[0041] Please refer to Figure 1 and Figure 2 In some embodiments, the clamping jaw body 210 is provided with two parallel side surfaces, the pivot shaft 500 vertically penetrates through the two parallel side surfaces 240, and the accommodating space 120 is provided with a corresponding opposite cavity wall corresponding to the parallel side surfaces 240. In this embodiment, the clamping jaw body 210 adopts a plate structure, the accommodating space 120 is provided with a cavity wall corresponding to the plate surface, and thus the parallel side surfaces 240 and the corresponding cavity wall form a surface contact with high stability, and the two sides of the clamping jaw body 210 can be guided and limited, thereby slowing down the possible shaking of the clamping jaw body 210 during turning.

[0042] Further, since the middle part 212 of the clamping jaw body is connected with the cavity wall of the accommodating space 120 through the pivot 500, the accommodating space 120 needs to have enough height at the position corresponding to the pivot 500 to ensure the smooth installation of the pivot 500. In order to achieve this purpose, in some embodiments, the chuck 100 further comprises a boss 130 arranged at the center position of the disc body 110, the accommodating space 120 penetrates through the boss 130 and the disc body 110, and the middle part 212 of the clamping jaw body and the two opposite cavity walls of the boss 130 in the accommodating space 120 are connected through the pivot 500. In this case, the thickness of the boss 130 and the disc body 110 together forms the height of the accommodating space 120. Compared with directly using a whole thicker disc body 110 to form the accommodating space 120, only arranging the boss 130 at the position of the establishment of the accommodating space 120 to increase the height of the accommodating space 120 can save materials, and the chuck 100 mainly relies on the force at the center position in the use state, so arranging the boss 130 at the center position of the disc body 110 can more targetedly improve the structural strength of the disc body 110.

[0043] Please refer to Figure 2 The top part 213 of the clamping jaw body extends towards the center area of the disc body 110 to form an abutting part 250, one end of the abutting part 250 is connected with the top part 213 of the clamping jaw body, and the other end is close to the cavity wall of the accommodating space 120 near the center area of the disc body 110, and the bottom surface of the abutting part 250 is connected with the top surface 320 of the push block through the elastic member 400. It should be understood that a certain gap needs to be left between the middle part 212 of the clamping jaw body and the cavity wall of the accommodating space 120 near the center area of the disc body 110 for placing the elastic member 400, and the top end of the elastic member 400 needs to abut against the top part 213 of the clamping jaw body to lift the top part 213 of the clamping jaw body, so the present embodiment sets the trend of the top part 213 of the clamping jaw body, which extends towards the center area of the disc body 110 to form the abutting part 250, and the abutting part 250 abuts against the top end of the elastic member 400, so that the elastic member 400 drives the movement of the top part 213 of the clamping jaw body.

[0044] In some embodiments, the bottom surface 330 of the push block, the top surface 320 of the push block, and the bottom surface of the abutting part 250 are parallel to the disc surface of the disc body 110, and the elastic member 400 is arranged to extend along the center area of the disc body 110. At this time, the bottom surface 330 of the push block, the top surface 320 of the push block, and the bottom surface of the abutting part 250 are all perpendicular to the elastic member 400. Such angle arrangement can reduce the dispersion of the pushing force of the push block 300 and the elastic force of the elastic member 400, thereby achieving higher transmission efficiency.

[0045] Please refer to Figure 2Further, the push block 300 can be provided with a limiting member 600 outside the elastic member 400. The limiting member 600 can be in the form of a plate extending along the moving direction of the push block 300 and arranged around the outside of the elastic member 400 or symmetrically on both sides of the elastic member 400. The limiting member 600 is arranged to prevent the push block 300 from transmitting the pushing force mainly to the abutting position of the elastic member 400 and the top surface 320 of the push block. According to the pivotal connection mode of the middle part 212 of the clamping body, the elastic member 400 will be compressed and deformed to one side during the pushing of the top part 213 of the clamping body. The limiting member 600 can form a protective surface to prevent the elastic member 400 from being excessively bent and scratching the surface of the clamping body 210 or the cavity wall of the accommodation space 120. In addition, the limiting member 600 can also prevent the elastic member 400 from being detached from the end of the push block 300. In general, the limiting member 600 can limit the displacement of the end of the elastic member 400.

[0046] It is further noted that the number of elastic members in each accommodation space 120 is not limited. Two or more parallel elastic members 400 can be arranged according to the actual size of the push block top surface 320 to improve the rebound performance and achieve a more stable rebound action.

[0047] In some embodiments, the elastic member 400 is in the form of a compression spring, one end of which abuts the bottom surface of the top part 213 of the clamping body and the other end of which abuts the push block top surface 320. The compression spring is reliable and durable, can withstand a certain amount of compression, and has a stable rebound action, which is an ideal material for the rebound mechanism.

[0048] In other embodiments, the elastic member 400 is in the form of a rubber strip, one end of which abuts the bottom surface of the top part 213 of the clamping body and the other end of which abuts the push block top surface 320. During the pushing stage of the push block 300, the rubber strip can be compressed and bent. When the push block 300 is no longer subjected to the pushing force, the rubber strip can return to its original position.

[0049] Please refer to Figure 4 In some embodiments, the clamping part 220 is a clamping finger 700 arranged separately from the clamping body 210. The clamping finger 700 includes a clamping finger head 710 and a clamping finger tail 720. The clamping finger tail 720 is connected to the top part 213 of the clamping body. There is a gap between each clamping finger head 710, which is used to clamp the workpiece 800. The clamping finger 700 is detachably mounted on the top part 213 of the clamping body, which is convenient for the maintenance and replacement of the clamping part 220 and is also conducive to adapting to more sizes of workpieces 800.

[0050] Further, in some embodiments, the finger tail 720 is provided with an oblong hole 730, which is aligned with the finger mounting hole 260 provided on the top 213 of the jaw body and is jointly penetrated by a fastener such as a bolt, and the provision of the oblong hole 730 enables the length of the finger 700 to be adjusted, so that the length of the finger 700 can be adjusted by the installer as appropriate to better adapt to the outer diameter of the workpiece 800.

[0051] In some embodiments, the finger head 710 is provided with a smooth surface for clamping the surface of the workpiece 800, which can help to reduce the scratching of the surface of the workpiece 800 by the finger head 710.

[0052] Referring to Figure 1 In some embodiments, the chuck 100 is provided with a through hole 140 at the center position, and the provision of the through hole 140 can reduce the material of the chuck 100, thereby significantly reducing the weight of the chuck 100 and helping to reduce the manufacturing cost of the chuck.

[0053] Referring to Figure 1 In some embodiments, the edge region of the chuck body 110 is provided with two or more chuck mounting holes 150, and the chuck 100 can be mounted on the head of the machine tool through the chuck mounting holes 150.

[0054] In summary, the embodiments of the present application have simple structure, scientific and reasonable design, and are easy to operate, and can realize simple and fast clamping and unloading actions.

[0055] The embodiments of the present application are described in detail above with reference to the accompanying drawings, but the present application is not limited to the above embodiments, and various changes can be made within the scope of knowledge possessed by those skilled in the art without departing from the purpose of the present application. In addition, the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

Claims

1. A self-adaptive movable gripper mechanism, characterized in that, include: The clamp (100) includes a plate body (110), the plate body (110) is provided with a receiving space (120), the receiving space (120) is respectively connected to the top surface and the bottom surface of the plate body; The gripper (200) includes a gripper body (210) and a gripping part (220). The gripper body (210) is movably inserted into the accommodating space (120). The gripper body (210) includes a gripper body top (213) and a gripper body bottom (211). The gripper body bottom (211) has a first wedge-shaped surface (230) on the side wall facing the central region of the disc (110). The gripper body (210) and the accommodating space (120) are connected by a pivot (500). The gripper body top (213) has the gripping part (220). A pusher block (300) is movably inserted between the first wedge-shaped surface (230) and the cavity wall of the accommodating space (120) near the center region of the disk body. The pusher block (300) is provided with a second wedge-shaped surface (310) corresponding to the first wedge-shaped surface (230). An elastic element (400) is connected between the top of the gripper body (213) and the push block (300). The elastic element (400) is used to lift the top of the gripper body (213) when the push block (300) is pushed by an external force, so that the top of the gripper body (213) and the clamping part (220) are away from the central area of ​​the disc (110), thereby providing space for the workpiece (800) to be processed to be inserted and unloaded. The elastic element (400) is also used to provide a rebound force when the push block (300) is no longer pushed by an external force, thereby driving the push block (300) and the gripper body (210) to be reset, so that the top of the gripper body (213) and the clamping part (220) are close to the central area of ​​the disc (110), thereby clamping the workpiece (800) to be processed.

2. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, Along the direction from the top (213) of the gripper body to the bottom (211) of the gripper body, the first wedge-shaped surface (230) is inclined toward the central region of the disk.

3. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The gripper body (210) has two parallel side surfaces (240) that are parallel to each other. The accommodating space (120) has parallel cavity walls that correspond to the parallel side surfaces (240). The pivot (500) passes vertically through the two parallel side surfaces (240) and is inserted into the parallel cavity walls.

4. The self-adaptive movable gripper mechanism according to claim 3, characterized in that, The clamp (100) also includes a boss (130) located in the central region of the disc body (110). The accommodating space (120) extends through the boss (130) and the disc body (110). The pivot (500) is connected to the side wall of the boss (130) located within the accommodating space (120).

5. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The top (213) of the gripper body extends toward the central region of the disc to form an abutment (250), which is connected to the push block (300) via the elastic member (400).

6. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The push block (300) has a limiting member (600) on the outside of the elastic member (400), and the limiting member (600) is used to limit the displacement of the end of the elastic member (400).

7. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The top surface (320) and the bottom surface (330) of the push block (300) are parallel to each other and are respectively provided on both sides of the first wedge surface (230). The elastic member (400) in the free state is perpendicular to the top surface (320) and the bottom surface (330) of the push block.

8. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The elastic element (400) is in the form of a compression spring.

9. The self-adaptive movable gripper mechanism according to claim 1, characterized in that, The clamping part (220) is a clamping finger (700) separately provided from the clamping body (210). The clamping finger includes a clamping finger tip (710) and a clamping finger tail (720). The clamping finger tail (720) is connected to the top (213) of the clamping body. The clamping finger tip (710) is close to the central area of ​​the disc body, and there is a gap between each clamping finger tip (710).

10. The self-adaptive movable gripper mechanism according to claim 9, characterized in that, The fingertip (720) is provided with an elongated hole (730), which is aligned with the finger mounting hole (260) provided on the top (213) of the gripper body and is connected to a fastener.

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