Clamping jaw device

Abstract

The invention provides a clamping jaw device which comprises a fixed seat, a driving part, a floating seat and at least two clamping assemblies, and the driving part is arranged on the fixed seat and used for driving the floating seat to move away from or close to the fixed seat; each clamping assembly comprises a connecting arm, a linkage piece and a clamping piece; one end of each connecting arm is rotatably connected to the fixed seat, and the other end of each connecting arm is rotatably connected to the corresponding linkage piece; one end of each linkage piece is rotatably connected to the floating seat, and the other end of each linkage piece is rotatably connected to the corresponding clamping piece; and the driving piece drives the floating seat to move close to or far away from the fixed seat, and drives the at least two clamping pieces to tighten or untighten through the matching action of the connecting arm and the linkage piece. The clamping jaw device is large in clamping stroke, high in universality and capable of keeping the horizontal state to clamp various objects, and the clamping accuracy of the various objects is effectively improved.

Description

Technical Field

[0001] The invention relates to the field of automation technology, and in particular to a clamping claw device. Background Art

[0002] In the process of automated assembly, the clamping device is widely used for clamping and transferring various objects. Since the clamping device needs to clamp different objects at different time points, some objects are large in size, and some objects are small in size, in order to realize that a clamping device can be suitable for clamping objects of different sizes, a clamping device with a long stroke is developed. For example, the prior art (patent publication number: CN2163781878) discloses a clamping device with a long stroke, including a clamping jaw assembly 1, a housing 2, a motor 3, and a nut 4. The clamping jaw assembly 1 includes a left clamping jaw 7, a right clamping jaw 8, a left transmission connecting rod 11, and a right transmission connecting rod 12. When the motor 3 is working, the nut 4 slides down along the length direction of the screw shaft 31, and the nut 4 drives the left transmission connecting rod 11 to move downward. The left transmission connecting rod 11 pulls the left second connecting rod 73 to rotate, and under the action of the left clamping plate 71, the left first connecting rod 72 rotates following the left second connecting rod 73, thereby causing the left clamping jaw 7 to rotate, so that the left clamping jaw 7 moves toward the center direction of the housing 2. Similarly, the right clamping jaw 8 also moves toward the center of the housing 2, thereby achieving the clamping parts 100 of the left and right clamping jaws to tighten and clamp the object. However, although the clamping jaws of the prior art can clamp objects of different sizes with a large stroke, the vertical displacement of the clamping part 100 changes greatly when it shrinks from the maximum opening angle to the minimum opening angle during the clamping process, and it is impossible to maintain the horizontal clamping of the object. Therefore, when clamping objects of different sizes, it is necessary to constantly adjust the height of the entire clamping jaw so that the clamping part 100 can be aligned with the object in real time, which increases the complexity of the clamping jaws clamping the object and easily causes the problem of failure to clamp the object due to inaccurate clamping jaw alignment. Summary of the invention

[0003] In order to solve at least one of the above-mentioned technical problems, the present invention proposes a clamping device that can be used for clamping objects of different sizes and can maintain a certain horizontal state to clamp various objects, thereby improving the accuracy of clamping various objects. There is no need to adjust the height of the overall clamping device in real time, which further simplifies the complexity of clamping objects.

[0004] The present invention proposes a clamping device, comprising: a fixed seat, a driving member, a floating seat and at least two clamping assemblies, wherein the driving member is mounted on the fixed seat and is used to drive the floating seat to move away from or close to the fixed seat; Each clamping assembly includes a connecting arm, a linkage member and a clamping member; one end of the connecting arm is rotatably connected to the fixed seat, and the other end is rotatably connected to the corresponding linkage member; one end of the linkage member is rotatably connected to the floating seat, and the other end is rotatably connected to the corresponding clamping member; The driving member drives the floating seat to move closer to or away from the fixed seat, and drives at least two clamping members to tighten or open through the cooperation of the connecting arm and the linkage member.

[0005] Further, the linkage member includes at least two linkage rods, and both ends of each linkage rod are respectively provided with a pivoting portion pivotally connected to the floating seat and the corresponding clamping member; The factors affecting the displacement of the clamping member from the fixed seat along the first direction include: the effective length of any linkage rod of the linkage member projected in the first direction and the displacement of the floating seat from the fixed seat along the first direction; wherein the effective length is the distance between the two pivotal parts of the corresponding linkage rod projected in the first direction.

[0006] Furthermore, there is a negative correlation between the effective length of any linkage rod of the linkage member projected in the first direction and the displacement of the floating seat from the fixed seat along the first direction.

[0007] Further, when the floating seat moves toward the fixed seat along the first direction, the displacement of the floating seat from the fixed seat along the first direction becomes smaller, and the connecting arm pushes the linkage member to rotate, so that at least two clamping members are tightened, and the effective length of any linkage rod of the linkage member projected in the first direction becomes larger; When the floating seat moves away from the fixed seat along the first direction, the displacement of the floating seat from the fixed seat along the first direction increases, and the connecting arm pulls the linkage member to rotate, so that at least two clamping members are opened and the effective length of any linkage rod of the linkage member projected in the first direction decreases.

[0008] Furthermore, the displacement of the clamping member from the fixed seat along the first direction is equal to the sum of the effective length of any linkage rod of the linkage member projected in the first direction, the displacement of the floating seat from the fixed seat along the first direction and the fixed parameter K.

[0009] Furthermore, at least two pivot parts are arranged on the fixing seat, one end of the connecting arm is rotatably connected to the corresponding pivot part, and the other end of the connecting arm is rotatably connected to the middle part of any linkage rod of the linkage member.

[0010] Furthermore, the floating seat includes a main body and at least two first adapter parts, and the at least two first adapter parts are connected to the main body and are respectively bent at an angle a relative to the main body toward the fixed seat.

[0011] Furthermore, the clamping member includes a second adapter portion and a clamping portion, the clamping portion is fixedly connected to the second adapter portion, the clamping portion is bent at an angle b relative to the second adapter portion, and the sum of angle b and angle a is greater than 180 degrees and less than or equal to 360 degrees.

[0012] Further, the linkage member includes a first linkage rod and a second linkage rod; One end of the first linkage rod and one end of the second linkage rod are rotatably connected to the same first adapter portion of the floating seat, and are staggered; The other end of the first linkage rod and the other end of the second linkage rod are rotatably connected to the second transition portion of the clamping member respectively and are staggered.

[0013] Further, the first linkage rod, the second linkage rod, the first adapter portion and the second adapter portion together form a parallelogram, and the first linkage rod and the second linkage rod are parallel to each other, and the first adapter portion and the second adapter portion are parallel to each other.

[0014] The clamping device of the present invention can be adapted to clamp objects of different sizes, so the clamping device of the present invention has high versatility. The clamping device of the present invention can always maintain horizontal clamping of objects through the cooperation of the connecting arm, the linkage member and the clamping member. Compared with the large-stroke clamping device of the prior art, the present invention improves the accuracy of clamping various objects, and there is no need to adjust the height of the overall clamping device in real time, which further simplifies the complexity of clamping objects.

[0015] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 A three-dimensional schematic diagram showing a first state of a clamping jaw device of the present invention is shown; Figure 2 yes Figure 1 A three-dimensional schematic diagram of a second state of the clamping jaw device; Figure 3 yes Figure 1 A three-dimensional exploded schematic diagram of the clamping device.

[0017] Reference numerals: A clamping device 100; A fixed seat 10 and a pivot portion 11; Driving member 20, cylinder 21, telescopic rod 22; Floating seat 30, main body 31, first adapter portion 32; The clamping assembly 40 , the connecting arm 41 , the linkage member 42 , the first linkage rod 421 , the second linkage rod 422 , the pivoting portion 423 , the clamping member 43 , the second adapter portion 431 , the clamping portion 432 , and the auxiliary clamping block 433 . DETAILED DESCRIPTION

[0018] In order to more clearly understand the above-mentioned purpose, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that the embodiments of the present application and the features in the embodiments can be combined with each other without conflict.

[0019] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the protection scope of the present invention is not limited to the specific embodiments disclosed below.

[0020] like Figures 1 to 3 As shown, the present invention provides a clamping device 100, comprising: a fixed seat 10, a driving member 20, a floating seat 30 and at least two clamping assemblies 40, wherein the driving member 20 is mounted on the fixed seat 10 and is used to drive the floating seat 30 to move away from or close to the fixed seat 10; Each clamping assembly 40 includes a connecting arm 41, a linkage member 42 and a clamping member 43; one end of the connecting arm 41 is rotatably connected to the fixed seat 10, and the other end is rotatably connected to the corresponding linkage member 42; one end of the linkage member 42 is rotatably connected to the floating seat 30, and the other end is rotatably connected to the corresponding clamping member 43; The driving member 20 drives the floating seat 30 to move closer to or away from the fixed seat 10, and drives at least two clamping members 43 to be tightened or opened through the cooperation of the connecting arm 41 and the linkage member 42.

[0021] It can be understood that the driving member 20 can be a pneumatic driving member, an electric driving member, etc., but is not limited thereto. Preferably, the driving member 20 is a pneumatic driving member, which includes a cylinder 21 and a telescopic rod 22. The cylinder 21 is fixed on the fixed seat 10. One end of the telescopic rod 22 is installed in the cylinder 21, and the other end extends out of the cylinder 21 and is fixedly connected to the floating seat 30. In actual application, the cylinder 21 drives the telescopic rod 22 to perform telescopic movement, thereby driving the floating seat 30 to move closer to or away from the fixed seat 10. In other embodiments, the drive can also adopt an electric driving member, that is, the floating seat is driven to move by a motor-driven push-pull rod movement.

[0022] It can be understood that the clamping device 100 of the present invention can be adapted to clamp objects of different sizes, and achieves the effect of clamping various objects with a large stroke. At the same time, the present invention enables the clamping member 43 to basically maintain horizontal clamping of the object through the mutual cooperation of the connecting arm 41, the linkage member 42 and the clamping member 43. That is to say, in practical applications, as long as the clamping device 100 of the present invention is kept in the initial state of the maximum opening angle and placed at the height where the clamping member 43 is flush with the object, no matter how much the circumferential size of the object is, the subsequent driving member 20 drives the floating seat 30 to move close to the fixed seat 10. Under the mutual cooperation of the connecting arm 41, the linkage member 42 and the clamping member 43, at least two clamping members 43 can maintain a basically horizontal state and tighten toward the center, thereby accurately clamping the object. Compared with the large stroke clamps of the prior art, the present invention improves the accuracy of clamping various objects, and there is no need to adjust the height of the overall clamping device 100 in real time, which further simplifies the complexity of clamping objects.

[0023] According to an embodiment of the present invention, the linkage member 42 includes at least two linkage rods, and both ends of each linkage rod are respectively provided with a pivoting portion 423 pivotally connected to the floating seat 30 and the corresponding clamping member 43; Factors influencing the displacement of the clamping member 43 from the fixed seat 10 along the first direction include: the effective length of any linkage rod of the linkage member 42 projected in the first direction and the displacement of the floating seat 30 from the fixed seat 10 along the first direction; wherein the effective length is the distance between the two pivotal parts 423 of the corresponding linkage rod projected in the first direction.

[0024] Preferably, the pivoting portion 423 may be a pivot hole or a pivot, but is not limited thereto.

[0025] It should be noted that the distance between the two pivotal portions 423 of each linkage rod is equal to the distance between the two pivotal portions 423 of other linkage rods.

[0026] Preferably, at least two linkage rods are respectively linear linkage rods, and at least two linkage rods are parallel to each other.

[0027] According to the embodiment of the present invention, there is a negative correlation between the effective length of any linkage rod of the linkage member 42 projected in the first direction and the displacement of the floating seat 30 from the fixed seat 10 along the first direction.

[0028] According to the embodiment of the present invention, when the floating seat 30 moves toward the fixed seat 10 along the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction becomes smaller, and the connecting arm 41 pushes the linkage member 42 to rotate, so that at least two clamping members 43 are tightened, and the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes larger; When the floating seat 30 moves away from the fixed seat 10 along the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction becomes larger, and the connecting arm 41 pulls the linkage member 42 to rotate, so that at least two clamping members 43 are opened, and the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes smaller.

[0029] According to an embodiment of the present invention, the displacement of the clamping member 43 along the first direction from the fixed seat 10 is equal to the sum of the effective length of any linkage rod of the linkage member 42 projected in the first direction, the displacement of the floating seat 30 along the first direction from the fixed seat 10 and the fixed parameter K.

[0030] It can be understood that when the clamping device is positioned to a position where the clamping member 43 is flush with the object, the coordinate position of the fixed seat 10 remains unchanged at this time. The coordinate position of the fixed seat 10 can be used as a reference, and the displacement of the clamping member 43 from the fixed seat 10 along the first direction is actually equal to the sum of the effective length of any linkage rod projected in the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction, and other fixed parameter quantities. Other fixed parameter quantities can be the overlapping connection parts between various components, and the values ​​of this part are fixed. If the driving member 20 drives the floating seat 30 to move toward the fixed seat 10, at this time, the displacement of the floating seat 30 from the fixed seat 10 along the first direction will become smaller, and at the same time, the connecting arm 41 pushes the linkage member 42 to rotate, so that the effective length of any linkage rod of the linkage member 42 projected in the first direction becomes larger. Based on the above equation, of the two variables, one variable (i.e., the displacement of the floating seat 30 from the fixed seat 10 along the first direction) becomes smaller, while the other variable (the effective length of any linkage rod projected in the first direction) becomes larger to compensate, thereby ensuring that the displacement of the clamping member 43 from the fixed seat 10 along the first direction remains basically unchanged, thereby achieving the effect of large-stroke horizontal clamping of objects.

[0031] According to an embodiment of the present invention, at least two pivot portions 11 are provided on the fixing seat 10 , one end of the connecting arm 41 is rotatably connected to the corresponding pivot portion 11 , and the other end of the connecting arm 41 is rotatably connected to the middle of any one linkage rod of the linkage member 42 .

[0032] It should be noted that the middle portion of the present invention refers to the area between the two pivotal portions 423 of the linkage rod.

[0033] It can be understood that, preferably, the other end of the connecting arm 41 is rotatably connected to the middle of a linkage rod of the linkage member 42 close to the connecting arm 41. In other embodiments, the other end of the connecting arm 41 can also be rotatably connected to the middle of a linkage rod of the linkage member 42 not close to the connecting arm 41. In such a connection method, it is necessary to set a clearance space for the linkage rod close to the connecting arm 41 to reserve the rotation space between the connecting arm 41 and the corresponding linkage rod.

[0034] According to an embodiment of the present invention, the floating seat 30 includes a body 31 and at least two first adapter portions 32 . The at least two first adapter portions 32 are connected to the body 31 and are respectively bent toward the fixed seat 10 at an angle a relative to the body 31 .

[0035] It can be understood that the measurement of angle a is as follows: first take a ray with the length direction of the first adapter 32 as angle a, then make a plane perpendicular to the first direction, then project the corresponding ray of the first adapter 32 onto the plane and make a corresponding projection line, take the reverse extension line of the projection line as another ray of angle a, and then measure the angle between the two rays to be angle a. It can be understood that angle a is greater than 90 degrees and less than 180 degrees. According to an embodiment of the present invention, the clamping member 43 includes a second adapter portion 431 and a clamping portion 432 . The clamping portion 432 is fixedly connected to the second adapter portion 431 . The clamping portion 432 is bent at an angle b relative to the second adapter portion 431 .

[0036] According to an embodiment of the present invention, the sum of angle b and angle a is greater than 180 degrees and less than or equal to 360 degrees. Preferably, the sum of angle b and angle a is equal to 270 degrees.

[0037] It can be understood that the displacement of the clamping portion 432 of the clamping member 43 from the fixed seat 10 along the first direction is equal to the sum of the effective length of any linkage rod of the linkage member 42 projected in the first direction, the displacement of the floating seat 30 from the fixed seat 10 along the first direction, and other fixed parameter quantities. The other fixed parameter quantities here may include the overlapping connection parts between the various components, and the part between the position where the second adapter 431 is pivotally connected to the corresponding linkage rod and the clamping portion 432.

[0038] According to an embodiment of the present invention, the linkage member 42 includes a first linkage rod 421 and a second linkage rod 422; One end of the first linkage rod 421 and one end of the second linkage rod 422 are rotatably connected to the same first adapter portion 32 of the floating seat 30, and are staggered. The other end of the first linkage rod 421 and the other end of the second linkage rod 422 are rotatably connected to the second adapter portion 431 of the clamping member 43 respectively, and are staggered.

[0039] According to the embodiment of the present invention, the first link rod 421, the second link rod 422, the first adapter portion 32 and the second adapter portion 431 together form a parallelogram, and the first link rod 421 and the second link rod 422 are parallel to each other, and the first adapter portion 32 and the second adapter portion 431 are parallel to each other.

[0040] It can be understood that since the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431 together form a parallelogram, and the first adapter portion 32 remains parallel to the second adapter portion 431, and since the first adapter portion 32 will only move up and down with the floating seat 30 and will not rotate, the second adapter portion 431 that always remains parallel to the first adapter portion 32 will not rotate, thereby ensuring that the clamping member 43 can translate as a whole. In actual applications, when clamping objects of different sizes, it can be ensured that the clamping portion 432 always clamps the object in a horizontal direction, and the clamping surface of the clamping portion 432 can always be completely in contact with the clamping surface of the clamped object, thereby avoiding the risk of reduced friction and causing the object to fall due to the clamping surface of the clamping portion 432 not being able to completely fit the clamping surface of the clamped object.

[0041] According to an embodiment of the present invention, the clamping member 43 further includes an auxiliary clamping block 433, which is fixed to the clamping portion 432. The auxiliary clamping block 433 has the function of preventing slipping and preventing the surface of the object from being damaged by clamping. Preferably, the auxiliary clamping block 433 is made of rubber or synthetic resin, but is not limited thereto.

[0042] It can be understood that the gripper device 100 of the present invention can be installed at the end of a robot through a fixing base 10, and the robot drives the gripper device 100 to move as a whole to carry an object. However, the present invention is not limited thereto.

[0043] It can be understood that the first direction of the present invention refers to the relative movement direction between the floating seat 30 and the fixed seat 10, corresponding to Figure 1 and Figure 2 The x-axis direction in .

[0044] In order to better illustrate the clamping device 100 of the present invention, the working principle of the clamping device 100 of the present invention is specifically introduced below.

[0045] When it is necessary to clamp an object, the manipulator can keep the clamping device 100 in the initial state of the maximum opening angle and place it at a height where the clamping portion 432 is flush with the object. Then, the driving member 20 drives the floating seat 30 to move close to the fixed seat 10, and the connecting arm 41 pushes the first linkage rod 421 or the second linkage rod 422 of the linkage member 42 to rotate relative to the fixed seat 10, and deforms the parallelogram formed by the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431, so as to tighten at least two clamping members 43 horizontally toward the middle to clamp the object. After that, the object can be carried to the corresponding placement position under the drive of the manipulator.

[0046] When it is necessary to release the object, the manipulator can move the clamping claw device 100 that clamps the object to the corresponding placement position, and then the driving member 20 drives the floating seat 30 to move away from the fixed seat 10, and the connecting arm 41 pulls the first linkage rod 421 or the second linkage rod 422 of the linkage member 42 to rotate relative to the fixed seat 10, and causes the parallelogram formed by the first linkage rod 421, the second linkage rod 422, the first adapter portion 32 and the second adapter portion 431 to deform, prompting at least two clamping members 43 to open horizontally outward to release the object.

[0047] It can be understood that objects of different sizes can be instruments with different case diameters, for example, the case diameters of pressure instruments are 60 mm, 100 mm, 150 mm, etc. Since the clamping stroke of the clamping jaw device 100 of the present invention is relatively large, it can be applied to clamp pressure instruments with different case diameters, for example: Figure 1 The clamping jaw device can be used to clamp a pressure gauge with a case diameter of 150 mm. Figure 2 The clamping device can be in a working state of clamping a pressure gauge with a case diameter of 60 mm. At the same time, the pressure gauge is usually placed horizontally, and at least two clamping members 43 of the clamping device 100 are clamped on the outer side of the circular case to grasp the pressure gauge. The at least two clamping members 43 of the clamping device 100 of the present invention can realize horizontal tightening and clamping the outer side of the case, ensuring that the clamping device 100 is accurately clamped to the outer side of the case, and during the clamping process, there is no need to adjust the height of the clamping device 100 in real time, further simplifying the complexity of accurate clamping.

[0048] The clamping device 100 of the present invention cooperates with the connecting arm 41, the linkage member 42 and the clamping member 43 so that the clamping member 43 can always maintain a horizontal clamping of the object. Compared with the large-stroke clamps in the prior art, the present invention improves the accuracy of clamping various objects, and there is no need to adjust the height of the overall clamping device 100 in real time, further simplifying the complexity of clamping the object.

[0049] It should be noted that the rotatable connection relationship described in the present invention can be achieved through the matching relationship between the pivot and the pivot hole. For example, if one component is rotatably connected to another component, pivot holes can be opened at corresponding positions of the two components, and then the pivot is passed through the pivot holes of the two components to achieve the rotatable connection. However, it is not limited to this.

[0050] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A clamping device, characterized in that: include: A fixed seat, a driving member, a floating seat and at least two clamping assemblies, wherein the driving member is mounted on the fixed seat and is used to drive the floating seat to move away from or close to the fixed seat; Each clamping assembly includes a connecting arm, a linkage member and a clamping member; one end of the connecting arm is rotatably connected to the fixed seat, and the other end is rotatably connected to the corresponding linkage member; one end of the linkage member is rotatably connected to the floating seat, and the other end is rotatably connected to the corresponding clamping member; The driving member drives the floating seat to move closer to or away from the fixed seat, and drives at least two clamping members to tighten or open through the cooperation of the connecting arm and the linkage member.

2. A clamping device according to claim 1, characterized in that: The linkage member comprises at least two linkage rods, and both ends of each linkage rod are respectively provided with a pivoting portion pivotally connected to the floating seat and the corresponding clamping member; The factors affecting the displacement of the clamping member from the fixed seat along the first direction include: the effective length of any linkage rod of the linkage member projected in the first direction and the displacement of the floating seat from the fixed seat along the first direction; wherein the effective length is the distance between the two pivotal parts of the corresponding linkage rod projected in the first direction.

3. A clamping device according to claim 2, characterized in that: There is a negative correlation between the effective length of any linkage rod of the linkage member projected in the first direction and the displacement of the floating seat from the fixed seat along the first direction.

4. A clamping device according to claim 3, characterized in that: When the floating seat moves toward the fixed seat along the first direction, the displacement of the floating seat from the fixed seat along the first direction becomes smaller, and the connecting arm pushes the linkage member to rotate, so that at least two clamping members are tightened, and the effective length of any linkage rod of the linkage member projected in the first direction becomes larger; When the floating seat moves away from the fixed seat along the first direction, the displacement of the floating seat from the fixed seat along the first direction increases, and the connecting arm pulls the linkage member to rotate, so that at least two clamping members are opened and the effective length of any linkage rod of the linkage member projected in the first direction decreases.

5. A clamping device according to claim 2, characterized in that: The displacement of the clamping member from the fixed seat along the first direction is equal to the sum of the effective length of any linkage rod of the linkage member projected in the first direction, the displacement of the floating seat from the fixed seat along the first direction and the fixed parameter K.

6. A clamping jaw device according to claim 2, characterized in that: At least two pivot parts are arranged on the fixing seat, one end of the connecting arm is rotatably connected to the corresponding pivot part, and the other end of the connecting arm is rotatably connected to the middle part of any linkage rod of the linkage member.

7. A clamping jaw device according to any one of claims 1 to 6, characterized in that: The floating seat comprises a main body and at least two first transition parts. The at least two first transition parts are connected to the main body and are respectively bent toward the fixed seat at an angle a relative to the main body.

8. A clamping jaw device according to claim 7, characterized in that: The clamping member includes a second adapter portion and a clamping portion, the clamping portion is fixedly connected to the second adapter portion, the clamping portion is bent at an angle b relative to the second adapter portion, and the sum of the angle b and the angle a is greater than 180 degrees and less than or equal to 360 degrees.

9. A clamping jaw device according to claim 8, characterized in that: The linkage member includes a first linkage rod and a second linkage rod; One end of the first linkage rod and one end of the second linkage rod are rotatably connected to the same first adapter portion of the floating seat, and are staggered; The other end of the first linkage rod and the other end of the second linkage rod are rotatably connected to the second transition portion of the clamping member respectively and are staggered.

10. A clamping jaw device according to claim 9, characterized in that: The first linkage rod, the second linkage rod, the first adapter portion and the second adapter portion together form a parallelogram, and the first linkage rod and the second linkage rod are parallel to each other, and the first adapter portion and the second adapter portion are parallel to each other.

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