Clamping jaw assembly, clamping jaw device and grabbing mechanism

Abstract

The embodiment of the invention relates to a material grabbing device, in particular to a clamping jaw assembly, a clamping jaw device and a grabbing mechanism, the clamping jaw assembly comprises a first movable arm, a second movable arm, a first clamping piece and a second clamping piece; the first movable arm and the second movable arm can move relative to each other, and the first clamping piece is arranged on the first movable arm and can rotate relative to the second movable arm; the second clamping piece is arranged on the second movable arm and can rotate relative to the first movable arm; when the first movable arm and the second movable arm relatively move to a preset position, the first clamping piece and the second clamping piece can clamp materials. Compared with the prior art, the first clamping piece and the second clamping piece can correct the deviation of the materials during placement through the rotation characteristics of the first clamping piece and the second clamping piece, so that the first clamping piece and the second clamping piece can stably clamp the materials, and the success rate during material grabbing is increased.

Description

Technical Field

[0001] The embodiments of the present invention relate to a material grabbing device, and more particularly to a clamping jaw assembly, a clamping jaw device and a grabbing mechanism. Background Art

[0002] The clamping device, as a device that can grasp materials, has been widely used in various fields. However, the inventors found that in the process of grasping materials, if the clamping device wants to grasp the materials smoothly, it is related to the grasping position of the clamping device itself on the one hand, and the placement position of the materials on the other hand. The clamping device is generally driven by a mechanical arm to move. Therefore, the grasping position of the clamping device can be effectively guaranteed, but the placement position of the materials is generally operated manually. Therefore, it is inevitable that the materials cannot be accurately placed in the corresponding placement position, and there will be more or less some offset, deflection and other phenomena, which will cause the clamping device to be unable to grasp the materials smoothly when grasping the materials for a long time. Summary of the invention

[0003] The purpose of the embodiments of the present invention is to design a clamping jaw assembly, a clamping jaw device and a grasping mechanism, which can achieve stable grasping of materials and improve the success rate of grasping materials.

[0004] In order to achieve the above object, an embodiment of the present invention provides a clamping jaw assembly, comprising:

[0005] A first movable arm and a second movable arm; the first movable arm and the second movable arm are movable relative to each other;

[0006] A first clamping member is disposed on the first movable arm and is rotatable relative to the second movable arm;

[0007] A second clamping member is disposed on the second movable arm and is rotatable relative to the first movable arm;

[0008] Wherein, the first clamping member and the second clamping member are used to clamp materials when the first movable arm and the second movable arm move relative to each other to a preset position.

[0009] In addition, an embodiment of the present invention further provides a clamping device, wherein the clamping mechanism comprises:

[0010] A jaw assembly as described above;

[0011] The driving assembly is respectively connected to the first movable arm and the second movable arm of the clamping jaw assembly, and is used to drive the first movable arm and the second movable arm to move relative to each other, so that the first clamping member and the second clamping member clamp or release the material.

[0012] In addition, an embodiment of the present invention further provides a grasping mechanism, and the microplate grasping mechanism includes:

[0013] The jaw device as described above, wherein the driving assembly is configured to drive the first movable arm and the second movable arm to move relative to each other according to the received first driving signal, so that the first clamping member and the second clamping member clamp or release the material at a specified position;

[0014] A robotic arm, connected to the jaw device, and configured to drive the jaw device to move within a three-dimensional coordinate system according to the received second driving signal, so that the jaw device is moved to the specified position.

[0015] Compared with the prior art, in the embodiment of the present invention, since the jaw assembly includes a first movable arm, a second movable arm, a first clamping member, and a second clamping member, and the first clamping member is disposed on the first movable arm and is rotatable relative to the second movable arm, while the second clamping member is disposed on the second movable arm and is rotatable relative to the first movable arm. Therefore, when the first movable arm and the second movable arm move towards each other, the first clamping member and the second clamping member can correct the deviation of the material during placement through their own rotational characteristics, so that the first clamping member and the second clamping member can achieve stable clamping of the material, improving the success rate of grasping the material. Description of the Drawings

[0016] One or more embodiments are exemplarily illustrated by pictures in the corresponding drawings. These exemplary illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are represented as similar elements, unless otherwise stated, and the figures in the drawings do not constitute a proportional limitation.

[0017] Figure 1 It is an axonometric schematic diagram of the jaw assembly in some embodiments of the present invention;

[0018] Figure 2 For Figure 1 It is a schematic diagram of adding a first elastic layer and a second elastic layer to the jaw assembly in

[0019] Figure 3 It is an axonometric schematic diagram of another jaw assembly in some embodiments of the present invention;

[0020] Figure 4 For Figure 3 It is a schematic diagram of adding a first elastic layer and a second elastic layer to the jaw assembly in

[0021] Figure 5 It is an axonometric schematic diagram of the jaw device in some embodiments of the present invention;

[0022] Figure 6In some embodiments of the present invention, it is an axonometric schematic diagram of the grasping mechanism;

[0023] Figure 7 In some embodiments of the present invention, it is a state schematic diagram of the grasping mechanism when grasping a microplate. Specific embodiments

[0024] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will elaborate on each embodiment of the present invention with reference to the accompanying drawings. However, those of ordinary skill in the art can understand that in each embodiment of the present invention, many technical details are provided to help readers better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical solutions claimed in the present application can still be implemented.

[0025] Embodiment 1

[0026] The first embodiment of the present invention relates to a jaw assembly, as shown in Figure 1 and Figure 3 , the jaw assembly 1 includes: a first movable arm 11, a second movable arm 12, a first clamping member 13, and a second clamping member 14.

[0027] Among them, as shown in Figure 1 and Figure 3 , the first movable arm 11 and the second movable arm 12 are relatively movable with respect to each other. Secondly, the first clamping member 13 is disposed on the first movable arm 11 and is rotatable with respect to the second movable arm 12. The second clamping member 14 is disposed on the second movable arm 12 and is rotatable with respect to the first movable arm 11.

[0028] Moreover, when the first movable arm 11 and the second movable arm 12 move relative to each other to a preset position, the first clamping member 13 and the second clamping member 14 can clamp the material.

[0029] It can be seen from the above that since the jaw assembly 1 includes: a first movable arm 11, a second movable arm 12, a first clamping member 13, and a second clamping member 14, and the first clamping member 13 is disposed on the first movable arm 11 and is rotatable with respect to the second movable arm 12, while the second clamping member 14 is disposed on the second movable arm 12 and is rotatable with respect to the first movable arm 11. Therefore, when the first movable arm 11 and the second movable arm 12 move towards each other, the first clamping member 13 and the second clamping member 14 can correct the deviation of the material during placement through their own rotational characteristics, enabling the first clamping member 13 and the second clamping member 14 to achieve stable clamping of the material, thereby improving the success rate when grasping the material.

[0030] Specifically, in some embodiments, as shown in Figure 1 andFigure 3 As shown, the first clamping member 13 includes: a first clamping block 131 and at least one first protrusion 132. Among them, the first clamping block 131 is rotatably arranged on the first movable arm 11, and the side of the first clamping block 131 relative to the second clamping member 14 is the first clamping side 1311 for clamping the material. Secondly, each first protrusion 132 is formed by a part of the first clamping side 1311 protruding towards the second clamping member 14. Similarly, as Figure 1 and Figure 3 shown, the second clamping member 14 includes: a second clamping block 141 and at least one second protrusion 142. Among them, the second clamping block 141 is rotatably arranged on the second movable arm 12, and the side of the second clamping block 141 relative to the first clamping member 13 is the second clamping side 1411 for clamping the material. Secondly, each second protrusion 142 is formed by a part of the second clamping side 1411 protruding towards the first clamping member 13. And when the first clamping side 1311 of the first clamping block 131 and the second clamping side 1411 of the second clamping block 141 complete the clamping of the material, each first protrusion 132 and each second protrusion 142 are also used to jointly support the clamped material, so that the first clamping member 13 and the second clamping member 14 can achieve more stable clamping of the material.

[0031] Moreover, it is worth noting that since the first clamping block 131 is rotatably arranged on the first movable arm 11 and the second clamping block 141 is rotatably arranged on the second movable arm 12, when the first movable arm 11 and the second movable arm 12 move towards each other, whether the first clamping block 131 or the second clamping block 141 contacts the material first, the first clamping block 131 and the second clamping block 141 can utilize their own rotational characteristics to automatically correct the error in the placement of the material, so that when the first clamping block 131 and the second clamping block 141 clamp the material, both the first clamping side 1311 and the second clamping side 1411 can be well attached to the material, thereby ensuring the stability of the material during grasping to ensure that the material can be smoothly clamped.

[0032] In addition, as Figure 3 shown, the first clamping side 1311 of the first clamping block 131 and the second clamping side 1411 of the second clamping block 141 can be flat surfaces. Of course, in some other embodiments, as Figure 1 shown, the first clamping side 1311 and the second clamping side 1411 are at least partially toothed surfaces, and the toothed surfaces can improve the clamping force of the first clamping side 1311 and the second clamping side 1411 when clamping the material, so that the material can be clamped more stably. However, as a preferred implementation manner, in some other embodiments, as Figure 1 and Figure 3As shown, one side of the first protrusion 132 relative to the second protrusion 142 is the first toothed surface. Similarly, one side of the second protrusion 142 relative to the first protrusion 132 is the second toothed surface. Through the first toothed surface and the second toothed surface, the first protrusion 132 and the second protrusion 142 can also clamp the material. For example, when the material is a microplate 100 for placing reagents, as Figure 7 shown, in order to avoid contaminating the reagents, a corresponding upper cover is generally provided above the microplate to cover it. Therefore, when the cover needs to be opened, the first protrusion 132 and the second protrusion 142 can be used to directly clamp the upper cover, and thus the opening and closing actions of the microplate 100 can be achieved.

[0033] In addition, as a preferred solution, in some other embodiments, the first clamping side 1311 of the first clamping block 131 and the second clamping side 1411 of the second clamping block 141 are both flexible sides. For example, a part from the side of the first clamping block 131 relative to the second clamping block 141 to the side away from the second clamping block 141 is a first flexible pad (not marked in the figure), and a part from the side of the second clamping block 141 relative to the first clamping block 131 to the side away from the first clamping block 131 is a second flexible pad (not marked in the figure). Moreover, both the first flexible pad and the second flexible pad can be made of rubber pads, silicone pads, etc. Thus, when the first clamping block 131 and the second clamping block 141 clamp the material, the variability of the flexible pads can be utilized to avoid damage to the material caused by excessive clamping force. At the same time, since both the first clamping side 1311 and the second clamping side 1411 are flexible sides, when the first clamping side 1311 and the second clamping side 1411 clamp the material, the frictional resistance to the material can be increased, thereby further improving the stability of the first clamping block 131 and the second clamping block 141 when clamping the material.

[0034] However, in some other embodiments, as Figure 1 and 3 shown, the first clamping block 131 further has a first top side 1312 and a first bottom side 1313 opposite to the first top side 1312 along its height direction, and the first clamping side 1311 is disposed between the first top side 1312 and the first bottom side 1313. Additionally, as Figure 3 shown, a part of the first bottom side 1313 extends in a direction away from the first top side 1312 to form at least one first clamping extension segment 1314, and one side of each first clamping extension segment 1314 relative to the second clamping member 14 is a first extension surface 1315 of the first clamping side 1311, and the first protrusion 132 is disposed on the first extension surface 1315. Similarly, as Figure 1 and 3As shown, the second clamping block 141 also has a second top side 1412 and a second bottom side 1413 opposite to the second top side 1412 along its height direction, and the second clamping side 1411 is disposed between the second top side 1412 and the second bottom side 1413. Additionally, as Figure 3 shown, a part of the second bottom side 1413 extends away from the second top side 1412 to form at least one second clamping extension segment 1414, and one side of each second clamping extension segment 1414 relative to the first clamping member 13 is the second extension surface 1415 of the second clamping side 1411, and the second protrusion 142 is disposed on the second extension surface 1415. Thus, it is not difficult to see that the clamping height of the first clamping member 13 and the second clamping member 14 can be increased through the first clamping extension segment 1314 and the second clamping extension segment 1415, so that the first clamping member 13 and the second clamping member 14 can clamp materials with a larger thickness, and thus the jaw assembly 1 can meet the usage requirements of more application scenarios.

[0035] In addition, in order to realize the rotation of the first clamping block 131 and the second clamping block 141, as Figures 1 to 4 shown, the first top side 1312 of the first clamping block 131 can be directly rotationally connected to the first movable arm 11 through the first rotating member 15, and the second top side of the second clamping block 141 can be directly rotationally connected to the second movable arm 12 through the second rotating member 16. And, in some embodiments, as Figure 1 and Figure 3 shown, both the first rotating member 15 and the second rotating member 16 can adopt the method of combining a positioning pin and a nut, so that the first clamping block 131 can rotate relative to the first movable arm 11, and at the same time, the second clamping block 141 can rotate relative to the second movable arm 12.

[0036] However, in some other embodiments, as Figure 1As shown, a part of the first top side 1312 of the first clamping block 131 also protrudes away from the first bottom side 1313 to form a first stop strip 1316 that can resist the first movable arm 11. By the resistance of the first stop strip 1316 to the first movable arm 11, the first clamping block 131 can only rotate within a first preset rotation angle range. Similarly, a part of the second top side 1412 of the second clamping block 141 also protrudes away from the second bottom side 1413 to form a second stop strip 1416 that can resist the second movable arm 12. By the resistance of the second stop strip 1416 to the second movable arm 12, the second clamping block 141 rotates within a second preset rotation angle range. It is not difficult to see from this that since both the first clamping block 131 and the second clamping block 141 can only rotate within the preset rotation angle range, it is ensured that when the first clamping block 131 and the second clamping block 141 clamp the material, the first clamping side 1311 and the second clamping side 1411 are always facing the material, thereby further ensuring the stability of the jaw assembly when clamping the material. And, as a preferred solution, in some other embodiments, as Figure 2 shown, a first elastic layer 1319 can also be provided on the side of the first stop strip 1316 that resists the first movable arm 11. And the first elastic layer 1319 can be made of a rubber layer, a silicone layer, etc. Therefore, when the first clamping block 131 rotates, the first elastic layer 1319 can be in contact with the first movable arm 11. And, by virtue of the resilience characteristics of the first elastic layer 1319, when the first elastic layer 1319 is in contact with the first movable arm 11, the first clamping block 131 will also receive the resilience of the first elastic layer 1319, and the first clamping block 131 will be urged to rotate in the reverse direction under the action of this resilience, so that the first clamping side 1311 of the first clamping block 131 can quickly and better fit with the material. And, corresponding to the first elastic layer 1319 on the first stop strip 1316, combined with Figure 2 shown, a second elastic layer 1419 can also be provided on the side of the second stop strip 1416 that resists the second movable arm 12. And the second elastic layer 1419 can be made of a rubber layer, a silicone layer, etc. Therefore, when the second clamping block 141 rotates, the second elastic layer 1419 can be in contact with the second movable arm 12. And, by virtue of the resilience characteristics of the second elastic layer 1419, when the second elastic layer 1419 is in contact with the second movable arm 12, the second clamping block 141 will also receive the resilience of the second elastic layer 1419, and the second clamping block 141 will be urged to rotate in the reverse direction, so that the second clamping side 1411 of the second clamping block 141 can quickly and better fit with the material. Therefore, when the jaw assembly 1 clamps the material, it can also respectively rely on the resilience generated by the first elastic layer 1319 and the second elastic layer 1419 to quickly correct the postures of the first clamping block 131 and the second clamping block 141 when clamping the material, so as to ensure that the material can be clamped more stably.

[0037] Of course, as an alternative, in other embodiments, such as Figure 3 and Figure 4 As shown, a first clamping block 131 is further provided with a first slot 1317 on a side away from the first clamping side 1311, and a portion of the first movable arm 11 is inserted into the first slot 1317 and can be rotatably connected to the first movable arm 11 through the first rotating component 15. At the same time, a slot bottom 1318 of the first slot 1317 can resist the first movable arm 11. The first clamping block 131 can also rotate within the first preset rotation angle range through the resistance of the slot bottom 1318 of the first slot 1317 to the first movable arm 11. Similarly, as Figure 3 and Figure 4 As shown, a second clamping block 141 is further provided with a second slot 1417 on a side away from the second clamping side 1411, and a portion of the second movable arm 12 is inserted into the second slot 1417 and is rotatably connected to the second movable arm 12 via the second rotating member 16. At the same time, a slot bottom 1418 of the second slot 1417 can resist the second movable arm 12. The second clamping block 141 can also rotate within the second preset rotation angle range through the resistance of the second slot bottom 1418 of the second slot 1417 to the second movable arm 12. When the first clamping block 131 and the second clamping block 141 are connected to the first movable arm 11 and the second movable arm 12 respectively using this structure, as shown in FIG. Figure 4 As shown, the first elastic layer 1319 can be arranged at the groove bottom 1318 of the first slot 1317, and the second elastic layer 1419 can be arranged at the groove bottom 1418 of the second slot 1417. Therefore, when the first clamping block 131 is rotating, the first elastic layer 1319 can also abut against the first movable arm 11, and by virtue of the rebound characteristic of the first elastic layer 1319, when the first elastic layer 1319 abuts against the first movable arm 11, the first clamping block 131 can also be subjected to the rebound force of the first elastic layer 1319, and the first clamping block 131 is prompted to rotate in the opposite direction. Similarly, when the second clamping block 141 is rotating, the second elastic layer 1419 can also abut against the second movable arm 12, and by virtue of the rebound characteristics of the second elastic layer 1419, when the second elastic layer 1419 abuts against the second movable arm 12, the second clamping block 141 can also be subjected to the rebound force of the second elastic layer 1419, and the second clamping block 141 is prompted to rotate in the opposite direction. Therefore, when the clamping jaw assembly 1 clamps the material, it can also use the rebound force generated by the first elastic layer 1319 and the second elastic layer 1419 to quickly correct the posture of the first clamping block 131 and the second clamping block 141 when clamping the material, so as to ensure that the material can be clamped more stably.

[0038] In addition, in some embodiments, Figure 1 and Figure 3As shown in the figure, the first movable arm 11 includes: a first horizontal support section 111, a first horizontal clamping section 112 disposed away from the first horizontal support section 111, and a first inclined section 113 disposed between the first horizontal support section 111 and the first horizontal clamping section 112. Among them, the first clamping member 13 is rotatably disposed on the first horizontal clamping section 111. The second movable arm 12 includes: a second horizontal support section 121, a second horizontal clamping section 122 disposed away from the second horizontal support section 121, and a second inclined section 123 disposed between the second horizontal support section 121 and the second horizontal clamping section 122. Among them, the second clamping member 14 is rotatably disposed on the second horizontal clamping section 122.

[0039] And, it is worth noting that, as Figure 1 and Figure 3 shown, the first inclined section 113 is disposed between the first horizontal support section 111 and the first horizontal clamping section 112, and is respectively connected to the first horizontal support section 111 and the first horizontal clamping section 112, so that the first horizontal support section 111 and the first horizontal clamping section 112 can be staggered along the direction of clamping the material, as Figure 3 shown in the state, or the first horizontal support section 111 and the first horizontal clamping section 112 can be staggered along the direction perpendicular to the direction of clamping the material, as Figure 1 shown in the state. Similarly, the second inclined section 123 is respectively connected to the second horizontal support section 121 and the second horizontal clamping section 122, so that the second horizontal support section 121 and the second horizontal clamping section 122 can be staggered along the direction of clamping the material, as Figure 3 shown in the state, or the second horizontal support section 121 and the second horizontal clamping section 122 are staggered along the direction perpendicular to the direction of clamping the material, as Figure 1 shown in the state. It can be easily seen from this that since the first horizontal support section 111 and the first horizontal clamping section 112 can be staggered along the direction of clamping the material or along the direction perpendicular to the clamping of the material through the first inclined section 113, and at the same time, the second horizontal support section 121 and the second horizontal clamping section 122 can be staggered along the direction of clamping the material or along the direction perpendicular to the clamping of the material through the second inclined section 123, so that during the movement of the jaw assembly 1 in the three-dimensional coordinate system, a certain degree of avoidance can be achieved through the first inclined section 113 and the second inclined section 123, avoiding interference with the movement of the jaw assembly 1 by the equipment.

[0040] In addition, in order to enable the jaw assembly 1 to move relative to each other and realize the clamping and releasing of the material, as Figure 1 and Figure 3 shown, the first movable arm 11 further includes: a first connecting member 114, and the first connecting member 114 is disposed at one end of the first horizontal support section 111 away from the first inclined section 113. At the same time, as Figure 1 and Figure 3As shown, the second movable arm 12 further includes: a second connecting member 124, and the second connecting member 124 is disposed at one end of the second horizontal support section 121 away from the second inclined section 123. Thus, under the drive of the drive assembly 2 of the gripper mechanism, both the first connecting member 114 and the second connecting member 124 can make the first movable arm 11 and the second movable arm 12 move relative to each other, so as to clamp or release the material.

[0041] Embodiment 2

[0042] Embodiment 2 of the present invention relates to a gripper device, as Figure 5 shown, the gripper device includes: the gripper assembly 1 and the drive assembly 2 as described in Embodiment 1. And the drive assembly 2 is respectively connected to the first movable arm 11 and the second movable arm 12 of the gripper assembly 1, and the drive assembly 2 can be used to drive the first movable arm 11 and the second movable arm 12 to move relative to each other, so that the first clamping member 13 and the second clamping member 14 can clamp or release the material.

[0043] It can be easily seen from the above that since the gripper assembly 1 includes: a first movable arm 11, a second movable arm 12, a first clamping member 13 and a second clamping member 14, and the first clamping member 13 is disposed on the first movable arm 11 and is rotatable relative to the second movable arm 12, while the second clamping member 14 is disposed on the second movable arm 12 and is rotatable relative to the first movable arm 11. Therefore, when the first movable arm 11 and the second movable arm 12 move towards each other, the first clamping member 13 and the second clamping member 14 can correct the deviation of the material during placement through their own rotation characteristics, so that the first clamping member 13 and the second clamping member 14 can stably clamp the material, improving the success rate of grasping the material.

[0044] Specifically, in some embodiments, as Figure 3 shown, the drive assembly 2 can adopt a double-rod slide cylinder, so that the first movable arm 11 and the second movable arm 12 can move relative to each other. Of course, in other embodiments, the drive assembly 2 can also adopt other devices, and the type of the drive assembly 2 is not specifically limited herein.

[0045] Embodiment 3

[0046] The third embodiment of the present invention relates to a grasping mechanism, as Figure 6As shown, the microplate grasping mechanism includes: the jaw device described in Embodiment 2 and the robotic arm 3. Among them, the driving component 2 is used to drive the first movable arm 11 and the second movable arm 12 to move relative to each other according to the received first driving signal, so that the first clamping member 13 and the second clamping member 14 clamp or release the material at the designated position. Secondly, the robotic arm 3 is connected to the jaw device, and the robotic arm 3 is used to drive the jaw device to move within the three-dimensional coordinate system according to the received second driving signal, and move the jaw device to the designated position.

[0047] Specifically, in some embodiments, as Figure 4 shown, the robotic arm 3 includes: a robotic arm body 31 and a connecting member 32. Among them, the bottom of the connecting member 32 can be directly connected to the driving component 2 of the jaw device, and the top of the connecting member 32 can be connected to the robotic arm body 31, so that the robotic arm 3 can drive the jaw device to move within the three-dimensional coordinate system to ensure that the jaw device can be accurately brought to the designated position by the robotic arm 3, so that the jaw assembly 1 can clamp or release the material at the designated position.

[0048] Those of ordinary skill in the art can understand that the above embodiments are specific embodiments for implementing the present invention, and in practical applications, various changes can be made to it in form and details without departing from the spirit and scope of the present invention.

Claims

1. A jaw assembly, characterized in that, it includes: a first movable arm and a second movable arm, the first movable arm and the second movable arm being relatively movable with respect to each other; a first clamping member, provided on the first movable arm and rotatable with respect to the second movable arm; a second clamping member, provided on the second movable arm and rotatable with respect to the first movable arm; wherein, when the first movable arm and the second movable arm move relative to each other to a preset position, the first clamping member and the second clamping member are used to clamp the material.

2. The jaw assembly according to claim 1, characterized in that, the first clamping member includes: a first clamping block and at least one first protrusion; wherein, the first clamping block is rotatably provided on the first movable arm, a first clamping side for clamping the material is on a side of the first clamping block facing the second clamping member, and each of the first protrusions protrudes from a part of the first clamping side in a direction close to the second clamping member; the second clamping member includes: a second clamping block and at least one second protrusion; wherein, the second clamping block is rotatably provided on the second movable arm, a second clamping side for clamping the material is on a side of the second clamping block facing the first clamping member, and each of the second protrusions protrudes from a part of the second clamping side in a direction close to the first clamping member; wherein, each of the first protrusions and each of the second protrusions are used to jointly support the clamped material.

3. The jaw assembly according to claim 2, characterized in that, the first clamping block further has along its height direction: a first top side, a first bottom side opposite to the first top side, and the first clamping side is provided between the first top side and the first bottom side; the second clamping block further has along its height direction: a second top side, a second bottom side opposite to the second top side, and the second clamping side is provided between the second top side and the second bottom side.

4. The jaw assembly according to claim 3, characterized in that, a part of the first bottom side extends in a direction away from the first top side to form at least one first clamping extension segment, and a side of each of the first clamping extension segments facing the second clamping member is a first extension surface of the first clamping side, and the first protrusion is provided on the first extension surface; a part of the second bottom side extends in a direction away from the second top side to form at least one second clamping extension segment, and a side of each of the second clamping extension segments facing the first clamping member is a second extension surface of the second clamping side, and the second protrusion is provided on the second extension surface.

5. The jaw assembly according to claim 3, characterized in that, the first top side of the first clamping block is directly rotatably connected to the first movable arm through a first rotating member, and the second top side of the second clamping block is directly rotatably connected to the second movable arm through a second rotating member.

6. The jaw assembly according to claim 3, characterized in that, A first clamping block is further provided with a first slot on a side away from the first clamping side, and a portion of the first movable arm is inserted into the first slot and is rotatably connected to the first movable arm via a first rotating component; wherein the bottom of the first slot can resist the first movable arm, so that the first clamping block rotates within a first preset rotation angle range; A second slot is also provided on the side of the second clamping block away from the second clamping side, and a portion of the second movable arm is inserted into the second slot and is rotatably connected to the second movable arm through a second rotating component; wherein the bottom of the second slot can block the second movable arm, so that the second clamping block rotates within a second preset rotation angle range.

7. The clamping jaw assembly according to any one of claims 1 to 6, It is characterized in that The first movable arm comprises: a first horizontal supporting section, a first horizontal clamping section arranged away from the first horizontal supporting section, and a first inclined section arranged between the first horizontal supporting section and the first horizontal clamping section; wherein the first clamping member is rotatably arranged on the first horizontal clamping section; The second movable arm includes: a second horizontal supporting section, a second horizontal clamping section arranged away from the second horizontal supporting section, and a second inclined section arranged between the second horizontal supporting section and the second horizontal clamping section; wherein the second clamping member is rotatably arranged on the second horizontal clamping section.

8. The clamping jaw assembly according to claim 7, It is characterized in that The first inclined section is connected to the first horizontal supporting section and the first horizontal clamping section respectively, so that the first horizontal supporting section and the first horizontal clamping section are staggered along the direction of clamping the material, or the first horizontal supporting section and the first horizontal clamping section are staggered along the direction perpendicular to the direction of clamping the material; The second inclined section is respectively connected to the second horizontal supporting section and the second horizontal clamping section, so that the second horizontal supporting section and the second horizontal clamping section are staggered along the direction of clamping the material, or the second horizontal supporting section and the second horizontal clamping section are staggered along a direction perpendicular to clamping the material.

9. A clamping device, It is characterized in that The clamping mechanism comprises: The clamping jaw assembly according to any one of claims 1 to 8; The driving assembly is respectively connected to the first movable arm and the second movable arm of the clamping jaw assembly, and is used to drive the first movable arm and the second movable arm to move relative to each other, so that the first clamping member and the second clamping member clamp or release the material.

10. A gripping mechanism, It is characterized in that The microplate grabbing mechanism include: The clamping device as claimed in claim 9, in, The driving assembly is used to drive the first movable arm and the second movable arm to move relative to each other according to the received first driving signal, so that the first clamping member and the second clamping member clamp or release the material at a specified position; The robot arm is connected to the gripper device and is used to drive the gripper device to move in a three-dimensional coordinate system according to the received second driving signal, so that the gripper device moves to the designated position.

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