Floating clamping jaw

Abstract

The invention belongs to the technical field of mechanical clamping jaws, and provides a floating clamping jaw which comprises a clamping jaw body. The movable arm is movably arranged on the clamping jaw body, and the movable arm is elastically connected with the clamping jaw body; the clamping piece is arranged on the movable arm and used for clamping or loosening a workpiece; and the guide piece is arranged on the movable arm. Compared with the prior art, the floating clamping jaw has the advantages that the movable arm is elastically connected with the clamping jaw body, and the guide piece is arranged on the movable arm, so that the floating clamping jaw can automatically adjust the position of the clamping piece on the movable arm according to the stacking position of the workpieces in the grabbing stroke, and the workpieces are clamped after the movable arm moves to the preset position; manual adjustment is not needed, and the automation degree of the floating clamping jaw is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of mechanical grippers, and particularly relates to a floating gripper. Background Art

[0002] As an indispensable part of the industrial automation production process, mechanical grippers are widely used in various production lines and processing environments to achieve the automatic handling of heavy workpieces. Different types of mechanical grippers have their own advantages and disadvantages.

[0003] Mechanical grippers with a high degree of automation can achieve highly precise operations and complete complex handling tasks without manual intervention. Such grippers are usually equipped with advanced sensors and control systems, which can automatically adjust the grasping force and position to ensure the safe handling and precise positioning of workpieces. However, this high degree of automation also means higher costs, including purchase costs, installation and commissioning costs, and subsequent maintenance costs. For some small and medium-sized enterprises, this may be a relatively large economic burden.

[0004] On the other hand, ordinary mechanical grippers are favored by many enterprises for their low-cost advantages. Such grippers have a relatively simple structure, are easy to maintain, and do not require complex technical support. However, their degree of automation is relatively low, and in many cases, manual operation by an operator is required to complete the handling process of workpieces. For example, when workpieces are stacked at the grasping position and an accurate positioning structure cannot be set externally, there may be deviations in the positions of each layer of the stacked workpieces. At this time, before the mechanical gripper grasps the workpiece, the operator needs to manually adjust the position of the workpiece so that the mechanical gripper can accurately clamp the workpiece. This operation method is not only inefficient but also may cause operator fatigue after long-term operation, increasing the risk of errors. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a floating gripper in view of the current situation of the prior art.

[0006] The technical solution adopted by the present invention to solve the above technical problem is to propose a floating gripper, comprising: a gripper body;

[0007] A movable arm, which is movably arranged on the gripper body, and is elastically connected between the movable arm and the gripper body;

[0008] A clamping member, which is arranged on the movable arm and is used to clamp or release the workpiece;

[0009] A guiding member, which is arranged on the movable arm;

[0010] The floating gripper at least includes a docking stroke and a correction stroke; wherein,

[0011] When in the docking stroke, the guiding member is used to press tightly against the workpiece and transfer the reaction force from the workpiece to the movable arm, so as to enable the movable arm to move relative to the jaw body;

[0012] When in the correction stroke, the movable arm moves relative to the jaw body to the initial position.

[0013] In the above-mentioned floating jaw, an elastic member is further included, and the elastic member is connected between the jaw body and the movable arm for elastically connecting the movable arm and the jaw body.

[0014] In the above-mentioned floating jaw, the elastic member includes:

[0015] Two first mounting seats arranged at intervals on the movable arm;

[0016] A first connecting rod, which is connected between the two first mounting seats;

[0017] A first connecting block, which is arranged on the jaw body, and one side of the first connecting block is sleeved on the outer side wall of the first connecting rod and is located between the two first mounting seats;

[0018] A first spring, and one first spring is arranged between the first connecting block and each of the two first mounting seats. Both of the two first springs are sleeved on the outer side wall of the first connecting rod, and the two ends of the first spring respectively press tightly against the first mounting seat and the first connecting block.

[0019] In the above-mentioned floating jaw, the guiding member includes two guiding blocks oppositely arranged on the movable arm, and the opposite side walls of the two guiding blocks are both provided with profiling parts adapted to the outer shape of the workpiece.

[0020] In the above-mentioned floating jaw, inclined surfaces adjacent to the profiling parts are arranged on both of the two guiding blocks. When in the docking stroke, the inclined surfaces are used for the profiling parts to abut against the outer side wall of the workpiece.

[0021] In the above-mentioned floating jaw, the clamping member includes:

[0022] A first driving member, which is arranged on the movable arm;

[0023] A mounting frame, which is arranged at the output end of the first driving member;

[0024] A plurality of suction cups, which are arranged on the mounting frame;

[0025] A second spring, a second spring is sleeved on each of the suckers, and the second spring is used to make the suckers touch the workpiece flexibly.

[0026] In the above-mentioned floating jaw, the clamping member further includes a first sensor and a second sensor. Both the first sensor and the second sensor are arranged on the movable arm and are electrically connected to the first driving member. The sensing end of the first sensor faces the workpiece, and the sensing end of the second sensor faces the end of the sucker, so as to detect the moving distance of the end of the sucker relative to the mounting bracket.

[0027] In the above-mentioned floating jaw, the clamping member further includes two second driving members arranged at intervals on the movable arm. The output ends of the two second driving members are arranged oppositely and are both provided with clamping blocks, and the two clamping blocks are used to clamp and release the end face of the workpiece away from the movable arm.

[0028] In the above-mentioned floating jaw, the jaw body includes:

[0029] A second mounting seat;

[0030] A cross beam, which is movably connected to the second mounting seat, and the movable arm is movably connected to the cross beam;

[0031] A second connecting block, which is arranged on the second mounting seat;

[0032] A third mounting seat, which is arranged on the cross beam and is arranged opposite to the second connecting block;

[0033] A second connecting rod, one end of which sequentially passes through the second connecting block and is connected to the third mounting seat, and the other end abuts against the side wall of the second connecting block away from the third mounting seat;

[0034] A third spring, which is sleeved on the outer side wall of the second connecting rod, and both ends of the third spring abut against the second connecting block and the third mounting seat respectively.

[0035] In the above-mentioned floating jaw, it further includes a toggle switch, which is arranged on the second mounting seat, and the sensing end of the toggle switch faces the workpiece. When in the docking stroke, the toggle switch is used to control the moving distance of the floating jaw relative to the workpiece.

[0036] Compared with the prior art, the present invention has the following beneficial effects:

[0037] (1) By elastically connecting the movable arm and the jaw body and arranging a guide on the movable arm, the floating jaw can automatically adjust the position of the clamping member on the movable arm according to the stacking position of the workpiece during the grasping stroke, so as to clamp the workpiece after the movable arm moves to the preset position, without manual adjustment, improving the automation degree of the floating jaw.

[0038] (2) An elastic member is arranged between the movable arm and the jaw body to achieve elastic connection between the movable arm and the jaw body.

[0039] (3) By arranging a second spring on the suction cup, during the movement of the suction cup, the second spring makes the contact between the suction cup and the workpiece flexible, reducing the collision force between the suction cup and the workpiece, thereby improving the service life of the suction cup. Description of the Drawings

[0040] Figure 1 is a perspective view of a floating jaw of the present invention.

[0041] Figure 2 is a perspective view simulating the misalignment of the workpiece and the floating jaw.

[0042] Figure 3 is a perspective view simulating the floating jaw grasping the workpiece.

[0043] Figure 4 is a perspective view of the clamping member, guide, and elastic member installed on the movable arm.

[0044] Figure 5 is Figure 4 a perspective view in another direction.

[0045] Figure 6 is a perspective view of the guide block.

[0046] Figure 7 is Figure 1 a perspective view of a partial structure in

[0047] In the figure, 100, jaw body; 110, second mounting seat; 120, cross beam; 130, second connecting block; 140, third mounting seat; 150, second connecting rod; 160, third spring; 200, movable arm; 300, clamping member; 310, first driving member; 320, mounting frame; 330, suction cup; 340, second spring; 350, first sensor; 360, second sensor; 370, second driving member; 380, clamping block; 400, guide; 410, guide block; 411, profiling portion; 412, inclined surface; 500, elastic member; 510, first mounting seat; 520, first connecting rod; 530, first connecting block; 540, first spring; 600, toggle switch; 700, workpiece. Detailed Embodiments

[0048] The following are specific embodiments of the present invention, and in combination with the accompanying drawings, the technical solutions of the present invention will be further described. However, the present invention is not limited to these embodiments.

[0049] It should be noted that all directional indications (such as up, down, left, right, front, back...) in the embodiments of the present invention are only used to explain the relative positional relationship and movement conditions between components in a specific posture (as shown in the accompanying drawings). If this specific posture changes, then the directional indication also changes accordingly.

[0050] As Figures 1 to 7 shown, a floating jaw of the present invention includes: a jaw body 100, a movable arm 200, a clamping member 300, and a guiding member 400.

[0051] Specifically, the clamping body serves as the support structure of the entire floating jaw, providing support for the remaining structures and also used to connect to external power devices, such as motors, oil cylinders, etc., to achieve the movement of the floating jaw in a two-dimensional or three-dimensional space and realize the handling process of the workpiece 700.

[0052] The movable arm 200 is movably arranged on the jaw body 100. Preferably, a slide rail is provided on the jaw body 100, and a slider is provided on the slide rail. The slider is connected to the movable arm 200 to provide guidance for the movement of the movable arm 200 and ensure the clamping accuracy of the floating jaw for the workpiece 700. In this solution, the movable arm 200 is elastically connected to the clamping body.

[0053] The clamping member 300 is arranged on the movable arm 200, which is used to clamp or release the workpiece 700 after the movable arm 200 moves to a preset position, so as to fix the workpiece 700 to the movable arm 200, or to separate the workpiece 700 and the floating jaw after the floating jaw moves to a preset position, such as the machining position of the workpiece 700 or the stacking position of the workpiece 700.

[0054] The guiding member 400 is arranged on the movable arm 200. The floating jaw includes at least a docking stroke and a correction stroke. Among them, when in the docking stroke, the guiding member 400 is used to abut against the workpiece 700 and transmit the reaction force from the workpiece 700 to the movable arm 200 to make the movable arm 200 move relative to the jaw body 100. When in the correction stroke, the movable arm 200 moves relative to the jaw body 100 to the initial position.

[0055] During operation, when there is no deviation between the stacking position of the workpiece 700 and the grasping position of the floating jaw, the external power device drives the jaw body 100 to move towards the workpiece 700. After the clamping member 300 on the movable arm 200 moves to the grasping position, the clamping member 300 clamps the workpiece 700, fixing the workpiece 700 to the floating jaw. Subsequently, the external power device drives the floating jaw to move, transporting the workpiece 700 to the next process.

[0056] However, when there is a deviation between the position of the workpiece 700 and the grasping position of the floating jaw (refer to Figure 2 ), during the process of the external device driving the jaw body 100 to move towards the workpiece 700, when the floating jaw is in the docking stroke, since the position of the workpiece 700 relative to the floating jaw is biased to the left, the left side wall of the guide member 400 first contacts the outer side wall of the workpiece 700. Since the guide member 400 is arranged on the movable arm 200, at this time, as the guide member 400 continuously approaches the workpiece 700, the reaction force of the workpiece 700 on the guide member 400 pushes the movable arm 200 to move relative to the jaw body 100 towards Figure 2 the left side, causing the clamping member 300 on the movable arm 200 to move to the correct clamping position relative to the workpiece 700. Subsequently, the external power device continues to drive the movable arm 200 towards the workpiece 700, causing the clamping member 300 to move to the preset position, and then the clamping member 300 clamps the workpiece 700, enabling the workpiece 700 to be fixed to the floating jaw. After the external power device drives the floating jaw to move in the reverse direction and suspends the workpiece 700, due to the elastic connection between the movable arm 200 and the jaw body 100, the floating jaw enters the reset stroke, and the movable arm 200 resets and corrects the posture of the workpiece 700.

[0057] In this solution, by elastically connecting the movable arm 200 and the jaw body 100 and arranging the guide member 400 on the movable arm 200, the floating jaw can automatically adjust the position of the clamping member 300 on the movable arm 200 according to the stacking position of the workpiece 700 during the grasping stroke, so as to clamp the workpiece 700 after the movable arm 200 moves to the preset position, without manual adjustment, improving the automation degree of the floating jaw.

[0058] Refer to Figure 2 and Figure 3 , this solution further includes an elastic member 500, which is connected between the jaw body 100 and the movable arm 200 and is used to elastically connect the movable arm 200 and the jaw body 100.

[0059] The specific elastic member 500 includes: two first mounting seats 510 spaced apart on the movable arm 200; a first connecting rod 520 connected between the two first mounting seats 510; a first connecting block 530 provided on the jaw body 100, with one side of the first connecting block 530 sleeved on the outer side wall of the first connecting rod 520 and located between the two first mounting seats 510; a first spring 540, with a first spring 540 provided between the first connecting block 530 and each of the two first mounting seats 510, both of the two first springs 540 sleeved on the outer side wall of the first connecting rod 520, and the two ends of the first spring 540 respectively abutting against the first mounting seat 510 and the first connecting block 530.

[0060] Referring Figure 5 , when the stacking position of the workpiece 700 is biased towards Figure 5 the right side and the movable arm 200 drives the guide member 400, the clamping member 300 and the elastic member 500 to move towards the workpiece 700, the right side of the guide member 400 first contacts the workpiece 700. During the continuous movement of the movable arm 200, the reaction force of the workpiece 700 on the right side of the guide member 400 causes it to drive the movable arm 200 towards Figure 5 the right side. Since the first connecting block 530 is provided on the jaw body 100, the first spring 540 on the left side of Figure 5 is compressed by the movable arm 200 through the first connecting block 530 during the movement of the movable arm 200. After the workpiece 700 is suspended, the first spring 540 extends and drives the movable arm 200 to move to the initial position, thereby achieving the purpose of automatically aligning the workpiece 700 before moving the workpiece 700 to the next process.

[0061] Similarly, when the stacking position of the workpiece 700 is biased towards Figure 5 the left side and the movable arm 200 drives the guide member 400, the clamping member 300 and the elastic member 500 to move towards the workpiece 700, the left side of the guide member 400 first contacts the workpiece 700. During the continuous movement of the movable arm 200, the reaction force of the workpiece 700 on the left side of the guide member 400 causes it to drive the movable arm 200 towards Figure 5 the left side. Since the first connecting block 530 is provided on the jaw body 100, the first spring 540 on the right side of Figure 5 is compressed by the movable arm 200 through the first connecting block 530 during the movement of the movable arm 200. After the workpiece 700 is suspended, the first spring 540 extends and drives the movable arm 200 to move to the initial position, thereby achieving the purpose of automatically aligning the workpiece 700 before moving the workpiece 700 to the next process.

[0062] In this solution, the guide member 400 includes two guide blocks 410 oppositely arranged on the movable arm 200, and the opposite side walls of the two guide blocks 410 are both provided with profiling portions 411 adapted to the outer shape of the workpiece 700.

[0063] A profiling portion 411 adapted to the outer shape of the workpiece 700 is provided on the guiding block 410, which is used to ensure that the clamping member 300 can move to the correct clamping position relative to the workpiece 700 when the movable arm 200 drives the guiding member 400 to move to fit the outer shape of the workpiece 700.

[0064] Furthermore, inclined surfaces 412 adjacent to the profiling portion 411 are provided on both guiding blocks 410. When in the docking stroke, the inclined surfaces 412 are used for the profiling portion 411 to abut against the outer sidewall of the workpiece 700.

[0065] During the process that the movable arm 200 drives the guiding member 400 to move towards the workpiece 700 and the workpiece 700 enters the space between the two guiding blocks 410, when there is a large deviation between the position of the workpiece 700 and the clamping position, the inclined surfaces 412 can correct the position of the movable arm 200 in advance, so that the workpiece 700 can smoothly enter the space between the two guiding blocks 410.

[0066] Refer to Figure 1 、 Figure 4 and Figure 5 , the clamping member 300 includes: a first driving member 310, which is arranged on the movable arm 200; a mounting frame 320, which is arranged at the output end of the first driving member 310; a plurality of suction cups 330, which are arranged on the mounting frame 320; and a second spring 340, and a second spring 340 is sleeved on each suction cup 330. The second spring 340 is used to make the suction cup 330 touch the workpiece 700 flexibly.

[0067] The first driving member 310 can be an oil cylinder or an air cylinder. One end of the suction cup 330 is connected to a gas source, and the gas source provides the power for the suction cup 330 to adsorb the workpiece 700. Preferably, four suction cups 330 are equidistantly arranged on the mounting frame 320 in this solution. After the reaction force of the workpiece 700 on the guiding member 400 makes the movable arm 200 move in place relative to the jaw body 100, the first driving member 310 drives the mounting frame 320 to move towards the workpiece 700, so that the suction cups 330 are pressed against and adsorbed on the workpiece 700. During the movement of the suction cups 330, the setting of the second spring 340 makes the suction cups 330 in flexible contact with the workpiece 700, reducing the collision force between the suction cups 330 and the workpiece 700, thereby improving the service life of the suction cups 330.

[0068] In this solution, the clamping member 300 further includes a first sensor 350 and a second sensor 360. The first sensor 350 and the second sensor 360 are both arranged on the movable arm 200 and are both electrically connected to the first driving member 310. The sensing end of the first sensor 350 is arranged facing the workpiece 700, and the sensing end of the second sensor 360 is arranged facing the end of the suction cup 330 for detecting the moving distance of the end of the suction cup 330 relative to the mounting bracket 320.

[0069] When the floating jaw drives the workpiece 700 to separate from the remaining stacked workpieces 700 or the support platform of the workpiece 700, the first sensor 350 is used to sense whether the workpiece 700 is fixed to the floating jaw. When the first sensor 350 does not sense the workpiece 700, it indicates that the suction cup 330 fails at this time and the workpiece 700 does not move synchronously with the floating jaw. At this time, the first sensor 350 issues an alarm to prompt the operator to timely detect whether the suction cup 330 is damaged or whether the air source is stable. During the process that the first driving member 310 drives the suction cup 330 to move towards the workpiece 700 through the mounting bracket 320, one end of the suction cup 330 abuts against the workpiece 700, and when the first driving member 310 continues to drive the mounting bracket 320 to move, the other end of the suction cup 330 moves relative to the mounting bracket 320 along Figure 4 above. The second sensor 360 is used to detect the moving distance of the other end of the suction cup 330 to ensure that the suction cup 330 can firmly adsorb on the workpiece 700.

[0070] Refer to Figure 1 、 Figure 4 and Figure 5 As shown in, the clamping member 300 further includes two second driving members 370 which are arranged at intervals on the movable arm 200. The output ends of the two second driving members 370 are arranged oppositely and are both provided with clamping blocks 380. The two clamping blocks 380 are used to clamp and release the end face of the workpiece 700 away from the movable arm 200.

[0071] The second driving member 370 can be a motor, an oil cylinder or a cylinder. After the floating jaw drives the workpiece 700 to be suspended, the second driving member 370 drives the two clamping blocks 380 to approach each other to clamp the workpiece 700, thereby replacing the suction cup 330 to fix the workpiece 700 on the floating jaw.

[0072] Refer to Figure 1 and Figure 7, the jaw body 100 includes: a second mounting seat 110; a cross beam 120, which is movably connected to the second mounting seat 110, and a movable arm 200 is movably connected to the cross beam 120; a second connecting block 130, which is arranged on the second mounting seat 110; a third mounting seat 140, which is arranged on the cross beam 120 and is arranged opposite to the second connecting block 130; a second connecting rod 150, one end of which sequentially passes through the second connecting block 130 and is connected to the third mounting seat 140, and the other end abuts against the side wall of the second connecting block 130 away from the third mounting seat 140; a third spring 160, which is sleeved on the outer side wall of the second connecting rod 150, and both ends of the third spring 160 respectively abut against the second connecting block 130 and the third mounting seat 140.

[0073] When the floating jaw clamps the workpiece 700 and transports the workpiece 700 to the next processing step, the position of the workpiece 700 needs to be aligned with the positioning structure of the next processing step to automatically complete the loading operation of the workpiece 700. Refer to Figure 7 , when there is a deviation in the left - right direction between the position of the workpiece 700 and the positioning structure of the next processing step, the reaction force exerted on the workpiece 700 by the positioning structure of the next process causes the cross beam 120 to move left - right relative to the second mounting seat 110, thereby realizing the automatic loading of the workpiece 700. Among them, the function of the third spring 160 is the same as that of the first spring 540, which will not be elaborated here.

[0074] This solution also includes a toggle switch 600, which is arranged on the second mounting seat 110, and the sensing end of the toggle switch 600 faces the workpiece 700. When in the docking stroke, the toggle switch 600 is used to control the moving distance of the floating jaw relative to the workpiece 700.

[0075] When the external power device drives the floating jaw to move relative to the workpiece 700, the sensing end of the toggle switch 600 first touches the workpiece 700. At this time, the toggle switch 600 controls the subsequent moving distance of the external power device, so that the floating jaw can move to the correct clamping position.

[0076] It should be noted that in the present invention, descriptions such as "first", "second", "one", etc. are for descriptive purposes only, and should not be construed as indicating or implying their relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, such as two, three, etc., unless otherwise specifically defined. Terms such as "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can be a fixed connection, a detachable connection, or integrated; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and can be the internal communication of two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0077] In addition, the technical solutions between various embodiments of the present invention can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0078] The specific embodiments described herein are merely illustrative of the spirit of the present invention. Those skilled in the art to which the present invention pertains can make various modifications or supplements to the described specific embodiments or use similar methods for substitution, but will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. A floating jaw for transporting workpieces, characterized in that, Comprising: Jaw body; Movable arm, which is movably arranged on the jaw body, and is elastically connected between the movable arm and the jaw body; Clamping member, which is arranged on the movable arm and is used for clamping or loosening the workpiece; Guide member, which is arranged on the movable arm; The floating jaw at least includes a docking stroke and a correction stroke; wherein, When in the docking stroke, the guide member is used to abut against the workpiece and transmit the reaction force from the workpiece to the movable arm, so as to make the movable arm move relative to the jaw body; When in the correction stroke, the movable arm moves relative to the jaw body to the initial position.

2. The floating jaw according to claim 1, wherein It further includes an elastic member, and the elastic member is connected between the jaw body and the movable arm for elastically connecting the movable arm and the jaw body.

3. The floating jaw according to claim 2, wherein, The elastic member includes: Two first mounting seats spaced apart on the movable arm; First connecting rod, which is connected between the two first mounting seats; First connecting block, which is arranged on the jaw body, and one side of the first connecting block is sleeved on the outer side wall of the first connecting rod and is located between the two first mounting seats; First spring, and one first spring is arranged between the first connecting block and each of the two first mounting seats. The two first springs are both sleeved on the outer side wall of the first connecting rod, and the two ends of the first spring respectively abut against the first mounting seat and the first connecting block.

4. The floating jaw according to claim 1, characterized in that The guide member includes two guide blocks oppositely arranged on the movable arm, and the opposite side walls of the two guide blocks are both provided with profiling parts adapted to the outer shape of the workpiece.

5. The floating jaw according to claim 4, wherein, Slopes are arranged on both of the two guide blocks adjacent to the profiling parts. When in the docking stroke, the slopes are used for the profiling parts to abut against the outer side wall of the workpiece.

6. The floating jaw according to claim 1, wherein The clamping member includes: First driving member, which is arranged on the movable arm; Mounting frame, which is arranged at the output end of the first driving member; A plurality of suction cups, which are arranged on the mounting frame; Second spring, and one second spring is sleeved on each suction cup. The second spring is used to make the suction cup touch the workpiece flexibly.

7. The floating jaw according to claim 6, wherein The clamping member further includes a first sensor and a second sensor. The first sensor and the second sensor are both arranged on the movable arm and are both electrically connected to the first driving member. The sensing end of the first sensor faces the workpiece, and the sensing end of the second sensor faces the end of the suction cup to detect the moving distance of the end of the suction cup relative to the mounting frame.

8. A floating jaw according to claim 1, characterized in that The clamping member further includes two second driving members spaced apart on the movable arm. The output ends of the two second driving members are oppositely arranged and are both provided with clamping blocks, and the two clamping blocks are used for clamping and loosening the end face of the workpiece far from the movable arm.

9. The floating jaw according to claim 1, characterized in that, The jaw body includes: Second mounting seat; Cross beam, which is movably connected to the second mounting seat, and the movable arm is movably connected to the cross beam; Second connecting block, which is arranged on the second mounting seat; The third mounting seat is arranged on the cross beam and is arranged opposite to the second connecting block; The second connecting rod, one end of which sequentially passes through the second connecting block and is connected to the third mounting seat, and the other end abuts against the side wall of the second connecting block away from the third mounting seat; The third spring is sleeved on the outer side wall of the second connecting rod, and both ends of the third spring respectively abut against the second connecting block and the third mounting seat.

10. A floating jaw according to claim 9, wherein, It further includes a toggle switch arranged on the second mounting seat, the sensing end of the toggle switch faces the workpiece, and when in the docking stroke, the toggle switch is used to control the moving distance of the floating jaw relative to the workpiece.

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