Clamping jaw

Abstract

The utility model relates to the technical field of automatic material taking, in particular to a clamping jaw which comprises a fixed base, a driving mechanism, a crankshaft mechanism, two linkage mechanisms and a first clamping mechanism, and the two linkage mechanisms are symmetrically arranged on the two sides of the fixed base. The two linkage mechanisms are each provided with a first clamping mechanism, the crankshaft mechanism comprises two symmetric crankshaft connecting rods, and the driving mechanism is connected with the linkage mechanisms through the crankshaft connecting rods. The driving mechanism drives the two linkage mechanisms to move in a mirroring mode by rotating and driving the crankshaft connecting rod so as to drive the two first clamping mechanisms to conduct relative mirroring transmission. According to the utility model, the linkage mechanisms which are arranged symmetrically and the crankshaft connecting rods which are arranged symmetrically are adopted. Therefore, the balance of the clamping jaw in the moving process can be kept, and the clamping accuracy and stability are improved.

Description

Technical Field

[0001] The utility model relates to the technical field of automatic material taking, in particular to a clamping claw. Background Art

[0002] An automated retrieving gripper is a device used in industrial automation systems to grab, hold and manipulate various objects or workpieces. It usually consists of a robotic arm, a gripping mechanism and a control system. The main function of a retrieving gripper is to automatically grab and place objects on a production line or workstation. It can accurately locate and hold objects of different shapes, sizes and weights according to preset programs or instructions. Grippers are widely used in many industrial fields, such as manufacturing, logistics and warehousing, for automated assembly, packaging, handling, sorting and other tasks. They can replace manual operations and improve the automation and work efficiency of production lines.

[0003] The existing clamping jaw structure generally realizes the linkage relationship in all directions through a spiral thread structure or a gear rack structure. However, the thread matching and the gear rack matching generally have high process requirements in processing, are not easy to process, and have high costs. In addition, the thread matching and the gear rack matching are more difficult to ensure accuracy than the plane connecting rod. Utility Model Content

[0004] In order to solve the above problems, the utility model provides a symmetrical linkage mechanism and symmetrical crankshaft connecting rods. This symmetrical design helps to maintain the balance of the clamp during movement, reduces unnecessary vibration and instability, and improves the accuracy and stability of the clamp.

[0005] The technical solution adopted by the utility model is: a clamping claw, including a fixed base, a driving mechanism, a crank mechanism, a linkage mechanism and a first clamping mechanism, the linkage mechanism is provided with two groups, the two groups of linkage mechanisms are symmetrically arranged on both sides of the fixed base, the two groups of linkage mechanisms are both installed with a first clamping mechanism, the crank mechanism includes two groups of symmetrical crankshaft connecting rods, the driving mechanism is connected to the linkage mechanism through the crankshaft connecting rod; the driving mechanism drives the two groups of linkage mechanisms to move in a mirror image by rotating the crankshaft connecting rod, so as to drive the two groups of first clamping mechanisms to transmit relative mirror images.

[0006] A further improvement to the above solution is that the fixed base includes a fixed substrate and a mounting bracket, the mounting bracket is mounted on the fixed substrate, the mounting bracket is provided with a drive placement cavity, and the drive mechanism is disposed in the drive placement cavity.

[0007] A further improvement to the above scheme is that the fixed base plate includes a first surface and a second surface, the mounting bracket is arranged on the first surface, the first clamping mechanism is installed on the second surface, a through groove is arranged between the first surface and the second surface, the through groove is used to connect the first surface and the second surface, and one end of the first clamping mechanism passes through the through groove to be connected to the linkage mechanism.

[0008] A further improvement to the above scheme is that the driving end of the driving mechanism is provided with a driving connecting part, and the driving connecting part is provided with a driving shaft pin. There are two driving shaft pins, and the two driving shaft pins are relatively arranged on both sides of the driving connecting part, and one end of the crankshaft connecting rod is rotatably connected to the driving shaft pin.

[0009] A further improvement to the above scheme is that the crankshaft connecting rod includes a first drive connecting end, a locking groove and a second drive connecting end, the first drive connecting end is hinged to the drive mechanism, the second drive connecting end is hinged to the linkage mechanism, the locking groove is provided with a locking flange, and two groups of mutually symmetrical crankshaft connecting rods cooperate with the locking groove through the first drive connecting end to form a lock.

[0010] A further improvement to the above scheme is that the linkage mechanism includes a sliding connection seat, a linkage connection seat and an adjustment component, one end of the sliding connection seat is connected to the first clamping mechanism, the linkage connection seat can be movably arranged on the sliding connection seat, and the adjustment component is used to adjust the linkage connection seat to move on the sliding connection seat; one end of the linkage connection seat is provided with an axle pin connected to the crankshaft connecting rod.

[0011] A further improvement to the above scheme is that the linkage connecting seat is provided with an adjusting block and a positioning block, the sliding connecting seat is provided with a sliding connecting groove, the sliding connecting groove can be slidably set on the sliding positioning block, the adjusting component includes an adjusting screw and a pressure spring, one end of the adjusting screw passes through the adjusting block and extends into the connecting groove to connect with the positioning block.

[0012] A further improvement to the above solution is that a linkage shaft pin is provided at one end of the linkage connecting seat, and the linkage shaft pin is rotatably connected to the crankshaft connecting rod.

[0013] A further improvement to the above scheme is that the positioning block is provided with a positioning groove, the pressure spring is arranged on the outer periphery of the adjusting screw, and one end abuts against the positioning groove, and the other end abuts against one end of the sliding connection groove to apply pressure between the positioning block and the sliding connection seat.

[0014] A further improvement to the above scheme is that the first clamping mechanism includes a transmission connecting frame, a first transmission guide rail and a first clamping plate, the first transmission guide rail is installed on a fixed base, the transmission connecting frame can be slidably installed on the first transmission guide rail, one end of the transmission connecting frame is connected to the linkage mechanism, and the first clamping plate is arranged on the transmission connecting frame; the linkage mechanism is used to drive the transmission connecting frame to slide on the first transmission guide rail.

[0015] A further improvement to the above scheme is that it also includes a second clamping mechanism, which is provided with two groups, and the two groups of the second clamping mechanisms and the two groups of the first clamping mechanisms are distributed in a cross shape on a fixed base; the second clamping mechanism is provided with a connecting rod assembly, and the second clamping mechanism is connected to the first clamping plate through the connecting rod assembly. When the two groups of the first clamping mechanisms are transmitted in a relative mirror image, the two groups of the second clamping mechanisms are driven to transmit in a relative mirror image through the connecting rod assembly.

[0016] A further improvement to the above scheme is that the second clamping mechanism includes a driving link, an auxiliary link, a second clamping plate and a second transmission guide rail, the second transmission guide rail is installed on a fixed base, the second transmission guide rail can be slidably installed on the second transmission guide rail, the driving links are symmetrically arranged in two groups, one end of the driving links is hinged to the first clamping plate, and the other end of the two groups of driving links extend toward one end of the second transmission guide rail and are hinged to each other; the auxiliary link is used to connect the second clamping plate and the driving link to drive the second clamping plate to slide along the second transmission guide rail.

[0017] A further improvement to the above scheme is that the second clamping plate extends a hinged arm toward the center position of the fixed base, and the auxiliary connecting rods are symmetrically arranged in two groups, one end of the auxiliary connecting rod is hinged to the approximate center position of the driving connecting rod, and the other end is hinged to the hinged arm.

[0018] A further improvement to the above solution is that the clamping surface of the first clamping plate is provided with a clamping groove, and a side of the first clamping plate opposite to the clamping groove is provided with a reinforcing rib; and the clamping surface of the second clamping plate is provided with a clamping protrusion.

[0019] The beneficial effects of the utility model are:

[0020] Compared with the existing clamping jaws, the utility model adopts mutually symmetrical linkage mechanisms and mutually symmetrical crankshaft connecting rods. This symmetrical design helps to maintain the balance of the clamping jaws during movement, reduces unnecessary vibration and instability, and improves the accuracy and stability of clamping. The linkage mechanism is provided with two groups, each of which is equipped with a first clamping mechanism. Such a design enables the clamping jaws to achieve bidirectional clamping, that is, clamping operations can be performed on workpieces in two directions at the same time, thereby improving operational efficiency and flexibility. The mirroring activities of the two groups of linkage mechanisms are driven by the driving mechanism, so that the two groups of first clamping mechanisms can be relatively mirrored. This design realizes symmetrical clamping operations and ensures the balance and stability of the workpiece during the clamping process. The driving mechanism drives the linkage mechanism by rotating the crankshaft connecting rod to realize the motion control of the clamping jaws. This structural design can realize the precise positioning and clamping of the clamping jaws and ensure the precise processing of the workpieces.

[0021] The clamping mechanism adopts a first clamping mechanism and a second clamping mechanism to realize a multi-stage clamping operation. The first clamping mechanism is responsible for the main clamping function, while the second clamping mechanism can provide additional lateral fixation to enhance the stability and reliability of the clamping. The two groups of clamping mechanisms of the second clamping mechanism are cross-distributed on the fixed base with the first clamping mechanism. This design increases the balance and stability of the clamping, ensures the balance and safety of the workpiece during the clamping process, and reduces the deformation or damage caused by uneven clamping. The second clamping mechanism is connected to the first clamping mechanism through a connecting rod assembly, and when the two groups of first clamping mechanisms are mirror-transmitted relative to each other, the two groups of second clamping mechanisms are driven by the connecting rod assembly to mirror-transmit relative to each other. This mirror transmission design ensures the synchronous movement of the clamping mechanism and ensures the consistency and stability of the clamping. The transmission connecting frame can be slidably mounted on the first transmission guide rail to realize the sliding operation of the clamping mechanism. At the same time, the connecting rod assembly connects the first clamping plate and the second clamping mechanism to ensure a firm connection and synchronous movement between them, and improves the reliability and stability of the clamping mechanism. The design structure of the clamping mechanism is flexible and can be adjusted and adapted according to the requirements of different workpieces. At the same time, through the combination of the first clamping mechanism and the second clamping mechanism, workpieces of different shapes, sizes and weights can be clamped, thereby improving the applicability and versatility of the clamping mechanism. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a three-dimensional schematic diagram of the clamping jaw of the utility model;

[0023] Figure 2 for Figure 1 A three-dimensional schematic diagram of the middle gripper from another perspective;

[0024] Figure 3 for Figure 1 A bottom view of the middle gripper;

[0025] Figure 4 for Figure 1 Schematic diagram of the partial structure of the middle clamping jaw;

[0026] Figure 5 for Figure 1 A schematic diagram of the partial structure of the middle clamp from another perspective;

[0027] Figure 6 for Figure 1 Schematic diagram of the crankshaft connecting rod of the middle clamping jaw in the open state;

[0028] Figure 7 for Figure 1 Schematic diagram of the crankshaft connecting rod locking state of the middle clamping jaw;

[0029] Figure 8 for Figure 1 A schematic structural diagram of the first clamping mechanism and the second clamping mechanism;

[0030] Fig. 9 for Figure 1 Structural schematic diagram of the first clamping mechanism and the second clamping mechanism from another perspective.

[0031] Description of reference numerals: fixed base 1, fixed substrate 11, first surface 111, second surface 112, through groove 113, mounting bracket 12, drive placement cavity 13;

[0032] Driving mechanism 2, driving connecting part 21, driving shaft pin 22;

[0033] Crank mechanism 3, crank connecting rod 31, first driving connection end 311, locking groove 312, second driving connection end 313, locking flange 314;

[0034] Linkage mechanism 4, sliding connection seat 41, sliding connection groove 411, linkage connection seat 42, adjustment block 421, positioning block 422, positioning groove 4221, linkage shaft pin 423, adjustment assembly 43, adjustment screw 431, pressure spring 432;

[0035] A first clamping mechanism 5, a transmission connecting frame 51, a first transmission guide rail 52, a first clamping plate 53, a clamping groove 531, and a reinforcing rib 532;

[0036] The second clamping mechanism 6 , the driving connecting rod 61 , the auxiliary connecting rod 62 , the second clamping plate 63 , the articulated arm 631 , the clamping protrusion 632 , and the second transmission guide rail 64 . DETAILED DESCRIPTION

[0037] In order to facilitate the understanding of the present invention, the present invention will be described more fully below with reference to the relevant drawings. The preferred embodiments of the present invention are given in the drawings. However, the present invention can be implemented in many different forms and is not limited to the embodiments described herein. On the contrary, the purpose of providing these embodiments is to make the understanding of the disclosure of the present invention more thorough and comprehensive.

[0038] It should be noted that when an element is referred to as being "fixed to" another element, it may be directly on the other element or there may be an intermediate element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be an intermediate element at the same time.

[0039] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0040] like Figures 1 to 9 As shown, in one embodiment of the utility model, a clamp is involved, including a fixed base 1, a driving mechanism 2, a crank mechanism 3, a linkage mechanism 4 and a first clamping mechanism 5, wherein the linkage mechanism 4 is provided with two groups, and the two groups of linkage mechanisms 4 are symmetrically arranged on both sides of the fixed base 1, and the two groups of linkage mechanisms 4 are both equipped with a first clamping mechanism 5, and the crank mechanism 3 includes two groups of symmetrical crankshaft connecting rods 31, and the driving mechanism 2 is connected to the linkage mechanism 4 through the crankshaft connecting rod 31; the driving mechanism 2 drives the two groups of linkage mechanisms 4 to move in a mirror image by rotating the crankshaft connecting rod 31, so as to drive the two groups of first clamping mechanisms 5 to drive in a relative mirror image. This embodiment adopts a linkage mechanism 4 that is symmetrically arranged, and a crankshaft connecting rod 31 that is symmetrical to each other. This symmetrical design helps to maintain the balance of the clamp during movement, reduces unnecessary vibration and instability, and improves the accuracy and stability of clamping. The linkage mechanism 4 is provided with two groups, and each group is equipped with a first clamping mechanism 5. Such a design enables the clamping jaws to achieve bidirectional clamping, that is, to clamp workpieces in two directions at the same time, thereby improving operational efficiency and flexibility. The drive mechanism 2 drives the mirror-image movement of the two sets of linkage mechanisms 4, so that the two sets of first clamping mechanisms 5 can be relatively mirror-imaged. This design achieves symmetrical clamping operations and ensures the balance and stability of the workpiece during the clamping process. The drive mechanism 2 drives the linkage mechanism 4 by rotating the crankshaft connecting rod 31, thereby achieving motion control of the clamping jaws. This structural design can achieve precise positioning and clamping of the clamping jaws, ensuring precise processing of the workpiece.

[0041] The fixed base 1 includes a fixed substrate 11 and a mounting bracket 12, wherein the mounting bracket 12 is mounted on the fixed substrate 11, the mounting bracket 12 is provided with a drive placement cavity 13, and the drive mechanism 2 is arranged in the drive placement cavity 13. In this embodiment, the fixed base 1 provides a stable support structure through the fixed substrate 11 and the mounting bracket 12. This design can ensure that the clamping jaw maintains a stable position and posture during operation, and improves the accuracy and stability of clamping. The mounting bracket 12 is provided with a drive placement cavity 13, and the drive mechanism 2 is arranged in the drive placement cavity 13. This design allows the drive mechanism 2 to be installed on the fixed base 1 of the clamping jaw, providing a convenient driving and control method, and realizing precise control of the movement of the clamping jaw. The design of the fixed base 1 makes the maintenance and adjustment of the clamping jaw more convenient. The design of the mounting bracket 12 and the drive mechanism 2 takes into account easy disassembly and adjustability, so that maintenance personnel can easily perform repairs and adjustments, reducing maintenance costs and downtime.

[0042] The fixed base plate 11 includes a first surface 111 and a second surface 112, the mounting bracket 12 is arranged on the first surface 111, the first clamping mechanism 5 is installed on the second surface 112, a through slot 113 is arranged between the first surface 111 and the second surface 112, the through slot 113 is used to connect the first surface 111 and the second surface 112, and one end of the first clamping mechanism 5 passes through the through slot 113 to connect with the linkage mechanism 4. In this embodiment, the fixed base plate 11 is divided into the first surface 111 and the second surface 112, and this layered design helps to effectively distinguish different functional areas. The mounting bracket 12 is arranged on the first surface 111, and the first clamping mechanism 5 is installed on the second surface 112, so that the various components of the clamp are arranged in order, which is easy to maintain and manage. A through slot 113 is arranged between the first surface 111 and the second surface 112, and the through slot 113 passes through the first surface 111 and the second surface 112. This design enables one end of the first clamping mechanism 5 to pass through the through slot 113 and connect with the linkage mechanism 4, realizing the connection and coordinated movement between the various components of the clamping mechanism. The provision of the through slot 113 realizes the connection between the first surface 111 and the second surface 112, so that the first clamping mechanism 5 and the linkage mechanism 4 can achieve effective synergy. This design ensures the coordinated movement between the various components of the clamp, and improves the accuracy and stability of clamping. The provision of the through slot 113 realizes the connection between the first clamping mechanism 5 and the linkage mechanism 4 without increasing the overall volume of the clamp. This design saves space, improves the space utilization efficiency of the clamp, and makes the clamp suitable for a narrower working environment. The provision of the through slot 113 simplifies the structure of the clamp, reduces the connection points between the components, and reduces the assembly cost. At the same time, the through design of the through slot 113 ensures a stable connection between the first clamping mechanism 5 and the linkage mechanism 4, and ensures the reliability and stability of the clamp during operation.

[0043] The driving end of the driving mechanism 2 is provided with a driving connection part 21, and the driving connection part 21 is provided with a driving shaft pin 22, and the driving shaft pin 22 is provided with two, and the two driving shaft pins 22 are relatively arranged on both sides of the driving connection part 21, and one end of the crankshaft connecting rod 31 is rotatably connected with the driving shaft pin 22. In this embodiment, the driving connection part 21 is a key part connecting the driving mechanism 2 with other moving parts. Through the driving connection part 21, the driving mechanism 2 can transmit power to other parts to realize the movement of the clamping system. The driving shaft pin 22 is a part of the driving connection part 21, which is arranged in the driving connection part 21, and there are two driving shaft pins 22 relatively arranged on both sides of the driving connection part 21. This arrangement helps to balance the driving force and ensure its stability and balance during the working process. One end of the crankshaft connecting rod 31 is rotatably connected with the driving shaft pin 22, which means that a connection is established between the crankshaft connecting rod 31 and the driving shaft pin 22. This connection mode enables the driving mechanism 2 to transmit the rotational motion to other parts through the crankshaft connecting rod 31 to realize the clamping operation of the clamping system. A rotational connection is established between the driving shaft pin 22 and the crankshaft connecting rod 31 , so that the driving mechanism 2 can drive the crankshaft connecting rod 31 through rotational movement, thereby realizing the clamping function of the clamping system.

[0044] See also Figure 6-7As shown, the crankshaft connecting rod 31 includes a first driving connection end 311, a locking groove 312 and a second driving connection end 313, wherein the first driving connection end 311 is hinged to the driving mechanism 2, the second driving connection end 313 is hinged to the linkage mechanism 4, the locking groove 312 is provided with a locking flange 314, and two groups of mutually symmetrical crankshaft connecting rods 31 are clamped and locked by the first driving connection end 311 and the locking groove 312. In this embodiment, the first driving connection end 311 is hinged to the driving mechanism 2, and the second driving connection end 313 is hinged to the linkage mechanism 4. Such a design enables the crankshaft connecting rod 31 to effectively transmit the power from the driving mechanism 2 to the linkage mechanism 4, thereby realizing the movement of the clamping system. The locking groove 312 is provided with a locking flange 314, and two groups of mutually symmetrical crankshaft connecting rods 31 are clamped and locked by the first driving connection end 311 and the locking groove 312. This locking mechanism can fix the crankshaft connecting rod 31 at a specific position, thereby realizing the clamping function of the clamping jaws. This design ensures the stability and reliability of the clamping. The locking groove 312 of the crankshaft connecting rod 31 is provided with two sets of mutually symmetrical structures, which is helpful to balance the clamping force and ensure the stability and balance of the clamping jaws during the clamping process. Through the design of the crankshaft connecting rod 31, the clamping force can be controlled. By adjusting the position of the crankshaft connecting rod 31 and the matching of the locking groove 312, the size of the clamping force can be adjusted to meet the clamping requirements of different workpieces. Since a mechanical self-locking structure with a specific position range is made, it can be applied to the long-term clamping of rectangular objects within a specific length and width range, and the motor has only a very small load during the long clamping time, which can prevent the motor from being blocked under high load for a long time.

[0045] The linkage mechanism 4 includes a sliding connection seat 41, a linkage connection seat 42 and an adjusting component 43, one end of the sliding connection seat 41 is connected to the first clamping mechanism 5, the linkage connection seat 42 is movably arranged on the sliding connection seat 41, and the adjusting component 43 is used to adjust the linkage connection seat 42 to move on the sliding connection seat 41; one end of the linkage connection seat 42 is provided with an axle pin connected to the crankshaft connecting rod 31; specifically, the linkage connection seat 42 is provided with an adjusting block 421 and a positioning block 422, the sliding connection seat 41 is provided with a sliding connection groove 411, and the sliding connection groove 411 can be slidably arranged on the sliding positioning block 422, the adjusting component 43 includes an adjusting screw 431 and a pressure spring 432, one end of the adjusting screw 431 passes through the adjusting block 421 and extends into the connecting groove to be connected with the positioning block 422; one end of the linkage connection seat 42 is provided with a linkage axle pin 423, and the linkage axle pin 423 is rotatably connected to the crankshaft connecting rod 31. In this embodiment, an axle pin is provided at one end of the linkage connection seat 42, which is connected to the crankshaft connecting rod 31. Through this connection, the linkage mechanism 4 can effectively transmit the power transmitted by the driving mechanism 2 to other parts of the clamp to achieve the clamping operation. The linkage connection seat 42 can be movably arranged on the sliding connection seat 41. This design enables the linkage connection seat 42 to move freely on the sliding connection seat 41 as needed to achieve flexibility and adjustment function during the clamping process. The sliding connection seat 41 is provided with a sliding connection groove 411, which can be slidably arranged on the sliding positioning block 422. This design makes the sliding connection of the linkage mechanism 4 smoother and more stable, which helps to improve the operating efficiency and accuracy of the clamp. The adjustment component 43 includes an adjusting screw 431 and a pressure spring 432. The movement of the linkage connection seat 42 on the sliding connection seat 41 can be adjusted by adjusting the position of the screw 431 to adapt to different working requirements and clamping conditions. One end of the adjusting screw 431 passes through the adjusting block 421 and extends into the sliding connection groove 411 to be connected with the positioning block 422. This design ensures the stable connection of the linkage connection seat 42 on the sliding connection seat 41, thereby improving the working stability and reliability of the clamp.

[0046] The positioning block 422 is provided with a positioning groove 4221, and the pressure spring 432 is arranged on the outer periphery of the adjusting screw 431, and one end abuts against the positioning groove 4221, and the other end abuts against one end of the sliding connection groove 411, so as to apply pressure between the positioning block 422 and the sliding connection seat 41. In this embodiment, the positioning block 422 is provided with a positioning groove 4221, and this design enables the positioning block 422 to form an accurate positioning with the sliding connection seat 41. Through the positioning groove 4221, the positioning block 422 can be accurately positioned on the sliding connection seat 41, ensuring the stability and accuracy of the linkage mechanism 4 during the working process. The pressure spring 432 is arranged on the outer periphery of the adjusting screw 431, and one end abuts against the positioning groove 4221, and the other end abuts against one end of the sliding connection groove 411, so as to apply pressure between the positioning block 422 and the sliding connection seat 41. This design applies pressure between the positioning block 422 and the sliding connection seat 41 through the pressure spring 432, ensuring the tight connection between them, and improving the working stability and reliability of the linkage mechanism 4. The arrangement of the pressure spring 432 ensures that the positioning block 422 is always subjected to a certain pressure during the operation of the linkage mechanism 4, which helps to maintain the stability and accuracy of the positioning, thereby ensuring the working efficiency and accuracy of the clamping system.

[0047] See also Figure 8-Figure 9As shown, the first clamping mechanism 5 includes a transmission connection frame 51, a first transmission guide rail 52 and a first clamping plate 53. The first transmission guide rail 52 is installed on the fixed base 1. The transmission connection frame 51 can be slidably installed on the first transmission guide rail 52. One end of the transmission connection frame 51 is connected to the linkage mechanism 4. The first clamping plate 53 is arranged on the transmission connection frame 51. The linkage mechanism 4 is used to drive the transmission connection frame 51 to slide on the first transmission guide rail 52. Specifically, it also includes a second clamping mechanism 6. The second clamping mechanism 6 is provided with two groups. The two groups of the second clamping mechanisms 6 and the two groups of the first clamping mechanisms 5 are distributed crosswise on the fixed base 1. The second clamping mechanism 6 is provided with a connecting rod assembly. The second clamping mechanism 6 is connected to the first clamping plate 53 through the connecting rod assembly. When the two groups of the first clamping mechanisms 5 are relatively mirror-imaged, the two groups of the second clamping mechanisms 6 are driven to be relatively mirror-imaged through the connecting rod assembly. In this embodiment, the first clamping mechanism 5 and the second clamping mechanism 6 are adopted to realize a multi-stage clamping operation. The first clamping mechanism 5 is responsible for the main clamping function, while the second clamping mechanism 6 can provide additional lateral fixation to enhance the stability and reliability of clamping. The two groups of clamping mechanisms of the second clamping mechanism 6 are distributed crosswise with the first clamping mechanism 5 on the fixed base 1. This design increases the balance and stability of clamping, ensures the balance and safety of the workpiece during the clamping process, and reduces the deformation or damage caused by uneven clamping. The second clamping mechanism 6 is connected to the first clamping mechanism 5 through a connecting rod assembly, and when the two groups of first clamping mechanisms 5 are relatively mirror-imaged, the two groups of second clamping mechanisms 6 are driven by the connecting rod assembly to be relatively mirror-imaged. This mirror transmission design ensures the synchronous movement of the clamping mechanism and ensures the consistency and stability of the clamping. The transmission connecting frame 51 can be slidably mounted on the first transmission guide rail 52 to realize the sliding operation of the clamping mechanism. At the same time, the connecting rod assembly connects the first clamping plate 53 and the second clamping mechanism 6 to ensure a firm connection and synchronous movement between them, and improves the reliability and stability of the clamping mechanism. The design structure of the clamping mechanism is flexible and can be adjusted and adapted according to the requirements of different workpieces. At the same time, through the combination of the first clamping mechanism 5 and the second clamping mechanism 6, it is possible to clamp workpieces of different shapes, sizes and weights, thereby improving the applicability and versatility of the clamping mechanism. The first clamping mechanism 5 and the second clamping mechanism 6 are used for clamping claws on all sides of a rectangle. This embodiment is applied to clamping scenarios where objects need to be clamped and positioned on all sides. For example, if only the X-direction is clamped in the plane, the position of the clamped object in the Y direction and the fixture cannot be accurately located. This embodiment has clamping and positioning in both the X and Y directions. This embodiment only uses a single driving rotary motor, and through a simple connecting rod group, the jaws on all sides can be controlled to contract and relax at the same time.Since the crankshaft mechanism 3 and the linkage mechanism 4 are within a specific position range, they can be used for long-term clamping of rectangular objects within a specific length and width range. During long-term clamping, the motor has only a very small load, which can prevent the motor from stalling due to long-term high load.

[0048] The second clamping mechanism 6 includes a driving link 61, an auxiliary link 62, a second clamping plate 63 and a second transmission guide rail 64, wherein the second transmission guide rail 64 is mounted on the fixed base 1, and the second transmission guide rail 64 can be slidably mounted on the second transmission guide rail 64, wherein the driving link 61 is symmetrically arranged in two groups, wherein one end of the driving link 61 is hinged to the first clamping plate 53, and the other end of the driving link 61 extends toward one end of the second transmission guide rail 64 and is hinged to each other; the auxiliary link 62 is used to connect the second clamping plate 63 and the driving link 61 to drive the second clamping plate 63 to slide along the second transmission guide rail 64. In this embodiment, the driving link 61 is symmetrically arranged in two groups, wherein one end is hinged to the first clamping plate 53, and the other end extends toward one end of the second transmission guide rail 64, and is hinged to each other. This arrangement enables the driving link 61 to drive the movement of the second clamping plate 63 through the driving mechanism 2 to achieve the clamping operation. The auxiliary connecting rod 62 is used to connect the second clamping plate 63 and the driving connecting rod 61. Its function is to help the second clamping plate 63 slide along the second transmission guide rail 64 under the drive of the driving connecting rod 61. Through the action of the auxiliary connecting rod 62, the second clamping plate 63 can move along the guide rail more stably, ensuring the stability and accuracy of the clamping process. The second transmission guide rail 64 is installed on the fixed base 1, and the driving connecting rod 61 can be slidably installed on the second transmission guide rail 64. This design enables the second clamping plate 63 to slide along the guide rail to complete the clamping operation. The setting of the second transmission guide rail 64 can provide a stable motion track to ensure the accuracy and reliability of the clamping process.

[0049] The second clamping plate 63 extends with an articulated arm 631 toward the center of the fixed base 1, and the auxiliary connecting rod 62 is symmetrically arranged in two groups, one end of the auxiliary connecting rod 62 is hinged to the approximate center of the driving connecting rod 61, and the other end is hinged to the articulated arm 631. In this embodiment, the second clamping plate 63 extends with an articulated arm 631 toward the center of the fixed base 1. The function of this articulated arm 631 may be to provide an additional connection point, so that the second clamping plate 63 can be more firmly connected to other components, thereby enhancing the stability and reliability of the entire clamping mechanism. The auxiliary connecting rod 62 is symmetrically arranged in two groups, which means that there are two pairs of auxiliary connecting rods 62. Such a design may be to balance the clamping force and ensure the stability and balance of the second clamping plate 63 during the clamping process. One end of the auxiliary connecting rod 62 is hinged to the approximate center of the driving connecting rod 61, and the other end is hinged to the articulated arm 631. This connection mode enables the auxiliary connecting rod 62 to effectively transmit the power of the driving connecting rod 61 , and helps the second clamping plate 63 to slide along the second transmission guide rail 64 .

[0050] The clamping surface of the first clamping plate 53 is provided with a clamping groove 531, and the first clamping plate 53 is provided with a reinforcing rib 532 on the side opposite to the clamping groove 531; the clamping surface of the second clamping plate 63 is provided with a clamping protrusion 632. In this embodiment, the clamping surface of the first clamping plate 53 is provided with a clamping groove 531, and this groove is used to accommodate a specific shape or part of the clamped object. The design of the clamping groove 531 can ensure that the clamped object can be firmly fixed on the clamping plate to maintain stability. The side opposite to the clamping groove 531 is provided with a reinforcing rib 532. These reinforcing ribs 532 may be to increase the strength and stability of the first clamping plate 53 to ensure that no deformation or damage occurs during the clamping process. The clamping surface of the second clamping plate 63 is provided with a clamping protrusion 632. These protrusions are used to cooperate with the clamping groove 531 of the first clamping plate 53 to form a clamping portion. The design of the clamping protrusion 632 may be adjusted according to the characteristics of the clamped object to ensure a secure clamping.

[0051] The above embodiments only express several implementation methods of the utility model, and the descriptions are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that for ordinary technicians in this field, several modifications and improvements can be made without departing from the concept of the utility model, which all belong to the protection scope of the utility model. Therefore, the protection scope of the utility model patent shall be based on the attached claims.

Claims

1. A clamping jaw, characterized in that: It includes a fixed base, a driving mechanism, a crank mechanism, a linkage mechanism and a first clamping mechanism. The linkage mechanism is provided with two groups. The two groups of linkage mechanisms are symmetrically arranged on both sides of the fixed base. The two groups of linkage mechanisms are both installed with a first clamping mechanism. The crank mechanism includes two groups of symmetrical crank connecting rods. The driving mechanism is connected to the linkage mechanism through the crank connecting rod. The driving mechanism drives the two groups of linkage mechanisms to move in a mirror image by rotating the crank connecting rod, so as to drive the two groups of first clamping mechanisms to transmit relative mirror images. The crank connecting rod includes a first driving connection end, a locking groove and a second driving connection end. The first driving connection end is hinged to the driving mechanism, and the second driving connection end is hinged to the linkage mechanism.

2. The clamping jaw according to claim 1, characterized in that: The fixed base includes a fixed substrate and a mounting bracket, the mounting bracket is mounted on the fixed substrate, the mounting bracket is provided with a drive placement cavity, and the drive mechanism is arranged in the drive placement cavity.

3. The clamping jaw according to claim 2, characterized in that: The fixed base plate includes a first surface and a second surface, the mounting bracket is arranged on the first surface, the first clamping mechanism is installed on the second surface, a through groove is arranged between the first surface and the second surface, the through groove is used to connect the first surface and the second surface, and one end of the first clamping mechanism passes through the through groove and is connected to the linkage mechanism.

4. The clamping jaw according to claim 1, characterized in that: The driving end of the driving mechanism is provided with a driving connection part, and the driving connection part is provided with a driving shaft pin. There are two driving shaft pins, and the two driving shaft pins are relatively arranged on both sides of the driving connection part. One end of the crankshaft connecting rod is rotatably connected to the driving shaft pin.

5. The clamping jaw according to claim 1, characterized in that: The locking groove is provided with a locking flange, and two groups of mutually symmetrical crankshaft connecting rods cooperate with the locking groove through the first driving connection end to form a locking.

6. The clamping jaw according to claim 1, characterized in that: The linkage mechanism comprises a sliding connection seat, a linkage connection seat and an adjustment component, one end of the sliding connection seat is connected to the first clamping mechanism, the linkage connection seat is movably arranged on the sliding connection seat, and the adjustment component is used to adjust the linkage connection seat to move on the sliding connection seat; one end of the linkage connection seat is provided with an axle pin connected to the crankshaft connecting rod; The linkage connection seat is provided with an adjustment block and a positioning block, the sliding connection seat is provided with a sliding connection groove, the sliding connection groove can be slidably arranged on the sliding positioning block, the adjustment assembly includes an adjustment screw and a pressure spring, one end of the adjustment screw passes through the adjustment block and extends into the connection groove to be connected with the positioning block; A linkage shaft pin is provided at one end of the linkage connection seat, and the linkage shaft pin is rotatably connected to the crankshaft connecting rod; The positioning block is provided with a positioning groove, and the pressure spring is arranged on the outer periphery of the adjusting screw, with one end abutting against the positioning groove and the other end abutting against one end of the sliding connection groove to apply pressure between the positioning block and the sliding connection seat.

7. The clamping jaw according to claim 1, characterized in that: The first clamping mechanism includes a transmission connecting frame, a first transmission guide rail and a first clamping plate. The first transmission guide rail is installed on a fixed base. The transmission connecting frame can be slidably installed on the first transmission guide rail. One end of the transmission connecting frame is connected to a linkage mechanism. The first clamping plate is arranged on the transmission connecting frame. The linkage mechanism is used to drive the transmission connecting frame to slide on the first transmission guide rail.

8. The clamping jaw according to claim 7, characterized in that: It also includes a second clamping mechanism, which is provided with two groups. The two groups of the second clamping mechanisms and the two groups of the first clamping mechanisms are distributed in a cross shape on a fixed base; the second clamping mechanism is provided with a connecting rod assembly, and the second clamping mechanism is connected to the first clamping plate through the connecting rod assembly. When the two groups of the first clamping mechanisms are transmitted in a relative mirror image, the two groups of the second clamping mechanisms are driven to transmit in a relative mirror image through the connecting rod assembly.

9. The clamping jaw according to claim 8, characterized in that: The second clamping mechanism includes a second clamping plate and a second transmission guide rail, the connecting rod assembly includes a driving connecting rod and an auxiliary connecting rod, the second transmission guide rail is installed on a fixed base, the second transmission guide rail can be slidably installed on the second transmission guide rail, the driving connecting rod is symmetrically arranged in two groups, one end of the driving connecting rod is hinged to the first clamping plate, and the other end of the two groups of driving connecting rods extend toward one end of the second transmission guide rail and are hinged to each other; the auxiliary connecting rod is used to connect the second clamping plate and the driving connecting rod to drive the second clamping plate to slide along the second transmission guide rail.

10. The clamping jaw according to claim 9, characterized in that: The second clamping plate is provided with an articulated arm extending toward the center of the fixed base, and the auxiliary connecting rods are symmetrically arranged in two groups, one end of the auxiliary connecting rod is hinged to the approximate center of the driving connecting rod, and the other end is hinged to the articulated arm; The clamping surface of the first clamping plate is provided with a clamping groove, and a side of the first clamping plate opposite to the clamping groove is provided with a reinforcing rib; the clamping surface of the second clamping plate is provided with a clamping protrusion.

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