Gripper

Abstract

The utility model relates to a clamping claw, comprising more than two first clamping mechanisms, each of which cooperates with each other to clamp an object. The first clamping mechanism is provided with a plurality of lattices of different shapes, and the lattices of each shape have different stiffnesses toward the clamped object. When the first clamping mechanism clamps an object, the clamped object contacts the lattices, and the stiffness of the lattices at the contact point between the clamped object and the first clamping mechanism toward the clamped object is the smallest, and the stiffness of each lattice toward the clamped object in the first clamping mechanism gradually increases as it moves away from the clamped object. The utility model provides a plurality of lattices of different shapes in the first clamping mechanism, so that when the first clamping mechanism clamps an object, the first clamping mechanism can be deformed, and the clamped object sinks into the deformation area of ​​the first clamping mechanism, so that the clamped object is not easy to slip out of the clamping claw, and the clamping claw does not need a large clamping force when clamping the object.

Description

Technical Field

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

[0002] In existing mechanical equipment, clamping claws are often used to clamp objects.

[0003] For example, Chinese utility model patent CN206527752U discloses a mechanical gripper for mechanical manufacturing, including a mechanical gripper seat, a drive box is arranged on the rear side wall of the mechanical gripper seat, a controller is arranged on the top of the drive box, a gripper groove is opened on the front side wall of the mechanical gripper seat, grippers are symmetrically arranged on the left and right sides of the inner cavity of the gripper groove, gripper sliding seats are arranged on the left sides of two groups of the grippers, and sliding rods are inserted into the inner cavities of the two groups of the gripper sliding seats.

[0004] However, the mechanical gripper of CN206527752U has a rigid structure and cannot be deformed as the object is clamped. Therefore, in order to maintain the object, the mechanical gripper has a large clamping force on the object, which may cause the object to be damaged by the gripper, and the jaw part is provided with saw-like teeth, which is easy to damage the object. Utility Model Content

[0005] In view of the above problems existing in the prior art, the purpose of the utility model is to provide a clamping claw that is convenient for clamping objects.

[0006] The purpose of the utility model is achieved through the following technical solutions:

[0007] A clamping claw comprises more than two first clamping mechanisms, each of which cooperates with each other to clamp an object. A plurality of lattices of different shapes are arranged in the first clamping mechanism, and the lattices of different shapes have different stiffnesses toward the clamped object. When the first clamping mechanism clamps an object, the clamped object contacts the lattices, and the stiffness of the lattices toward the clamped object at the contact point between the scraped object and the first clamping mechanism is the smallest, and the stiffness of each lattice in the first clamping mechanism toward the clamped object gradually increases as it moves away from the clamped object.

[0008] Furthermore, the surface of the first clamping mechanism for clamping the object is a first plane, and the contact point is located in the middle of the first plane.

[0009] Furthermore, the lattice includes a first lattice, a second lattice and a third lattice, and the first lattice, the second lattice and the third lattice are each provided with a plurality of them, each of the first lattices forms a first lattice region, each of the second lattices forms a second lattice region, and each of the third lattices forms a third lattice region, the first lattice region is arranged close to the contact point, the second lattice region is arranged around the first lattice region, the third lattice region is adjacent to the second lattice region and is arranged away from the first plane, the stiffness of the first lattice toward the clamped object side is smaller than the stiffness of the second lattice toward the clamped object side, and the stiffness of the second lattice toward the clamped object side is smaller than the stiffness of the third lattice toward the clamped object side.

[0010] Furthermore, outer surfaces of the first lattice, the second lattice and the third lattice are all rectangular tubes of the same size and parallel to each other, and the rectangular tubes are arranged adjacent to each other in sequence.

[0011] Furthermore, the first lattice is composed of a first inclined plate and the rectangular tube, the first inclined plate is arranged in the rectangular tube, and the first inclined plate divides the interior of the rectangular tube into two triangular prism cavities of the same volume; the first inclined plates in each of the first lattices are combined to form a plurality of layers of overlapping inverse eight-shaped openings, and the opening direction of the inverse eight-shaped openings is toward the contact point; the second lattice is composed of a second inclined plate and the rectangular tube, the second inclined plate is arranged in the rectangular tube, and the second inclined plate divides the interior of the rectangular tube into two triangular prism cavities of the same volume, and the thickness of the second inclined plate is greater than the thickness of the first inclined plate; the second inclined plates in each of the second lattices are combined to form a plurality of layers of overlapping inverse eight-shaped openings, and the opening direction of the inverse eight-shaped openings is away from the contact point; the third lattice is composed of the rectangular tube and a cross plate, and the cross plate divides the interior of the rectangular tube into four triangular prism cavities of the same volume.

[0012] Furthermore, the first clamping mechanism is provided with a second clamping mechanism detachably connected to the first clamping mechanism, and both the first clamping mechanism and the second clamping mechanism can be used to clamp objects; the second clamping mechanism is a solid body.

[0013] Furthermore, the surface of the second clamping mechanism clamping the object is a second plane, and the first plane and the second plane are on the same plane.

[0014] Furthermore, the second clamping mechanism includes a flexible clamping member and a rigid scraping member connected to the flexible clamping member, the flexible clamping member is arranged close to the first clamping mechanism, and the rigid scraping member is arranged away from the first clamping mechanism, the rigid scraping member is used to scrape objects, the scraped object presses against the flexible clamping member, and the flexible clamping member is deformed by the pressure of the scraped object.

[0015] Furthermore, the first clamping mechanism is provided with a first connecting part, the second clamping mechanism is provided with a second connecting part, and the first connecting part and the second connecting part are detachably connected; the first connecting part includes a card slot, and the second connecting part includes a buckle that cooperates with the card slot.

[0016] Furthermore, the first connecting portion includes an unlocking slot communicated with the card slot, the second connecting portion includes an unlocking buckle connected to the buckle, and the unlocking slot cooperates with the unlocking buckle.

[0017] Compared with the prior art, the beneficial effect of the utility model is that: the utility model provides a plurality of lattices of different shapes in the first clamping mechanism, so that when the first clamping mechanism clamps an object, the first clamping mechanism can be deformed, and the clamped object is trapped in the deformation area of ​​the first clamping mechanism. Therefore, the clamped object is not easy to slip out of the clamping claws, and the clamping claws do not need a large clamping force when clamping the object, thereby reducing the occurrence of the object being damaged due to excessive clamping force on the clamped object. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a three-dimensional schematic diagram of the first clamping mechanism of the utility model;

[0019] Figure 2 It is a schematic diagram of the first clamping mechanism of the utility model clamping an object;

[0020] Figure 3 It is a front view of the connection state of the first clamping mechanism and the second clamping mechanism of the utility model;

[0021] Figure 4 It is a three-dimensional schematic diagram of the first lattice of the utility model;

[0022] Figure 5 It is a three-dimensional schematic diagram of the second lattice of the utility model;

[0023] Figure 6 It is a three-dimensional schematic diagram of the third lattice of the utility model;

[0024] Figure 7 It is a front view of the first clamping mechanism of the utility model;

[0025] Figure 8 It is a three-dimensional schematic diagram of the connection state of the first clamping mechanism and the second clamping mechanism of the utility model;

[0026] Fig. 9 It is a three-dimensional schematic diagram of a first shape of the second clamping mechanism of the utility model;

[0027] Fig.10It is a three-dimensional schematic diagram of a second shape of the second clamping mechanism of the utility model;

[0028] Fig.11 It is a three-dimensional schematic diagram of a third shape of the second clamping mechanism of the utility model.

[0029] In the figure:

[0030] 1-first clamping mechanism; 1a-first plane; 1b-first lattice; 1ba-first inclined plate; 1c-second lattice; 1ca-second inclined plate; 1d-third lattice; 1da-cross plate; 1e-rectangular tube; 1f-cage; 1g-unlocking slot; 2-second clamping mechanism; 2a-second plane; 2b-flexible clamping member; 2c-rigid scraping member; 2d-clamping connector; 2e-first clamping cavity; 2f-C-type scraping member; 2g-second clamping cavity; 2h-buckle; 2i-unlocking buckle. DETAILED DESCRIPTION

[0031] The technical solution of the utility model will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the utility model, not all of the embodiments. Based on the embodiments of the utility model, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the utility model.

[0032] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0033] In the description of the present utility model, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal connection of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present utility model can be understood according to specific circumstances. In addition, the technical features involved in the different embodiments of the present utility model described below can be combined with each other as long as they do not conflict with each other.

[0034] The utility model discloses a clamping claw, such as Figure 1 and Figure 2 As shown, the clamp includes more than two first clamping mechanisms 1, and each of the first clamping mechanisms 1 cooperates with each other to clamp the object. In the present embodiment, two first clamping mechanisms 1 are provided, and each of the first clamping mechanisms 1 is arranged opposite to each other. A plurality of lattices of different shapes are provided in the first clamping mechanism 1, and the stiffness of the lattices of each shape facing the clamped object is different. When the first clamping mechanism 1 clamps the object, the clamped object contacts the lattice, and the stiffness of the lattice at the contact point between the clamped object and the first clamping mechanism 1 toward the clamped object is the smallest, and the stiffness of the lattice of each shape in the first clamping mechanism 1 toward the clamped object gradually increases as it moves away from the clamped object. Therefore, as Figure 2 As shown, when the first clamping mechanism 1 clamps an object, the lattice at the contact point between the clamped object and the first clamping mechanism 1 has the smallest rigidity toward the clamped object, so the lattice at the contact point between the clamped object and the first clamping mechanism 1 is squeezed by the clamped object and deformed. And because the rigidity of the lattice near the contact point toward the clamped object is the smallest, as it gradually moves away from the contact point, the rigidity of the lattices of different shapes toward the clamped object gradually increases. Therefore, the lattice farthest from the clamped object does not deform because it has the largest rigidity toward the clamped object, so that the outer contour of the first clamping mechanism 1 is basically unchanged. The clamped object enters the concave area produced by the deformed lattice. The utility model provides a plurality of lattices of different shapes in the first clamping mechanism 1, so that when the first clamping mechanism 1 clamps an object, the contact portion of the first clamping mechanism 1 with the clamped object can be deformed, and the clamped object sinks into the recessed area where the lattice of the first clamping mechanism 1 is deformed. Therefore, the clamped object is not easy to slip out of the first clamping mechanism 1, and the clamping claws do not need a large clamping force when clamping the object, thereby reducing the situation where the clamped object is damaged due to excessive clamping force. After the object is clamped, the deformed lattice on the first clamping mechanism 1 returns to its original state.

[0035] In other embodiments, the number of the first clamping mechanisms 1 may be three, and the first clamping mechanisms 1 are arranged at equal intervals.

[0036] like Figure 1As shown, in this embodiment, the surface of the first clamping mechanism 1 used to clamp the object is a first plane 1a, and the contact point is located in the middle of the first plane 1a. The utility model sets the surface of the first clamping mechanism 1 used to clamp the object as a plane, so that the clamped surface of the object is not limited to a special-shaped surface, and the clamped surface can also be a plane. The utility model sets the contact point in the middle of the first plane 1a, which facilitates the first clamping mechanism 1 to stably clamp the object. In other embodiments, the surface of the first clamping mechanism 1 used to clamp the object can also be a curved surface. The contact point can also be located at the edge of the first plane 1a.

[0037] like Figures 3 to 6 As shown, in this embodiment, the lattice includes a first lattice 1b, a second lattice 1c and a third lattice 1d. In the first clamping mechanism 1, a plurality of the first lattice 1b, the second lattice 1c and the third lattice 1d are provided. Each of the first lattices 1b forms a first lattice region, each of the second lattices 1c forms a second lattice region, and each of the third lattices 1d forms a third lattice region. The first lattice region is arranged close to the contact point. The second lattice region is arranged around the first lattice region, and part of the second lattice 1c surrounds part of the first lattice 1b in contact with the contact point to form the first plane 1a. The third lattice region is arranged adjacent to the second lattice region and away from the first plane 1b. The rigidity of the first lattice 1b toward the clamped object is smaller than the rigidity of the second lattice 1c toward the clamped object, and the rigidity of the second lattice 1c toward the clamped object is smaller than the rigidity of the third lattice 1d toward the clamped object. Therefore, when the first clamping mechanism 1 clamps an object, the deformation of the first lattice 1b is the largest, the deformation of the second lattice 1c is smaller than the deformation of the first lattice 1b, the deformation of the third lattice 1d is smaller than the deformation of the second lattice 1c, and the concave area is mainly formed by the deformation of each of the first lattices 1b. In other embodiments, the types of lattices in the first clamping mechanism 1 can also be set to four. The more types of lattices, the more uniform the lattice deformation when the first clamping mechanism 1 clamps an object, and the better the clamping effect of the clamping claw.

[0038] like Figures 4 to 6 As shown, in this embodiment, the outer surfaces of the first lattice 1b, the second lattice 1c and the third lattice 1d are all rectangular tubes 1e of the same size and parallel to each other, and the rectangular tubes 1e are arranged adjacent to each other in sequence. By setting the outer surfaces of the first lattice 1b, the second lattice 1c and the third lattice 1d to be rectangular tubes 1e of the same size and parallel to each other, it is helpful to form the first plane 1a.

[0039] like Figures 3 to 7 As shown, in detail, in this embodiment, Figure 4 As shown, the first lattice 1b is composed of a first inclined plate 1ba and the rectangular tube 1e. The first inclined plate 1ba is arranged inside the rectangular tube 1e. The first inclined plate 1ba divides the interior of the rectangular tube 1e into two triangular prism cavities of the same volume. The first inclined plates 1ba in each of the first lattices 1b are combined to form a plurality of overlapping layers of splayed openings, and the opening direction of the splayed openings is toward the contact point. Therefore, Figure 7 As shown, when the first clamping mechanism 1 clamps an object, the clamped object applies a force to the first lattice 1b, and the direction of the force is along the opening of the splayed opening toward the inside of the splayed opening. When each of the first lattices 1b is subjected to a force along the opening of the splayed opening toward the inside of the splayed opening, the force applied to the first lattice 1b is mainly loaded on the triangular prism cavity inside the first lattice 1b, and the triangular prism cavity inside the first lattice 1b is deformed by the force, so each of the first lattices 1b is subjected to the force to form the concave area.

[0040] like Figures 3 to 7 As shown, in detail, in this embodiment, Figure 5 As shown, the second lattice 1c is composed of a second inclined plate 1ca and the rectangular tube 1e. The second inclined plate 1ca is arranged inside the rectangular tube 1e. The second inclined plate 1ca divides the interior of the rectangular tube 1e into two triangular prism cavities of the same volume. The thickness of the second inclined plate 1ca is greater than that of the first inclined plate 1ba. Figure 7 As shown, the second inclined plates 1ca in each of the second lattices 1c are combined to form a plurality of layers of overlapping inverted eight-shaped openings, and the opening direction of the inverted eight-shaped openings is away from the contact point. Figure 7 As shown, when the first lattice 1b is subjected to the force of the clamped object and the related force is transmitted to the second lattice 1c, the force on the second lattice 1c is mainly loaded on the second inclined plate 1ca. And because the thickness of the second inclined plate 1ca is greater than the thickness of the first inclined plate 1ba, the volume of the triangular prism cavity in the second lattice 1c is smaller than the volume of the triangular prism cavity in the first lattice 1b. Therefore, even if the triangular prism cavity in the second lattice 1c is subjected to force, the stiffness of the second lattice 1c is still greater than the stiffness of the first lattice 1b. In this embodiment, the force is mainly borne by the second inclined plate 1ca, so the stiffness of the second inclined plate 1ca is greater than the stiffness of the triangular prism cavity in the second lattice 1c. Therefore, the stiffness of the first lattice 1b facing the clamped object is smaller than the stiffness of the second lattice 1c facing the clamped object. And the force of the clamped object on the first lattice 1b has been reduced when it is transmitted to the second lattice 1c. Therefore, the deformation of the second lattice 1c is smaller than that of the first lattice 1b.

[0041] like Figures 3 to 7 As shown, in detail, in this embodiment, Figure 6 As shown, the third lattice 1d is composed of the rectangular tube 1e and the cross plate 1da, and the cross plate 1da divides the interior of the rectangular tube 1e into four triangular prism cavities of equal volume. Since the cross plate 1da is provided in the third lattice 1d, the stiffness of the second lattice 1c on the side facing the clamped object is smaller than the stiffness of the third lattice 1d on the side facing the clamped object. At the same time, since the force of the clamped object on the first lattice 1b is transmitted to the second lattice 1c and then to the third lattice 1d, the force is further reduced. Therefore, relative to the second lattice 1c, the deformation of the third lattice 1d is smaller.

[0042] Usually in an automated production line, one manipulator corresponds to one gripper, and one manipulator is used to grip one object. To further improve the practicality of the gripper described in the utility model, in this embodiment, Figure 8 As shown, the first clamping mechanism 1 is provided with a second clamping mechanism 2 detachably connected to the first clamping mechanism 1, and both the first clamping mechanism 1 and the second clamping mechanism 2 can be used to clamp objects. The second clamping mechanism 2 is a solid body. Figure 8 The figure shows the state after the first clamping mechanism 1 and the second clamping mechanism 2 are connected. In this embodiment, the volume of the first clamping mechanism 1 is much smaller than that of the second clamping mechanism 2. Since the second clamping mechanism 2 is a solid body, the second clamping mechanism 2 can be used to clamp small parts such as bolts, and the second clamping mechanism 2 can also be used to clamp soft parts such as sponges. In this embodiment, after the first clamping mechanism 1 and the second clamping mechanism 2 are connected, the clamping claw can be used in an automated production line that needs to clamp two different parts. The first clamping mechanism 1 can clamp larger objects such as jigs, and the second clamping mechanism 2 can clamp smaller objects such as bolts. The utility model provides a detachably connected second clamping mechanism 2 on the first clamping mechanism 1, so that one clamping claw can clamp two different objects, thereby reducing the number of manipulators in the automated production line.

[0043] like Figure 3 , Figures 9 to 11 As shown, in this embodiment, the second clamping mechanism 2 can be provided with various shapes. When different objects need to be clamped, the second clamping mechanism 2 of different shapes is connected to the first clamping mechanism 1. When the clamped object needs to be changed, the second clamping mechanism 2 of the original shape is removed from the first clamping mechanism 1, and then the second clamping mechanism 2 of the required shape is connected to the first clamping mechanism 1. The utility model improves the use range of the clamping jaw of the utility model by providing a replaceable second clamping mechanism 2.

[0044] In this embodiment, as the first shape of the second clamping mechanism 2, such as Fig. 9 As shown, the second clamping mechanism 2 is in the shape of a triangular prism. When the second clamping mechanism 2 is connected to the first clamping mechanism 1, that is, when the second clamping mechanism 2 is in use, the surface of the second clamping mechanism 2 that clamps the object is the second plane 2a, and the first plane 1a and the second plane 2a are in the same plane. Because the first plane 1a and the second plane 2a are in the same plane, there is no need to worry about the first plane 1a and the second plane 2a being not in the same plane, thereby causing the step angle to accidentally damage the object during the process of clamping the object. The utility model sets the surface of the second clamping mechanism 2 that clamps the object to be the second plane 2a, so that the second clamping mechanism 2 can clamp small planar objects. At the same time, by setting the first plane 1a and the second plane 2a in the same plane, the probability of accidentally damaging the object during the process of clamping the object is reduced.

[0045] In this embodiment, as the second shape of the second clamping mechanism 2, such as Figure 3 , Figure 8 and Fig.10 As shown, the second clamping mechanism 2 includes a flexible clamping member 2b, a rigid scraping member 2c and a clamping connection member 2d, and the two ends of the clamping connection member 2d are respectively connected to the flexible clamping member 2b and the rigid scraping member 2c. The clamping connection member 2d, the flexible clamping member 2b and the rigid scraping member 2c together form an unclosed first clamping cavity 2e. When the second clamping mechanism 2 is connected to the first clamping mechanism 1, that is, when the second clamping mechanism 2 is in use, the flexible clamping member 2c is arranged close to the first clamping mechanism 1, and the rigid scraping member 2c is arranged away from the first clamping mechanism 1. When the second clamping mechanism 2 is in use, for example, when the second clamping mechanism 2 is clamping a screw, the rigid scraper 2c scrapes the screw like a fingernail scraping something, and the scraped screw abuts the flexible clamping member 2b, which is plate-shaped and elastic. The flexible clamping member 2b is deformed by the scraped screw, and the flexible clamping member 2b tilts toward the first clamping cavity 2e. After the screw is clamped, the flexible clamping member 2b returns to its original position. The utility model facilitates the clamping of small objects such as screws through the rigid scraper 2c and the flexible clamping member 2b.

[0046] In this embodiment, as the third shape of the second clamping mechanism 2, such as Fig.11As shown, the second clamping mechanism 2 includes a C-shaped scraper 2f, and the C-shaped mouth of the C-shaped scraper 2f forms a second clamping cavity 2g. The C-shaped scraper 2f also includes a rigid scraper 2c. When the second clamping mechanism 2 is connected to the first clamping mechanism 1, that is, when the second clamping mechanism 2 is in use, the rigid scraper 2c is also set away from the first clamping mechanism 1. The second clamping mechanism 2 can be used to clamp small plate-like parts. The rigid scraper 2c scrapes the small plate-like parts like a fingernail scraping something, and one end of the small plate-like parts enters the second clamping cavity 2g. A plurality of the second clamping mechanisms 2 cooperate to achieve the clamping of small plate-like parts.

[0047] like Figure 1 , Fig. 9 and Fig.10 As shown, in this embodiment, the first clamping mechanism 1 is provided with a first connecting portion, and the second clamping mechanism 2 is provided with a second connecting portion, and the first connecting portion and the second connecting portion are detachably connected. The first connecting portion includes a card slot 1f, and the second connecting portion includes a buckle 2h that matches the card slot 1f. The buckle 2h is elastic. When the buckle 2h enters the card slot 1f, the buckle 2h is deformed, and the buckle 2h applies a force generated by the elastic deformation of the buckle 2h to the inner wall of the card slot 1f, thereby connecting the buckle 2h with the card slot 1f, and further connecting the first clamping mechanism 1 and the second clamping mechanism 2. In other embodiments, the first connecting portion may be a magnet, and the second connecting portion may be an iron block, and the iron block is attracted by the magnet, so that the first clamping mechanism 1 and the second clamping mechanism 2 are connected.

[0048] like Figure 1 , Figure 8 and Fig.10As shown, in this embodiment, the first connection portion includes an unlocking slot 1g connected to the card slot 1f, the volume of the unlocking slot 1g is smaller than the volume of the card slot 1f, the opening of the card slot 1f is arranged on the first outer surface of the first connection portion, and the opening of the unlocking slot 1g is arranged on the second outer surface of the first connection portion, and the first outer surface is arranged adjacent to the second outer surface. The second connection portion includes an unlocking buckle 2i connected to the buckle 2h, the volume of the unlocking buckle 2i is smaller than the volume of the buckle 2h, the unlocking slot 1g cooperates with the unlocking buckle 2i, and the unlocking buckle 2i is provided with a rough surface for unlocking the buckle 2h and connecting it with the card slot 1f. When the first clamping mechanism 1 and the second clamping mechanism 2 need to be connected, the buckle 2h is inserted into the slot 1f, and the unlocking buckle 2i enters the unlocking slot 1g at the same time. When the first clamping mechanism 1 and the second clamping mechanism 2 need to be separated, the rough surface is touched by hand, and the unlocking buckle 2i is pressed, so that the buckle 2h undergoes a greater deformation than the buckle 2h in the slot 1f. Since the buckle 2h no longer applies the force generated by the elastic deformation of the buckle 2h to the inner wall of the slot 1f, the buckle 2h can leave the slot 1f, thereby separating the first clamping mechanism 1 and the second clamping mechanism 2. The utility model facilitates the separation of the first clamping mechanism 1 and the second clamping mechanism 2 by setting the unlocking buckle 2i and the unlocking slot 1g.

[0049] In summary, the utility model provides a plurality of lattices of different shapes in the first clamping mechanism 1, so that when the first clamping mechanism 1 clamps an object, the contact point between the first clamping mechanism 1 and the clamped object can be deformed, and the clamped object sinks into the recessed area where the lattice of the first clamping mechanism 1 is deformed, so that the clamped object is not easy to slip from the first clamping mechanism 1, and the clamping claws do not need a large clamping force when clamping the object, which reduces the situation where the object is damaged due to excessive clamping force on the clamped object. After the object is clamped, the deformed lattice on the first clamping mechanism 1 returns to its original state. And by setting the surface of the first clamping mechanism 1 used to clamp the object as a plane, the clamped surface of the object is not limited to a special-shaped surface, and the clamped surface can also be a plane. And by setting the contact point in the middle of the first plane 1a, it is convenient for the first clamping mechanism 1 to stably clamp the object. By setting the second clamping mechanism 2 that can be detachably connected on the first clamping mechanism 1, one clamping claw can clamp two different objects, which can reduce the number of manipulators in the automated production line. By setting the replaceable second clamping mechanism 2, the scope of use of the clamping claw of the utility model is improved. By setting the surface of the second clamping mechanism 2 that clamps the object to be the second plane 2a, it is convenient for the second clamping mechanism 2 to clamp small planar objects. At the same time, by setting the first plane 1a and the second plane 2a on the same plane, the probability of accidentally damaging the object during the object clamping is reduced. And by the rigid scraper 2c and the flexible clamping member 2b, it is convenient to clamp small objects such as screws. And by setting the unlocking buckle 2i and the unlocking groove 1g, the separation of the first clamping mechanism 1 and the second clamping mechanism 2 is facilitated.

[0050] It should be emphasized that the above are only preferred embodiments of the present invention and do not constitute any form of limitation to the present invention. Any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present invention are still within the scope of the technical solution of the present invention.

Claims

1. A clamping jaw, comprising two or more first clamping mechanisms (1), wherein the first clamping mechanisms (1) cooperate with each other to clamp an object, characterized in that: The first clamping mechanism (1) is provided with a plurality of lattices of different shapes, and the lattices of different shapes have different stiffnesses on the side facing the clamped object; when the first clamping mechanism (1) clamps an object, the clamped object contacts the lattices, and the stiffness of the lattices on the side facing the clamped object at the contact point between the clamped object and the first clamping mechanism (1) is the smallest, and the stiffness of each lattice on the side facing the clamped object in the first clamping mechanism (1) gradually increases as the distance from the clamped object increases.

2. The clamping jaw according to claim 1, characterized in that: The surface of the first clamping mechanism (1) for clamping an object is a first plane (1a), and the contact point is located in the middle of the first plane (1a).

3. The clamping jaw according to claim 2, characterized in that: The lattice comprises a first lattice (1b), a second lattice (1c) and a third lattice (1d). The first lattice (1b), the second lattice (1c) and the third lattice (1d) are each provided with a plurality of them. Each of the first lattices (1b) forms a first lattice region, each of the second lattices (1c) forms a second lattice region, and each of the third lattices (1d) forms a third lattice region. The first lattice region is arranged close to the contact point, the second lattice region is arranged around the first lattice region, and the third lattice region is arranged adjacent to the second lattice region and away from the first plane (1a). The stiffness of the first lattice (1b) toward the clamped object is smaller than the stiffness of the second lattice (1c) toward the clamped object, and the stiffness of the second lattice (1c) toward the clamped object is smaller than the stiffness of the third lattice (1d) toward the clamped object.

4. The clamping jaw according to claim 3, characterized in that: The outer surfaces of the first lattice (1b), the second lattice (1c) and the third lattice (1d) are all rectangular tubes (1e) of the same size and parallel to each other, and the rectangular tubes (1e) are arranged adjacent to each other in sequence.

5. The clamping jaw according to claim 4, characterized in that: The first lattice (1b) is composed of a first inclined plate (1ba) and the rectangular tube (1e), wherein the first inclined plate (1ba) is arranged inside the rectangular tube (1e), and the first inclined plate (1ba) divides the interior of the rectangular tube (1e) into two triangular prism cavities of equal volume; the first inclined plates (1ba) in each of the first lattices (1b) are combined to form a plurality of layers of overlapping eight-shaped openings, and the opening direction of the eight-shaped openings faces the contact point; the second lattice (1c) is composed of a second inclined plate (1ca) and the rectangular tube (1e), and the second inclined plate (1ca) is arranged inside the rectangular tube (1e). e), the second inclined plate (1ca) divides the interior of the rectangular tube (1e) into two triangular prism cavities of equal volume, the thickness of the second inclined plate (1ca) is greater than the thickness of the first inclined plate (1ba); the second inclined plates (1ca) in each of the second lattices (1c) are combined to form a plurality of layers of overlapping inverted eight-shaped openings, the opening direction of the inverted eight-shaped openings being away from the contact point; the third lattice (1d) is composed of the rectangular tube (1e) and a cross plate (1da), the cross plate (1da) divides the interior of the rectangular tube (1e) into four triangular prism cavities of equal volume.

6. The clamping jaw according to claim 2, characterized in that: The first clamping mechanism (1) is provided with a second clamping mechanism (2) which is detachably connected to the first clamping mechanism (1); both the first clamping mechanism (1) and the second clamping mechanism (2) can be used to clamp objects; and the second clamping mechanism (2) is a solid body.

7. The clamping jaw according to claim 6, characterized in that: The surface of the second clamping mechanism (2) for clamping the object is a second plane (2a), and the first plane (1a) and the second plane (2a) are on the same plane.

8. The clamping jaw according to claim 6, characterized in that: The second clamping mechanism (2) comprises a flexible clamping member (2b) and a rigid scraping member (2c) connected to the flexible clamping member (2b), wherein the flexible clamping member (2b) is arranged close to the first clamping mechanism (1), and the rigid scraping member (2c) is arranged away from the first clamping mechanism (1), and the rigid scraping member (2c) is used for scraping an object, and the scraped object abuts against the flexible clamping member (2b), and the flexible clamping member (2b) is deformed by the abutment of the scraped object.

9. The clamping jaw according to claim 6, characterized in that: The first clamping mechanism (1) is provided with a first connecting part, and the second clamping mechanism (2) is provided with a second connecting part, and the first connecting part and the second connecting part are detachably connected; the first connecting part includes a card slot (1f), and the second connecting part includes a buckle (2h) that matches the card slot (1f).

10. The clamping jaw according to claim 9, characterized in that The first connection portion comprises an unlocking slot (1g) connected to the card slot (1f), and the second connection portion comprises an unlocking buckle (2i) connected to the card buckle (2h), and the unlocking slot (1g) cooperates with the unlocking buckle (2i).

Images