Clamping jaw replacing device

Abstract

The embodiment of the utility model discloses a clamping jaw replacing device. The clamping jaw replacing device comprises a clamping jaw, a bearing platform, an adjusting assembly and a driving assembly. According to the embodiment of the invention, when the clamping jaw of the AMR is replaced, the clamping jaw mounting structure drives the original clamping jaw to move to the corresponding position above the placing structure, and the driving assembly controls the clamping jaw to gradually approach the connecting column, so that the extrusion surface is pressed against the connecting column, the connection between the original clamping jaw and the clamping jaw mounting structure is loosened, and the original clamping jaw falls on the placing structure; then the clamping jaw mounting structure moves to the position above the placing structure where the new clamping jaw is placed and moves downwards to be in butt joint with the new clamping jaw, then the driving assembly and the channel adjusting assembly drive the clamping jaw to be close to the connecting position of the new clamping jaw and the clamping jaw mounting structure till the extrusion face abuts against the connecting column, and the new clamping jaw and the clamping jaw mounting structure are fully in butt joint; and then the clamping jaw is separated from the connecting column, the connection between the new clamping jaw and the clamping jaw mounting structure is completed, and finally the rapid replacement of the clamping jaw is realized, so that the carrying efficiency of the wafer is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of wafer conveying equipment, and particularly relates to a gripper replacing device. BACKGROUND

[0002] An autonomous mobile robot (AMR) refers to a warehouse robot capable of autonomous positioning and autonomous navigation.

[0003] At present, the AMR has been widely applied to wafer production and manufacturing processes, and the AMR commonly used for wafer conveying in the market mostly uses non-replaceable grippers, which cannot meet the current complex use environment. Therefore, some manufacturers begin to assemble the grippers in an automatic replaceable joint mode, that is, the mechanical arm of the AMR is connected with the gripper in a buckle mode, and the buckle connection structure between the two includes a connecting column arranged at the connecting position of the mechanical arm and the gripper. When replacing the gripper, the original gripper is first separated from the mechanical arm by manually pressing the connecting column, and then the connecting column is pressed again, the new gripper is butted against the mechanical arm, and the connecting column is released, so that the new gripper is connected with the mechanical arm. However, this gripper replacing mode is time-consuming and labor-consuming, and affects the conveying efficiency of the wafer. CONTENT OF THE UTILITY MODEL

[0004] The present application aims to at least solve one of the technical problems existing in the prior art. To this end, the present application provides a gripper replacing device to solve the problem of time-consuming and labor-consuming in the current gripper replacing mode.

[0005] The present application provides a gripper replacing device, which comprises:

[0006] A bearing platform, wherein at least two groups of placing structures are arranged on the bearing platform, and the placing structures are used for placing grippers;

[0007] A clamping jaw, wherein the clamping jaw has a pressing surface;

[0008] An adjusting assembly, wherein the adjusting assembly is connected with the clamping jaw;

[0009] A driving assembly, wherein the driving assembly is connected with the adjusting assembly, and is used for driving the adjusting assembly to drive the clamping jaw to change positions between different placing structures and approach a connecting column at the connecting position of the gripper mounting structure and the gripper; and / or,

[0010] The connecting column is pressed.

[0011] Based on the above jaw replacement device, when replacing the jaw of the AMR, the AMR first moves to the designated position of the jaw replacement device to prepare for jaw replacement; then the jaw mounting structure drives the original jaw to move to the corresponding position above the placement structure, ensuring that the jaw is in the correct disengagement position, then the driving assembly drives the jaw through the adjusting assembly to gradually approach the connecting column at the connection between the jaw mounting structure and the jaw, so that the extrusion surface presses against the connecting column, this action loosens the connection between the original jaw and the jaw mounting structure, and the original jaw falls on the placement structure; then the jaw mounting structure moves to the placement structure above the new jaw and gradually moves downward to interface with the new jaw, then the driving assembly drives the adjusting assembly to drive the jaw to approach the connection between the new jaw and the mechanical arm until the extrusion surface presses against the connecting column and the new jaw fully interfaces with the jaw mounting structure, then the jaw is disengaged from the connecting column, the connection between the new jaw and the jaw mounting structure is completed, and finally the jaw is quickly replaced, the jaw replacement time is shortened, and the wafer handling efficiency is improved.

[0012] In one embodiment of the above jaw replacement device, the jaw includes a main shaft and two split jaws, the split jaws are rotationally connected to the main shaft, the split jaws each have the extrusion surface, and the two extrusion surfaces are oppositely arranged.

[0013] In one embodiment of the above jaw replacement device, the extrusion surface is provided with a limiting protrusion, and the limiting protrusion is arranged along the width direction of the extrusion surface.

[0014] In one embodiment of the above jaw replacement device, the placement structure includes at least two support columns and at least two accommodation holes passing through the bearing platform.

[0015] The support column is used to bear the jaw, and the accommodation hole is used to accommodate the jaw.

[0016] In one embodiment of the above jaw replacement device, the bearing platform is provided with a mounting hole passing through itself, the support column is threadedly connected to the mounting hole, and the two ends of the support column protruding out of the mounting hole are respectively provided with a support surface and an adjusting handle.

[0017] In one embodiment of the above jaw replacement device, the support column includes a column body, an elastic member, an adjusting rod, and a support disc, the column body is provided with an adjusting hole passing through along the axial direction of the column body, the adjusting rod is threadedly connected to the adjusting hole, and the two ends of the elastic member are respectively connected to the support disc and the adjusting rod.

[0018] The support disc and the elastic member are detachably connected, and there is a gap between the support disc and the column body before the support disc bears the jaw.

[0019] In one embodiment of the above-described gripper replacement device, an inner side wall of the accommodating channel is provided with a sliding groove, and a baffle is slidably arranged in the sliding groove, and the baffle is used to at least partially shield the accommodating channel.

[0020] In one embodiment of the above-described gripper replacement device, a first sensor is arranged on the bearing platform, and the first sensor is arranged between the support columns of the same placement structure, and a second sensor is arranged on at least one of the support columns of the same placement structure, and the second sensor is used to detect whether a gripper is placed on the placement structure.

[0021] In one embodiment of the above-described gripper replacement device, the connecting column is arranged on the gripper mounting structure.

[0022] During the process of connecting the gripper mounting structure and the gripper, the claw always presses against the connecting column.

[0023] In one embodiment of the above-described gripper replacement device, the adjusting assembly is arranged on the side surface of the bearing platform, and the adjusting assembly comprises a first adjusting member, a second adjusting member and a third adjusting member connected in sequence, the first adjusting member is used to drive the claw to move along a first horizontal direction, the second adjusting member is used to drive the claw to move along a vertical direction, and the third adjusting member is used to drive the claw to move along a second horizontal direction.

[0024] The above-described one or more embodiments of the present application have at least one or more of the following beneficial effects:

[0025] When replacing the gripper of the AMR, the AMR first moves to a specified position of the gripper replacement device to prepare for the replacement of the gripper; then the gripper mounting structure drives the original gripper to move to a corresponding position above the placement structure to ensure that the gripper is in the correct disengagement position, and then the driving assembly controls the adjusting assembly to move to gradually drive the claw to approach the connecting column at the connecting position of the gripper mounting structure and the gripper, so that the pressing surface presses against the connecting column, which makes the connection between the original gripper and the gripper mounting structure loose, and the original gripper falls on the placement structure; then the gripper mounting structure moves to a position above the placement structure where the new gripper is placed, and gradually moves downward to be connected with the new gripper, and then the driving assembly drives the claw to approach the connecting position of the new gripper and the gripper mounting structure through the adjusting assembly, until the pressing surface presses against the connecting column, and the new gripper is fully connected with the gripper mounting structure, and then the claw is separated from the connecting column, the connection between the new gripper and the gripper mounting structure is completed, and finally the quick replacement of the gripper is realized, which shortens the replacement time of the gripper, and thus improves the carrying efficiency of the wafer.

[0026] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0027] The disclosure of the present application will become more fully understood from the detailed description given herein below, and appended claims, taken with the accompanying drawings. It should be understood that the drawings are not to scale, as emphasis is made upon illustrating the principles of the application. In addition, like reference numerals are intended to refer to like parts throughout the specification.

[0028] Figure 1 is a structural schematic view of a clamping jaw replacement device provided by an embodiment of the present application;

[0029] Figure 2 is an enlarged view of A in Figure 1

[0030] Figure 3 is a sectional view of a support column provided by an embodiment of the present application;

[0031] Figure 4 is a partial cross-sectional view of a cooperation relationship between a baffle and a receiving channel provided by an embodiment of the present application.

[0032] Explanation of reference numerals

[0033] 1, clamping jaw; 11, extrusion surface; 12, main shaft; 13, sub jaw; 131, limiting protrusion; 2, bearing platform; 21, placement structure; 211, support column; 2111, column body; 2112, elastic member; 2113, adjusting rod; 2114, support disc; 2115, adjusting channel; 212, receiving channel; 2121, sliding groove; 2122, baffle; 23, mounting channel; 24, adjusting handle; 3, adjusting assembly; 31, first adjusting member; 32, second adjusting member; 33, third adjusting member; 4, clamping jaw. DETAILED DESCRIPTION

[0034] Some embodiments of the present application will be described below with reference to the accompanying drawings. It should be understood by those skilled in the art that these embodiments are only used to explain the technical principles of the present application, and are not intended to limit the protection scope of the present application.

[0035] The current common replacement mode of clamping jaws and mechanical arms is time-consuming and labor-intensive, which affects the wafer handling efficiency.

[0036] ​Therefore, the application creatively proposes a gripper replacement device, which comprises a clamping jaw, a bearing platform, an adjusting assembly and a driving assembly. When replacing the gripper of an AMR, the AMR first moves to a specified position of the gripper replacement device to prepare for the replacement of the gripper. Then the gripper mounting structure drives the original gripper to move to a corresponding position above the placement structure to ensure that the gripper is in the correct disengagement position. Next, the driving assembly controls the movement of the adjusting assembly to drive the clamping jaw to gradually approach the connecting column at the connection between the gripper mounting structure and the gripper, so that the extrusion surface presses against the connecting column. This action causes the connection between the original gripper and the gripper mounting structure to loosen, and the original gripper falls on the placement structure. Then the gripper mounting structure moves to a position above the placement structure where the new gripper is placed, and gradually moves downward to be connected with the new gripper. Next, the driving assembly drives the clamping jaw to approach the connection between the new gripper and the gripper mounting structure through the adjusting assembly, until the extrusion surface presses against the connecting column and the new gripper is fully connected with the gripper mounting structure. Then the clamping jaw is separated from the connecting column, the connection between the new gripper and the gripper mounting structure is completed, and the quick replacement of the gripper is finally realized. The replacement time of the gripper is shortened, and the efficiency of wafer handling is improved.

[0037] The application will be specifically described below through specific examples.

[0038] Referring to Figures 1 to 4 The embodiment of the application provides a gripper replacement device, which comprises a clamping jaw 1, a bearing platform 2, an adjusting assembly 3 and a driving assembly. The clamping jaw 1 has an extrusion surface 11. The bearing platform 2 is provided with at least two groups of placement structures 21 for placing the gripper. The adjusting assembly 3 is connected with the clamping jaw 1. The driving assembly is connected with the adjusting assembly 3 and is used for driving the adjusting assembly 3 to drive the clamping jaw 1 to change positions between different placement structures 21 and approach the connecting column at the connection between the gripper mounting structure and the gripper 4 when the gripper mounting structure is connected with the gripper 4, and / or press against the connecting column.

[0039] It should be noted that the gripper mounting structure can generally be a mechanical arm or the like.

[0040] It can be understood that in some examples, during the process of switching the connection state of the gripper mounting structure and the gripper 4 (i.e. the two states of connection and disengagement), the clamping jaw 1 always presses against the connecting column to ensure that the gripper mounting structure and the gripper 4 are connected tightly or disengaged completely. Of course, in other examples, the clamping jaw 1 can move away from the connecting column after pressing against the connecting column to realize the connection and disengagement of the gripper 4 and the gripper mounting structure.

[0041] In this embodiment, the connecting column is located on the gripper mounting structure. Of course, in other alternative examples, the connecting column can also be located on the gripper 4.

[0042] In some examples, the claw 1 is shaped like a V, and the pressing surface 11 is also shaped like a V. Of course, the claw 1 can also be shaped like a U, a W, or other regular shapes, or even other irregular shapes, as long as it can press the connecting column.

[0043] In some examples, the bearing platform 2 is shaped like a rectangular plate as a whole, so as to stably bear the clamping jaw 4 and arrange related structures. In the embodiment, a supporting leg with a rolling wheel is further arranged below the bearing platform 2, so as to move the bearing platform 2.

[0044] In some examples, the adjusting assembly 3 can be a multi-axis mechanical arm or a multi-axis motion platform, or other mechanical devices that can realize the movement of the clamping jaw 4 in multiple directions.

[0045] In some examples, as shown in Figure 1 , the adjusting assembly 3 is installed on the side surface of the bearing platform 2, and the adjusting assembly 3 includes a first adjusting member 31, a second adjusting member 32, and a third adjusting member 33 connected in sequence. The first adjusting member 31 is used to drive the claw 1 to move in a first horizontal direction, the second adjusting member 32 is used to drive the claw 1 to move in a vertical direction, and the third adjusting member 33 is used to drive the claw 1 to move in a second horizontal direction.

[0046] In the embodiment, the first adjusting member 31 and the second adjusting member 32 are both pneumatic slides, and the third adjusting member 33 is a pneumatic cylinder. The first adjusting member 31 is arranged along the length direction of the bearing platform 2, and the second adjusting member 32 is arranged along the height direction of the bearing platform 2. The shell of the second adjusting member 32 is connected with the slide of the first adjusting member 31, the shell of the third adjusting member 33 is connected with the slide of the second adjusting member 32, and the claw 1 is connected with the cylinder shaft of the third adjusting member 33.

[0047] In addition, in the embodiment, the first horizontal direction is the length direction of the bearing platform 2, and the second horizontal direction is the width direction of the bearing platform 2. Through the first adjusting member 31, the second adjusting member 32, and the third adjusting member 33, the movement of the claw 1 in the three-dimensional space can be realized.

[0048] Correspondingly, the driving assembly includes a driving member such as an air compressor, a motor, or a gas pump, so as to drive the first adjusting member 31, the second adjusting member 32, and the third adjusting member 33.

[0049] Specifically, when replacing the clamp jaw 4 of the AMR, the AMR first moves to a designated position of the clamp jaw replacement device to prepare for the replacement of the clamp jaw 4; then the clamp jaw installation structure (the mechanical arm) drives the original clamp jaw 4 to move to a corresponding position above the placement structure 21, to ensure that the clamp jaw 4 is in the correct disengagement position, and then the driving assembly drives the adjusting assembly 3 to drive the claw 1 to gradually approach the connecting column at the connection between the clamp jaw installation structure and the clamp jaw 4, so that the extrusion surface 11 presses against the connecting column, which makes the connection between the original clamp jaw 4 and the clamp jaw installation structure loose, and the original clamp jaw 4 falls on the placement structure 21; then the clamp jaw installation structure moves to above the placement structure 21 where the new clamp jaw 4 is placed, and gradually moves downward to butt against the new clamp jaw 4, and then the driving assembly drives the adjusting assembly 3 to drive the claw 1 to approach the connection between the new clamp jaw 4 and the clamp jaw installation structure, until the extrusion surface 11 presses against the connecting column and the new clamp jaw 4 is fully butt-jointed with the mechanical arm, and then the claw 1 is disengaged from the connecting column, to complete the connection between the new clamp jaw 4 and the clamp jaw installation structure, and finally realize the quick replacement of the clamp jaw 4, shorten the replacement time of the clamp jaw 4, and thus improve the wafer handling efficiency.

[0050] In some examples, referring to Figure 2 , the claw 1 includes a main shaft 12 and two split claws 13, the split claws 13 are rotationally connected with the main shaft 12, and the split claws 13 each have an extrusion surface 11, and the two extrusion surfaces 11 are oppositely arranged.

[0051] Specifically, in the actual replacement process, due to the size difference of different clamp jaws 4 or the influence of other structures, the actual position of the connecting column may be different, so the actual pressing position of the extrusion surface 11 on the connecting column can be adjusted by adjusting the curvature between the two split claws 13, thereby improving the adaptability of the claw 1.

[0052] In some examples, referring to Figure 2 , the extrusion surface 11 is provided with a limiting protrusion 131, and the limiting protrusion 131 extends along the width direction of the extrusion surface 11. Through the arrangement of the limiting protrusion 131, the possibility of the claw 1 exceeding the predetermined position during pressing is reduced, and the claw 1 is prevented from being stuck with the connecting column and unable to be disengaged. In this embodiment, the cross section of the limiting protrusion 131 is arc-shaped.

[0053] In some examples, referring to Figure 1 and Figure 3 , the placement structure includes at least two support columns 211 and at least two accommodation holes 212 penetrating through the bearing platform; the support columns 211 are used for bearing the clamp jaw 4, and the accommodation holes 212 are used for accommodating the clamp jaw 4.

[0054] It should be noted that in order to improve the stable support of the clamping jaw 4, the support column 211 supporting a single clamping jaw 4 is at least two, and the accommodating hole 212 accommodating a single clamping jaw 4 is also at least two, and is distributed along the side of the corresponding group of support columns 211.

[0055] Through the arrangement of the support column 211, the clamping jaw 4 box body can be stably supported while avoiding unnecessary impact on the clamping jaw 4 box body. The arrangement of the accommodating hole 212 can accommodate the overlength part of the clamping jaw 4 in the case of longer clamping jaw 4, avoid damage to the clamping jaw 4, and fully utilize the space below the bearing platform 2 to improve the space utilization.

[0056] It can be understood that the number of support columns 211 included in each group of support columns 211 can be equal or not equal, and the distribution position of the support column 211 can be the same or not the same, which is set according to the shape and size of the clamping jaw 4.

[0057] In some examples, the bearing platform 2 is provided with a mounting hole 23 throughout itself, the support column 211 is threadedly connected with the mounting hole 23, and the two ends of the support column 211 extending out of the mounting hole 23 are respectively provided with a support surface and an adjusting handle 24. The user can adjust the height of the support column 211 extending out of the bearing platform 2 by rotating the adjusting handle 24, so as to better adapt to clamping jaws 4 of different specifications, so that the support surface can better fit the clamping jaw 4.

[0058] In some examples, referring to Figure 3 The support column 211 includes a column body 2111, an elastic member 2112, an adjusting rod 2113, and a support disc 2114. The column body 2111 is provided with an adjusting hole 2115 along the axial direction thereof. The adjusting rod 2113 is threadedly connected with the adjusting hole 2115. The two ends of the elastic member 2112 are respectively connected with the support disc 2114 and the adjusting rod 2113. The support disc 2114 is detachably connected with the elastic member 2112. Before the support disc 2114 is not loaded with the clamping jaw 4, there is a gap between the support disc 2114 and the column body 2111.

[0059] In this embodiment, the elastic member 2112 is a cylindrical spring.

[0060] Specifically, when there is a slight inclination between the fitting surface between the clamping jaw 4 and the support column 211, the height of the support disc 2114 relative to the bearing platform 2 can be adjusted by rotating the adjusting rod 2113, so as to more stably support the clamping jaw 4. When the clamping jaw 4 falls on the support disc 2114, the elastic member 2112 will be compressed, thereby reducing the impact force of the clamping jaw 4 falling, so as to stably support the clamping jaw 4.

[0061] It should be noted that, in order to facilitate the adjustment of the support disc 2114 and the column body 2111 through the adjusting handle 24, in the embodiment, the adjusting handle 24 and the column body 2111 are connected through plug-in connection, so as to facilitate the user to quickly disassemble and assemble the adjusting handle 24 and the column body 2111. That is, when the position of the column body 2111 (the support column 211) is adjusted, the adjusting handle 24 and the column body 2111 are in a connected state, and when the position of the support disc 2114 is adjusted, the adjusting handle 24 and the column body 2111 are in a separated state.

[0062] In some examples, with reference to Figure 4 As shown in the figure, the inner side wall of the accommodating channel 212 is provided with a sliding groove 2121, and a baffle 2122 is slidably arranged in the sliding groove 2121, and the baffle 2122 is used for at least partially shielding the accommodating channel 212. By sliding the baffle 2122, the cross-sectional size of the accommodating channel 212 can be adjusted, so that the clamping part of the clamp jaw 4 can be adapted to pass through, thereby reducing the possibility that the clamp jaw 4 placed on the placement structure 21 is touched and tilted.

[0063] In some examples, the side of the baffle 2122 facing upward is provided with a rubber layer. Through the design of the rubber layer, the possibility of damage of the clamping part to the baffle 2122 can be reduced.

[0064] In some examples, the carrying platform 2 is provided with a first sensor, and the first sensor is arranged between the support columns 211 of the same placement structure 21. At least one support column 211 in the same placement structure 21 is provided with a second sensor, and the second sensor is used for detecting whether the clamp jaw is placed on the placement structure 21. In the embodiment, the first sensor and the second sensor are both light sensors. Through the setting of the first sensor, it can be detected in time whether the clamp jaw 4 is located above the placement structure 21; and the setting of the second sensor can detect in time whether the clamp jaw 4 is placed on the corresponding placement structure 21.

[0065] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily mean the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner.

[0066] In addition, the terms "first", "second", etc. are used only for the purpose of description, and should not be understood as indicating or implying relative importance or a specific number of the technical features indicated. Therefore, the features defined as "first", "second" can explicitly or implicitly include at least one of the features. In the description of the present application, the meaning of "a plurality of" is at least two, such as two, three, etc., unless otherwise explicitly and specifically limited.

[0067] Although the embodiments of the present application have been shown and described above, it is understood that the above-described embodiments are exemplary and should not be construed as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above-described embodiments within the scope of the present application.

Claims

1. A jaw changing device, characterized in that The replacement device comprises: a bearing platform, which is provided with at least two groups of placing structures for placing clamping jaws; a clamping jaw, which has a pressing surface; an adjusting assembly connected with the clamping jaw; a driving assembly connected with the adjusting assembly and used for driving the adjusting assembly to drive the clamping jaw to change positions between different placing structures when the clamping jaw mounting structure is connected with the clamping jaw, a connecting column close to the connecting position of the clamping jaw mounting structure and the clamping jaw; and / or pressing against the connecting column.

2. The jaw changer device of claim 1, wherein, The clamping jaw comprises a main shaft and two sub-jaws, which are rotationally connected with the main shaft, and each of the sub-jaws has the pressing surface, and the two pressing surfaces are oppositely arranged.

3. The jaw changer device of claim 2, wherein, The pressing surface is provided with a limiting protrusion extending along the width direction of the pressing surface.

4. The jaw changer device of claim 1, wherein, The placing structure comprises at least two supporting columns and at least two accommodating holes penetrating through the bearing platform; The supporting column is used for bearing the clamping jaw, and the accommodating hole is used for accommodating the clamping jaw.

5. The jaw changer device of claim 4, wherein, The bearing platform is provided with a mounting hole penetrating through itself, the supporting column is threadedly connected with the mounting hole, and the two ends of the supporting column extending out of the mounting hole are respectively provided with a supporting surface and an adjusting handle.

6. The jaw changer device of claim 4, wherein, The supporting column comprises a column body, an elastic member, an adjusting rod and a supporting disc, the column body is provided with an adjusting hole penetrating through the column body along the axial direction of the column body, the adjusting rod is threadedly connected with the adjusting hole, and the two ends of the elastic member are respectively connected with the supporting disc and the adjusting rod; The supporting disc is detachably connected with the elastic member, and there is a gap between the supporting disc and the column body before the supporting disc bears the clamping jaw.

7. The jaw changer device of claim 4, wherein, The inner side wall of the accommodating hole is provided with a sliding groove, a baffle is slidably arranged in the sliding groove, and the baffle is used for at least partially shielding the accommodating hole.

8. The jaw changer device of claim 4, wherein, The bearing platform is provided with a first sensor, and the first sensor is arranged between the supporting columns of the same placing structure, at least one second sensor is arranged on the supporting column in the same placing structure, and the second sensor is used for detecting whether the clamping jaw is placed on the placing structure.

9. The jaw changer device of claim 1, wherein, The connecting column is located on the clamping jaw mounting structure; During the process of switching the connection between the clamping jaw mounting structure and the clamping jaw, the clamping jaw always presses against the connecting column.

10. The jaw changer device of claim 1, wherein, The adjusting assembly is installed on the side surface of the bearing platform, and the adjusting assembly comprises a first adjusting member, a second adjusting member and a third adjusting member connected in sequence, the first adjusting member is used for driving the clamping jaw to move along a first horizontal direction, the second adjusting member is used for driving the clamping jaw to move along a vertical direction, and the third adjusting member is used for driving the clamping jaw to move along a second horizontal direction.

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