Clamping jaw mechanism and pulling device

Abstract

The utility model provides a clamping jaw mechanism and a pulling device, the clamping jaw mechanism comprises a clamping jaw assembly, the clamping jaw assembly comprises a first clamping jaw and a second clamping jaw which are oppositely arranged, and a clamping space used for containing objects is arranged between the first clamping jaw and the second clamping jaw; the driving part is in driving connection with the clamping jaw assembly and used for driving the first clamping jaw and the second clamping jaw to get close to each other or get away from each other so as to clamp or release the object; and the limiting component is connected with the first clamping jaw and / or the second clamping jaw, and the limiting component, the first clamping jaw and the second clamping jaw jointly define a clamping space so as to prevent the object from leaving the clamping space. According to the clamping jaw mechanism, the rubber plug can be pulled out, the product quality is guaranteed, and the technical problem that in the prior art, when a rubber plug in a compressor copper pipe is pulled out, positioning errors are prone to occurring, and the copper pipe is prone to being damaged is solved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a clamping tool technical field, concretely relates to a clamping jaw mechanism and pulling device. BACKGROUND

[0002] In prior art, when the rubber plug of compressor is pulled, the assembled bottom disc and compressor are positioned by line body blocking and side clamping, the bottom support is of foam material, the bottom support is connected with the bottom disc, the bottom disc is connected with the compressor through rubber foot pad, therefore, error accumulation exists during positioning, and the error cannot be eliminated, due to the error, after the clamping jaw is positioned, the copper pipe at the top of compressor appears to be relatively close to the front or rear of the clamping jaw, at this time, if the error of copper pipe is out of the clamping groove range of clamping jaw, the copper pipe is scratched, or the copper pipe is clamped to be flat to make the compressor scrapped, and the production efficiency is affected.

[0003] As shown in the accompanying drawings Figure 7 and Figure 8 When the clamping jaw is closed, if there is slight deviation, the V-shaped clamping jaw can position the copper pipe 40 to the geometric center position and then pull, if the error is too large, positioning failure will occur, the copper pipe 40 will be clamped to be flat or the copper pipe 40 cannot be clamped.

[0004] Therefore, the prior art needs to be further developed. TECHNICAL PROBLEM

[0005] The utility model aims at overcoming the above technical defects, providing a kind of clamping jaw mechanism and pulling device, to solve the technical problem that it is easy to cause copper pipe damage when pulling the rubber plug in compressor copper pipe in relevant technology.

[0006] To achieve the above technical purpose, the utility model adopts the following technical scheme: a kind of clamping jaw mechanism is provided, comprising: clamping jaw assembly, clamping jaw assembly includes oppositely arranged first clamping jaw and second clamping jaw, first clamping jaw and second clamping jaw are provided with clamping space for accommodating object between them;Driving component, driving component is driven connection with clamping jaw assembly, for driving first clamping jaw and second clamping jaw mutually close or mutually far apart, to clamp object or release object;Limiting component, limiting component is connected with first clamping jaw and / or second clamping jaw, limiting component and first clamping jaw and second clamping jaw jointly enclose to form clamping space, to stop object from leaving clamping space.

[0007] Further, the limiting component includes an extension part connected with the first clamping jaw, the extension part is protrudingly arranged on the first clamping jaw, and the extension part extends towards the direction close to the second clamping jaw.

[0008] Further, the limiting component includes an extension part connected with the second clamping jaw, the extension part is protrudingly arranged on the second clamping jaw, and the extension part extends towards the direction close to the first clamping jaw.

[0009] Further, the limiting component comprises a first extension part connected with the first clamping jaw, the first extension part is protrudingly arranged on the first clamping jaw and extends towards the direction close to the second clamping jaw; and a second extension part connected with the second clamping jaw, the second extension part is protrudingly arranged on the second clamping jaw and oppositely arranged with the first extension part, and extends towards the direction close to the first clamping jaw.

[0010] Further, the first clamping jaw and / or the second clamping jaw is provided with a clamping groove for accommodating the object, the clamping groove is recessed arranged on the first clamping jaw and / or the second clamping jaw, and a clamping space is formed in the clamping groove.

[0011] Further, the clamping groove comprises a first clamping wall and a second clamping wall connected with each other, a preset clamping angle is arranged between the first clamping wall and the second clamping wall, a clamping space is formed between the first clamping wall and the second clamping wall, and the first clamping wall and the second clamping wall are respectively arranged in abuttable manner with the object.

[0012] Further, the clamping space comprises an inlet for the object to enter, the inlet is arranged on the side of the clamping space away from the rack, and the inlet is oppositely arranged with the limiting component.

[0013] A pulling device, the pulling device comprises the above-mentioned clamping jaw mechanism, and the pulling device is used for pulling out the material to be pulled out in the object.

[0014] Further, the pulling device comprises a pressing component arranged above the clamping jaw assembly, the pressing component is used for pressing the material to be pulled out in the object, and the pressing component is arranged in liftable manner relative to the clamping jaw assembly.

[0015] Further, the pulling device comprises a lifting driving component drivingly connected with the clamping jaw mechanism to control the clamping jaw mechanism to lift relative to the object.

[0016] Further, the pulling device comprises a mechanical hand, and the clamping jaw mechanism is installed at the end of the mechanical hand.

[0017] Advantages:

[0018] 1、By setting the limiting component, the limiting component and the first jaw and the second jaw together form a clamping space, after the jaw assembly is opened, the first jaw and the second jaw are still in the connected state, to avoid the object leaving the clamping space, even if the positioning error of the object is large, the object can still be ensured to be in the clamping space, and through the clamping method and point action of the moving mechanism such as the mechanical hand in the rack, the error is accumulated at the limiting component, so as to complete the accurate clamping of the object, improve the working efficiency of the jaw mechanism, avoid damaging the object, reduce the material loss, when the jaw mechanism in the embodiment is applied to pull out the rubber plug in the compressor copper pipe, the error of the compressor copper pipe is changed from uncontrollable to controllable, the accurate positioning of the copper pipe is realized, the rubber plug is ensured to be pulled out, and the product quality is ensured, and the technical problems that the positioning error is prone to occur when the rubber plug in the compressor copper pipe is pulled out in the related art and the copper pipe is prone to be damaged are solved.

[0019] 2、When the jaw mechanism in the embodiment is applied to pull out the rubber plug in the compressor copper pipe, the first jaw and the second jaw can position the copper pipe to the geometric center position and then pull out the rubber plug, so that the rubber plug can be pulled out. BRIEF DESCRIPTION OF DRAWINGS

[0020] Figure 1 is a structure schematic view of the pulling device adopted by the embodiment of the utility model;

[0021] Figure 2 is a structure schematic view of the limiting component of the jaw mechanism adopted by the embodiment of the utility model;

[0022] Figure 3 is a structure schematic view of the material to be pulled out of the pulling device adopted by the embodiment of the utility model;

[0023] Figure 4 is a grabbing schematic view of the jaw mechanism adopted by the embodiment of the utility model when the positioning error is within;

[0024] Figure 5 is a grabbing schematic view of the jaw mechanism adopted by the embodiment of the utility model when the positioning error is outside;

[0025] Figure 6 is a structure schematic view of the jaw mechanism adopted by other embodiments of the utility model;

[0026] Figure 7 is a grabbing schematic view of the jaw mechanism adopted by the prior art when the positioning error is within;

[0027] Figure 8 is a grabbing schematic view of the jaw mechanism adopted by the prior art when the positioning error is outside.

[0028] Among them, the above drawings include the following reference signs:

[0029] 10, object; 20, compressor; 30, rubber plug; 301, rubber cap; 40, copper pipe;

[0030] 1, jaw assembly; 11, first jaw; 12, second jaw; 13, clamping space; 14, clamping groove; 141, first clamping wall; 142, second clamping wall; 15, inlet; 2, driving part; 3, limiting part; 31, first extension; 32, second extension; 4, pressing part; 5, lifting driving part. DETAILED DESCRIPTION

[0031] In order to enable persons skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by persons skilled in the art without creative labor should fall within the scope of protection of the present application.

[0032] Embodiment 1

[0033] According to the embodiment of the present application, a jaw mechanism and a pulling device are provided, please refer to Figures 1 to 8 , comprising: a jaw assembly 1, the jaw assembly 1 comprises a first jaw 11 and a second jaw 12 arranged oppositely, and a clamping space 13 for accommodating an object 10 is arranged between the first jaw 11 and the second jaw 12; a driving part 2, the driving part 2 is drivingly connected with the jaw assembly 1, and is used for driving the first jaw 11 and the second jaw 12 to approach each other or to move away from each other, so as to clamp the object 10 or release the object 10; a limiting part 3, the limiting part 3 is connected with the first jaw 11 and / or the second jaw 12, and the limiting part 3 and the first jaw 11 and the second jaw 12 jointly enclose the clamping space 13 to stop the object 10 from leaving the clamping space 13.

[0034] In some embodiments, the driving part 2 is a thumb air cylinder.

[0035] By arranging the limiting part 3, the limiting part 3 and the first jaw 11 and the second jaw 12 jointly enclose the clamping space 13, and after the jaw assembly 1 is opened, the first jaw 11 and the second jaw 12 are still in the connected state, so as to avoid the object 10 from leaving the clamping space 13, please refer to Figure 4 and Figure 5Even if the positioning error of the object 10 is large, the object 10 can still be ensured to be in the clamping space 13, and the error is accumulated at the limiting component 3 by controlling the clamping method and point action of the moving mechanism such as the mechanical hand in the rack, so as to complete the accurate clamping of the object 10, improve the working efficiency of the clamping jaw mechanism, avoid damage to the object 10, reduce material loss, and apply the clamping jaw mechanism in the embodiment to the rubber plug 30 in the compressor copper pipe. The error of the compressor copper pipe is changed from uncontrollable to controllable, the accurate positioning of the copper pipe is realized, the rubber plug 30 is ensured to be pulled out, and the product quality is ensured. The technical problems that the positioning error is prone to occur when the rubber plug in the compressor copper pipe is pulled out in the related art and the copper pipe is prone to be damaged are solved.

[0036] In the clamping jaw mechanism in the embodiment, referring to Figure 2 The limiting component 3 includes an extension part connected with the first clamping jaw 11, the extension part is protrudingly arranged on the first clamping jaw 11, and the extension part extends towards the direction close to the second clamping jaw 12. In this way, the first clamping jaw 11 is lengthened on one side, so that the clamping jaw assembly 1 can still be connected with the second clamping jaw 12 in the open and closed state, thereby stopping the object 10 from leaving the clamping space 13.

[0037] In the clamping jaw mechanism in the embodiment, referring to Figure 2 The first clamping jaw 11 and / or the second clamping jaw 12 is provided with a clamping groove 14 for accommodating the object 10, the clamping groove 14 is recessed on the first clamping jaw 11 and / or the second clamping jaw 12, and the clamping groove 14 forms the clamping space 13. By arranging the clamping groove 14, the clamping jaw assembly 1 can position the object 10, and the clamping jaw assembly 1 can stably clamp the object 10.

[0038] In the clamping jaw mechanism in the embodiment, referring to Figure 1 The clamping groove 14 includes a first clamping wall 141 and a second clamping wall 142 connected with each other, a preset included angle is arranged between the first clamping wall 141 and the second clamping wall 142, the clamping space 13 is formed between the first clamping wall 141 and the second clamping wall 142, and the first clamping wall 141 and the second clamping wall 142 are respectively arranged in abuttable manner with the object 10. In this way, the first clamping wall 141 and the second clamping wall 142 form a “V-shaped” clamping groove. By adopting the “V-shaped” clamping groove, the object 10 can be gradually positioned to the geometric center during the clamping jaw closing process, so that the object 10 is accurately positioned.

[0039] When the clamping jaw mechanism in the embodiment is applied to the rubber plug 30 in the compressor copper pipe, the first clamping jaw 11 and the second clamping jaw 12 can position the copper pipe to the geometric center position and then pull out the rubber plug 30, so as to ensure that the rubber plug 30 can be pulled out.

[0040] In the clamping jaw mechanism of the embodiment, referring to Figure 1 The clamping space 13 comprises an entrance 15 for the object 10 to enter, which is arranged on the side of the clamping space 13 away from the rack and opposite to the limiting component 3.

[0041] In this way, the clamping jaw mechanism in the embodiment can simultaneously cooperate with the moving mechanism in the rack, for example, cooperate with the point action of the mechanical hand. After the mechanical hand controls the clamping jaw assembly 1 to adjust to an appropriate height, the clamping jaw assembly 1 is opened and then moves parallel to the object 10, the object 10 enters the clamping space 13 through the entrance 15, and the limiting component 3 on one side of the clamping jaw assembly 1 touches the object 10, so that the clamping jaw assembly 1 is closed to clamp the object 10, the positioning error is controlled on one side of the limiting component 3, and thus the object 10 is accurately positioned.

[0042] Embodiment 2

[0043] In the clamping jaw mechanism of the embodiment, referring to Figure 2 The limiting component 3 comprises an extension part connected with the second clamping jaw 12, which is protrudingly arranged on the second clamping jaw 12 and extends towards the first clamping jaw 11.

[0044] In this way, the extension part on one side of the second clamping jaw 12 is used to make the second clamping jaw 12 still connected with the first clamping jaw 11 in the open and closed state, so as to stop the object 10 from leaving the clamping space 13.

[0045] Embodiment 3

[0046] In the clamping jaw mechanism of the embodiment, referring to Figure 6 The limiting component 3 comprises a first extension part 31 connected with the first clamping jaw 11, which is protrudingly arranged on the first clamping jaw 11 and extends towards the second clamping jaw 12; and a second extension part 32 connected with the second clamping jaw 12, which is protrudingly arranged on the second clamping jaw 12 and opposite to the first extension part 31, and extends towards the first clamping jaw 11.

[0047] In this way, the first clamping jaw 11 and the second clamping jaw 12 are both extended, and by controlling the driving distance of the driving component 2, the first clamping jaw 11 and the second clamping jaw 12 still remain in the connected state in the open and closed state, and the first extension part 31 and the second extension part 32 simultaneously stop the object 10, which can effectively prevent the object 10 from exceeding the error range after positioning.

[0048] Embodiment 4

[0049] In the pulling device of the embodiment, referring to Figure 1The pulling device comprises the jaw mechanism as described above, and is used for pulling out the material to be pulled out in the object 10.

[0050] When the jaw mechanism in the embodiment is applied to pulling out the rubber plug 30 in the compressor copper pipe, the object 10 is the copper pipe, and the material to be pulled out is the rubber plug 30. Referring to Figure 3 The rubber plug 30 has a rubber cap 301 at the end. After the jaw mechanism clamps the object 10, the jaw mechanism is controlled to move along the extension direction of the object 10, so that the first jaw 11 and the second jaw 12 abut against the lower part of the rubber cap 301, thereby pulling out the material to be pulled out in the object 10, i.e., the rubber plug 30.

[0051] In the pulling device in the embodiment, the jaw mechanism is used. Even if the positioning error of the object 10 is large, the object 10 can still be in the clamping space 13. At the same time, the error is accumulated at the limiting part 3 by controlling the clamping method and point action of the moving mechanism in the rack, such as the mechanical hand, thereby achieving accurate clamping of the object 10, improving the working efficiency of the jaw mechanism, avoiding damage to the object 10, reducing material loss. When the jaw mechanism in the embodiment is applied to pulling out the rubber plug 30 in the compressor copper pipe, the error of the compressor copper pipe is changed from uncontrollable to controllable, the accurate positioning of the copper pipe is realized, the rubber plug 30 is ensured to be pulled out, and the product quality is ensured. The technical problem that the positioning error is prone to causing damage to the copper pipe when the rubber plug in the compressor copper pipe is pulled out in the related art is solved.

[0052] In the pulling device in the embodiment, referring to Figure 1 The pulling device comprises a pressing part 4 arranged above the jaw assembly 1, and the pressing part 4 is used for pressing the material to be pulled out in the object 10. The pressing part 4 is arranged to be liftable and lowerable relative to the jaw assembly 1.

[0053] Specifically, the pulling device comprises a cylinder assembly used for controlling the pressing part 4 to be lifted and lowered.

[0054] In this way, after the jaw mechanism clamps the object 10, the pressing part 4 is moved to press the end of the material to be pulled out, so that the flexible deformation of the material to be pulled out in the pulling process is prevented, thereby effectively pulling out the material to be pulled out.

[0055] When the jaw mechanism in the embodiment is applied to pulling out the rubber plug 30 in the compressor copper pipe, the object 10 is the copper pipe, and the material to be pulled out is the rubber plug 30. The end of the rubber cap 301 is pressed by the pressing part 4, which can effectively prevent the rubber plug 30 from deforming, so that the first jaw 11 and the second jaw 12 abut against the lower part of the rubber cap 301. The moving mechanism in the rack, such as the mechanical hand, is controlled to move, thereby effectively pulling out the rubber plug 30.

[0056] In the pulling device of the embodiment, referring to Figure 1 The pulling device comprises a lifting driving component 5 which is drivingly connected with the jaw mechanism to control the lifting of the jaw mechanism relative to the object 10. By providing the lifting driving component 5, the lifting of the jaw mechanism relative to the object 10 can be controlled, and the lifting driving component 5 can fine-tune the height of the jaw mechanism after the moving mechanism in the rack is moved to the position. In addition, during the pulling of the material to be pulled, the jaw mechanism is controlled to move, thereby completing the pulling of the material.

[0057] In the pulling device of the embodiment, referring to Figure 1 The pulling device comprises a mechanical hand, and the jaw mechanism is installed at the end of the mechanical hand. In this way, the pulling device is located at the end of the mechanical hand, and the jaw mechanism is controlled to move freely by the mechanical hand. The jaw mechanism cooperates with the point position and action of the mechanical hand, thereby accurately pulling the material to be pulled.

[0058] In some embodiments, a pressure sensor can be arranged on the limiting component 3 to sense the position of the copper pipe, thereby controlling the mechanical hand to stop advancing. In some embodiments, the pressure sensor is not required, and the mechanical hand stops after walking a fixed distance, allowing the copper pipe to have a certain deformation amount.

[0059] When the jaw mechanism in the embodiment is applied to pull the rubber plug 30 in the copper pipe of the compressor, the working process is as follows: the jaw assembly 1 is operated by the mechanical hand to the clamping point position, the jaw assembly 1 is opened and then moved parallel to the copper pipe, the limiting component 3 touches the copper pipe to clamp it, the positioning error is controlled on one side, and then the jaw assembly 1 is controlled by the driving component 2 to clamp the copper pipe, so that the copper pipe is tightly clamped in the clamping space 13. The pressing component 4 descends to press the end of the rubber cap 301, the jaw mechanism is controlled to move away from the copper pipe, the first jaw 11 and the second jaw 12 abut the lower part of the rubber cap 301, thereby pulling out the rubber plug 30 in the copper pipe.

[0060] Embodiment 5

[0061] On the basis of any one of the embodiments 1-4, a feasible specific embodiment is further proposed.

[0062] The copper pipe position uncertainty and other problems caused by the bending error or positioning deviation of the copper pipe cause the positioning error of the copper pipe, and the rubber plug pulling device often causes the problem of clamping the copper pipe. In the embodiment, when the pulling device and the jaw mechanism in the embodiment are applied to pull the rubber plug 30 in the copper pipe of the compressor, the jaw is improved, positioning is performed in combination with the action of the mechanical hand, and the problem of clamping the copper pipe caused by the positioning error of the compressor can be effectively avoided.

[0063] The jaw mechanism is composed of a driving part 2, a first jaw 11 and a second jaw 12, and the working mode is as follows: after the compressor 20 is positioned, the robot is operated to the clamping point, and then the driving part 2 is used for clamping, and the compression part 4 is used for compressing the rubber plug 30 to pull it out. However, after the compressor 20 is positioned, due to the positioning deviation, the position of the compressor copper pipe is uncertain. The improved jaw mechanism has a connection after being opened, and the copper pipe can be tightly attached to the connection between the first jaw 11 and the second jaw 12 by adjusting the movement mode of the robot, and the copper pipe is positioned to the center of the V-shaped opening after clamping, and the rubber plug is pulled out.

[0064] In the embodiment, it should be noted that the robot action is adjusted, the jaw assembly 1 is moved in parallel after being opened to the copper pipe, the clamping is performed after the limiting part 3 touches the copper pipe, and the positioning error is controlled on one side. The copper pipe error is changed from uncontrolled to controlled by studying the jaw structure and combining the robot action, precise positioning is realized, the rubber plug is pulled out, and the product quality is ensured.

[0065] In the embodiment, the V-shaped opening is improved, one side of the V-shaped opening is lengthened, when the jaw is opened to the maximum position, the jaws on both sides are still connected, the copper pipe can be effectively prevented from exceeding the error range after positioning, and the robot point and action are adjusted, the error is accumulated at the lengthened side of the V-shaped opening, and the precise positioning of the copper pipe is completed. The production efficiency is improved, the labor is saved, and the work safety hazard is reduced.

[0066] It should be noted that the terms "first", "second", and the like in the specification and claims of the application and the above-described drawings are used to distinguish similar objects, and do not necessarily indicate a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the application described herein can be implemented in an order other than that illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0067] Optionally, the specific examples in the embodiments can refer to the examples described in the above-described embodiments, and the embodiments will not be described here.

[0068] The above-mentioned serial numbers of the embodiments of the application only serve for description, and do not represent the advantages and disadvantages of the embodiments.

[0069] In the above-described embodiments of the application, the description of each embodiment has its own emphasis, and the parts not described in detail in a certain embodiment can be referred to the related description of other embodiments.

[0070] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and modifications can be made without departing from the principle of this application, and these improvements and modifications should also be considered within the scope of protection of this application.

Claims

1. A gripper mechanism, characterized by, include: The gripper assembly (1) includes a first gripper (11) and a second gripper (12) disposed opposite to each other, and a gripping space (13) for accommodating an object (10) is provided between the first gripper (11) and the second gripper (12). A driving component (2) is drivingly connected to the gripper assembly (1) and is used to drive the first gripper (11) and the second gripper (12) to move closer to each other or further away from each other, so as to clamp the object (10) or release the object (10). A limiting component (3) is connected to the first gripper (11) and / or the second gripper (12). The limiting component (3), together with the first gripper (11) and the second gripper (12), forms the clamping space (13) to prevent the object (10) from leaving the clamping space (13).

2. The jaw mechanism of claim 1, wherein, The limiting component (3) includes an extension connected to the first gripper (11), the extension protruding from the first gripper (11) and extending toward the second gripper (12).

3. The jaw mechanism of claim 1, wherein, The limiting component (3) includes an extension connected to the second gripper (12), the extension protruding from the second gripper (12) and extending toward the first gripper (11).

4. The jaw mechanism of claim 1, wherein, The limiting component (3) includes: The first extension (31) is connected to the first gripper (11), the first extension (31) protrudes from the first gripper (11), and the first extension (31) extends toward the direction close to the second gripper (12); The second extension (32) is connected to the second gripper (12). The second extension (32) protrudes from the second gripper (12). The second extension (32) is disposed opposite to the first extension (31). The second extension (32) extends toward the direction close to the first gripper (11).

5. The jaw mechanism of claim 1, wherein, The first gripper (11) and / or the second gripper (12) are provided with a gripping groove (14) for accommodating the object (10). The gripping groove (14) is recessed on the first gripper (11) and / or the second gripper (12), and the gripping space (13) is formed in the gripping groove (14).

6. The jaw mechanism of claim 5, wherein, The clamping groove (14) includes a first clamping wall (141) and a second clamping wall (142) connected to each other. A preset angle is provided between the first clamping wall (141) and the second clamping wall (142). The clamping space (13) is formed between the first clamping wall (141) and the second clamping wall (142). The first clamping wall (141) and the second clamping wall (142) are respectively disposed in contact with the object (10).

7. The jaw mechanism of claim 1, wherein The clamping space (13) comprises an entrance (15) for the object (10), the entrance (15) is arranged on the side of the clamping space (13) away from the frame, and the entrance (15) is arranged opposite the limiting component (3).

8. A pulling device, characterized in that The pulling device comprises the jaw mechanism according to any one of claims 1 to 7, and the pulling device is used for pulling out the material to be pulled out in the object.

9. The extraction device of claim 8, wherein, The pulling device comprises a pressing component (4) arranged above the jaw assembly (1), and the pressing component (4) is used for pressing the material to be pulled out in the object (10), wherein the pressing component (4) is arranged to be liftable relative to the jaw assembly (1).

10. The extraction device of claim 8, wherein, The pulling device comprises a lifting driving component (5) drivingly connected with the jaw mechanism to control the jaw mechanism to lift relative to the object (10).

11. The extraction device of claim 8, wherein, The pulling device comprises a mechanical hand, and the jaw mechanism is mounted at the tail end of the mechanical hand.

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