Clamping jaw mechanism and manipulator

Abstract

The utility model discloses a clamping jaw mechanism and a manipulator, and belongs to the technical field of engine machining. The clamping jaw mechanism comprises a mounting seat, a plurality of clamping jaw assemblies and a positioning assembly, the clamping jaw assemblies are arranged on the mounting seat, a clamping space is formed among the multiple clamping jaw assemblies, the clamping space is used for clamping a workpiece to be machined, and the size of the clamping space is adjustable; and the positioning assembly is arranged on the mounting base and located on the same side with the clamping space, and the positioning assembly is used for being matched with the workpiece to be machined in a positioning mode. And by adjusting the size of the clamping space, the clamping stability and safety are ensured while the clamping device adapts to different types of workpieces to be machined. And meanwhile, due to the existence of the positioning assembly, the clamping accuracy is improved, errors possibly occurring in the operation process are reduced, and the follow-up assembly efficiency and accuracy are improved.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of engine processing, and particularly relates to a clamping jaw mechanism and a mechanical hand. BACKGROUND

[0002] With the increasing automation of industrial manufacturing, especially the increasing maturity of automobile production technology, people have higher and higher demands for automobiles, and improving the lean manufacturing of automobiles is the standard for enterprises to improve competitiveness. The engine controller is one of the most important parts of the automobile engine. In the production and assembly process of the engine, the placement direction and angle of the engine controller often need to be frequently changed. However, due to the unevenness of the engine controller, the current mechanical hand may have the risk of unstable grasping when grasping, which affects the subsequent assembly efficiency and accuracy. CONTENT OF THE UTILITY MODEL

[0003] The application aims to at least solve one of the technical problems existing in the prior art. To this end, the application provides a clamping jaw mechanism and a mechanical hand, which can adapt to different types of workpieces to be machined while ensuring the stability and safety of clamping, and improve the subsequent assembly efficiency and accuracy.

[0004] In a first aspect, the application provides a clamping jaw mechanism, comprising:

[0005] a mounting seat;

[0006] a plurality of clamping jaw assemblies, the clamping jaw assemblies being arranged on the mounting seat, and a clamping space being formed between the plurality of clamping jaw assemblies, the clamping space being used for clamping a workpiece to be machined, and the size of the clamping space being adjustable;

[0007] a positioning assembly arranged on the mounting seat and located on the same side as the clamping space, the positioning assembly being used for positioning cooperation with the workpiece to be machined.

[0008] According to the clamping jaw mechanism of the application, when the workpiece to be machined needs to be clamped, the positioning assembly is first matched with the workpiece to be machined to complete the positioning of the workpiece to be machined, and then the size of the clamping space is reduced until the plurality of clamping jaw assemblies can cooperate with each other to stably clamp the workpiece to be machined. When the workpiece to be machined is transported to a designated position, the size of the clamping space is expanded, so that the clamping jaw assemblies are away from each other to release the clamped workpiece to be machined, and the transportation process of the workpiece to be machined is completed. Time and labor are saved, the transportation efficiency is improved, and the stability of clamping the workpiece to be machined is improved.

[0009] According to an embodiment of the application, the clamping jaw assembly comprises:

[0010] a linear driving member, a fixed end of the linear driving member being arranged on the mounting seat;

[0011] A slide plate, a driving end of the linear driving member is connected with the slide plate, and is used to drive the slide plate to move along a horizontal direction relative to the mounting base;

[0012] A clamping jaw, the clamping jaw comprises a connecting member and an abutting member, the connecting member extends along a vertical direction and one end penetrates through the mounting base and is connected with the slide plate, the abutting member is protruded on an outer side wall of the connecting member, and a surface of the abutting member close to the mounting base and the outer side wall of the connecting member are respectively abutted with the workpiece to be processed.

[0013] According to one embodiment of the present application, the connecting member slides along a vertical direction and penetrates through the slide plate, and when the slide plate slides towards the center of the mounting base, the abutting member moves towards the mounting base.

[0014] According to one embodiment of the present application, the clamping jaw assembly further comprises:

[0015] A matching member, the matching member is arranged on the mounting base, and a height of the matching member is monotonously non-decreasing along a direction close to the center of the mounting base;

[0016] An adjusting member, the adjusting member is in contact with a top surface of the matching member, and one end of the connecting member penetrates through the slide plate and is connected with the adjusting member.

[0017] According to one embodiment of the present application, two matching members are respectively arranged on two sides of the slide plate, and the adjusting member comprises:

[0018] A mounting portion, the mounting portion is arranged on the slide plate and is in sliding contact with two surfaces of the matching members close to each other, and the mounting portion is connected with the connecting member;

[0019] Two rolling portions respectively arranged on two sides of the mounting portion, the rolling portions correspond to the matching members one by one, and the rolling portions are rotationally arranged on the mounting portion and are in rolling contact with the corresponding matching members.

[0020] According to one embodiment of the present application, a surface of the abutting member away from the mounting base has a notch, and the clamping jaw further comprises a buffer member, the buffer member is arranged at the notch.

[0021] According to one embodiment of the present application, a plurality of clamping jaw assemblies are distributed along a circumferential direction, a part of the plurality of clamping jaw assemblies form a first clamping group, and another part of the plurality of clamping jaw assemblies form a second clamping group, wherein:

[0022] At least two clamping jaws in the first clamping group move along different horizontal directions, and all the clamping jaws in the second clamping group move along the same horizontal direction.

[0023] According to one embodiment of the present application, the workpiece to be processed has a positioning hole, and the positioning assembly comprises:

[0024] A positioning pin extending in a vertical direction, one end of the positioning pin being arranged at the bottom surface of the mounting seat, and the other end of the positioning pin being inserted into the positioning hole.

[0025] According to one embodiment of the present application, the positioning assembly further comprises:

[0026] An auxiliary support, one end of the auxiliary support being arranged at the bottom surface of the mounting seat, and the other end of the auxiliary support extending in the vertical direction and abutting against the outer wall of the workpiece to be processed.

[0027] According to one embodiment of the present application, two positioning pins and two auxiliary supports are arranged, and the positioning pins and the auxiliary supports are distributed in a circumferential direction.

[0028] In a second aspect, the present application provides a mechanical hand, which comprises:

[0029] A mechanical arm; and

[0030] The gripper mechanism as described above is arranged at the end of the mechanical arm.

[0031] According to the mechanical hand of the present application, the stability and safety of clamping are improved, the carrying efficiency and accuracy are increased, and the automation level is improved.

[0032] Additional aspects and advantages of the present application will be in part apparent and in part pointed out hereinafter. BRIEF DESCRIPTION OF DRAWINGS

[0033] The above and / or additional aspects and advantages of the present application will become apparent and be readily appreciated from the following description, including the accompanying drawings, in which:

[0034] Figure 1 is a structural schematic diagram of a mechanical hand provided by an embodiment of the present application;

[0035] Figure 2 is a structural schematic diagram of a gripper mechanism provided by an embodiment of the present application;

[0036] Figure 3 is a structural schematic diagram of a gripper mechanism provided by an embodiment of the present application, in which the mounting seat part is hidden;

[0037] Figure 4 is a structural schematic diagram of a gripper assembly provided by an embodiment of the present application.

[0038] Reference Signs:

[0039] 100, gripper mechanism;

[0040] 110, mounting seat;

[0041] 120, clamping jaw assembly;

[0042] 121, linear driving member; 122, sliding plate;

[0043] 123, clamping jaw; 1231, connecting member; 1232, abutting member; 1233, buffer member;

[0044] 124, sliding rail; 125, sliding block; 126, matching member;

[0045] 127, adjusting member; 1271, mounting portion; 1272, rolling portion;

[0046] 130, positioning assembly;

[0047] 131, positioning pin; 132, auxiliary support member;

[0048] 140, camera module;

[0049] 150, code scanner;

[0050] 200, mechanical arm. DETAILED DESCRIPTION

[0051] Embodiments of the present application are described in detail below with reference to the accompanying drawings, in which the same or similar elements or elements having the same or similar functions are denoted by the same or similar reference numerals throughout. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application and cannot be understood as a limitation of the present application.

[0052] Reference is made below Figures 1-4 The clamping jaw mechanism 100 provided by the embodiments of the present application is described, which includes a mounting seat 110, a plurality of clamping jaw assemblies 120 and a positioning assembly 130.

[0053] The clamping jaw assemblies 120 are arranged on the mounting seat 110, and a clamping space is formed between the plurality of clamping jaw assemblies 120, which is used to clamp a workpiece to be processed and the size of the clamping space is adjustable. The positioning assembly 130 is arranged on the mounting seat 110 and located on the same side as the clamping space, and is used to positionally cooperate with the workpiece to be processed. It should be noted that the number and specific distribution of the clamping jaw assemblies 120 can be designed according to actual needs, and the embodiments do not make specific limitations thereon. The workpiece to be processed includes but is not limited to an engine controller.

[0054] It can be understood that when the workpiece needs to be clamped, the positioning assembly 130 is first matched with the workpiece to complete the positioning of the workpiece, and then the size of the clamping space is reduced until the plurality of jaw assemblies 120 can cooperate with each other to stably clamp the workpiece. When the workpiece is transported to the designated position, the size of the clamping space is enlarged, so that the jaw assemblies 120 are away from each other to release the clamped workpiece, complete the transportation process of the workpiece, save time and effort, improve the transportation efficiency, and improve the stability of clamping the workpiece.

[0055] According to the jaw mechanism 100 provided by the embodiment of the present application, by adjusting the size of the clamping space, different models of workpieces can be adapted while ensuring the stability and safety of clamping. At the same time, the existence of the positioning assembly 130 improves the accuracy of clamping, reduces the errors that may occur during operation, and improves the subsequent assembly efficiency and accuracy.

[0056] In some embodiments, as shown in Figure 3 and Figure 4 The jaw assembly 120 includes a linear drive 121, a sliding plate 122, and a jaw 123. The fixed end of the linear drive 121 is arranged on the mounting seat 110. The driving end of the linear drive 121 is connected with the sliding plate 122, for driving the sliding plate 122 to move along the horizontal direction relative to the mounting seat 110. The jaw 123 includes a connecting piece 1231 and an abutting piece 1232. The connecting piece 1231 extends in the vertical direction and one end penetrates through the mounting seat 110 and is connected with the sliding plate 122. The abutting piece 1232 is protruded on the outer side wall of the connecting piece 1231. The side of the abutting piece 1232 close to the mounting seat 110 and the outer side wall of the connecting piece 1231 are respectively abutted and matched with the workpiece. Exemplarily, the linear drive 121 includes but is not limited to a lock cylinder.

[0057] It can be understood that the linear drive 121 drives the sliding plate 122 to drive the connecting piece 1231 to move along the horizontal direction to the center of the mounting seat 110, so as to reduce the clamping space to clamp the workpiece. The linear drive 121 drives the sliding plate 122 to drive the connecting piece 1231 to move along the horizontal direction away from the center of the mounting seat 110, so as to enlarge the clamping space to release the workpiece. At the same time, the connecting piece 1231 extends in the vertical direction, and the abutting piece 1232 is protruded on the outer side wall of the lower end of the connecting piece 1231, so that a step is formed between the abutting piece 1232 and the lower end of the connecting piece 1231. That is, the top surface of the abutting piece 1232 and the outer side wall of the connecting piece 1231 can be abutted and matched with the outer wall of the workpiece, so as to stably support the workpiece and realize accurate clamping of the workpiece.

[0058] In some embodiments, as shown in Figure 4As shown, the abutting piece 1232 has a notch on the side away from the mounting base 110, and the clamping jaw 123 further comprises a buffer piece 1233 arranged at the notch. It should be noted that the shape and size of the notch can be designed according to actual needs, and the present embodiment does not make specific limitations thereto. The material of the buffer piece 1233 includes but is not limited to rubber.

[0059] It can be understood that when the clamping jaw 123 approaches the workpiece to be processed, the buffer piece 1233 is arranged to provide a buffering effect when contacting the workpiece to be processed, thereby reducing impact and potential damage and improving the safety and reliability of clamping.

[0060] In some embodiments, as shown in Figure 4 , one of the sliding plate 122 and the mounting base 110 is provided with a sliding rail 124, and the other of the sliding plate 122 and the mounting base 110 is provided with a sliding block 125 matched with the sliding rail 124, thereby providing accurate guidance for the movement of the sliding plate 122. It should be noted that the number and distribution of the sliding rail 124 and the sliding block 125 can be designed according to actual needs, and the present embodiment does not make specific limitations thereto.

[0061] In some embodiments, as shown in Figure 3 and Figure 4 , the connecting piece 1231 slides in the vertical direction through the sliding plate 122, and in the case that the sliding plate 122 slides towards the center of the mounting base 110, the abutting piece 1232 moves towards the mounting base 110.

[0062] It can be understood that when the clamping space becomes smaller, the clamping jaw 123 moves upward while clamping the workpiece to be processed, so that the cooperation between the positioning assembly 130 and the workpiece to be processed is more closely, which helps to ensure the stability and accuracy of the workpiece to be processed in the clamped state.

[0063] In some embodiments, as shown in Figure 3 and Figure 4 , the clamping jaw assembly 120 further comprises a matching piece 126 and an adjusting piece 127. The matching piece 126 is arranged on the mounting base 110, and the height of the matching piece 126 monotonically increases along the direction towards the center of the mounting base 110. The adjusting piece 127 is in contact with the top surface of the matching piece 126, and one end of the connecting piece 1231 passes through the sliding plate 122 and is connected with the adjusting piece 127.

[0064] It can be understood that the bottom surface of the matching piece 126 is arranged on the mounting base 110, and when the sliding plate 122 moves towards the center of the mounting base 110, the height of the adjusting piece 127 also monotonically increases due to the monotonically increasing height of the matching piece 126, thereby driving the height of the sliding plate 122 to also monotonically increase, achieving the clamping space to become smaller while the clamping jaw 123 moves upward.

[0065] In this embodiment, as shown in Figure 3 and Figure 4 The upper surface of the fitting part 126 comprises a first plane, a connecting surface and a second plane which are connected in sequence and smoothly, the first plane is closer to the center of the mounting base 110 than the second plane, and the height of the first plane is lower than that of the second plane. That is, along the direction close to the center of the mounting base 110, the height of the fitting part 126 first remains unchanged (i.e., forming the first plane), then gradually increases (i.e., forming the connecting surface), and finally remains unchanged again (i.e., forming the second plane). Of course, in other embodiments, the height of the fitting part 126 can gradually increase along the direction close to the center of the mounting base 110, or the end of the upper surface of the fitting part 126 gradually increases along the direction close to the center of the mounting base 110, which is not specifically limited in this embodiment. In some embodiments, as shown in Figure 4 The adjusting part 127 comprises a mounting portion 1271 and two rolling portions 1272 located on both sides of the mounting portion 1271, the mounting portion 1271 is located on the slide plate 122 and is in sliding fit with the two surfaces of the fitting part 126 close to each other, and the mounting portion 1271 is connected with the connecting part 1231; the rolling portion 1272 corresponds to the fitting part 126 one by one, and the rolling portion 1272 is rotationally arranged on the mounting portion 1271 and is in rolling fit with the corresponding fitting part 126. Exemplarily, the rolling portion 1272 includes but is not limited to a roller.

[0066] It should be noted that the arrangement direction of the fitting part 126 and the driving direction of the linear driving part 121 are perpendicular to each other, so as to ensure the stability of the movement of the clamping jaw 123.

[0067] It can be understood that the mounting portion 1271 is in sliding fit with the two surfaces of the fitting part 126 close to each other, so as to limit the movement of the mounting portion 1271 through the arrangement direction of the fitting part 126, and the rolling portion 1272 is rotationally arranged on the mounting portion 1271 and is in rolling fit with the fitting part 126 along the arrangement direction of the fitting part 126, so as to change the sliding friction into rolling friction, reduce the friction, improve the smoothness and efficiency of the movement of the adjusting part 127, and ensure the stability and reliability of the clamping jaw 123 in the process of clamping the workpiece to be machined.

[0068] In some embodiments, as shown in Figure 2 and Figure 3 A part of the plurality of clamping jaw assemblies 120 forms a first clamping group, and another part of the plurality of clamping jaw assemblies 120 forms a second clamping group, wherein at least two clamping jaws 123 in the first clamping group move in different horizontal directions, and all clamping jaws 123 in the second clamping group move in the same horizontal direction.

[0069] It can be understood that by setting the first clamping group and the second clamping group, different models of workpieces to be machined can be adapted, and the flexibility and versatility of the clamping jaw mechanism 100 are improved. At least two clamping jaws 123 in the first clamping group move in different horizontal directions, thereby allowing the clamping jaws 123 of the first clamping group to simultaneously clamp the workpiece from multiple directions, providing a more flexible clamping method, especially when the controller needs to be clamped from different angles or positions. All clamping jaws 123 in the second clamping group move in the same horizontal direction, so that the clamping jaws 123 of the second clamping group can work cooperatively while clamping the workpiece from the same direction, providing consistency and synchronization, and improving the flexibility and adaptability of clamping.

[0070] In this embodiment, as shown in Figure 2 and Figure 3 , the clamping jaw mechanism 100 includes six clamping jaw assemblies 120, three of which form a first clamping group, and the other three form a second clamping group to clamp different models of workpieces to be machined, respectively. Of course, in other embodiments, the clamping jaw assemblies 120 of the first clamping group and the second clamping group can also operate cooperatively to achieve complex clamping tasks.

[0071] In some embodiments, as shown in Figure 2 and Figure 3 , the workpiece to be machined has a positioning hole, and the positioning assembly 130 includes a positioning pin 131 extending in the vertical direction, one end of the positioning pin 131 being arranged on the bottom surface of the mounting seat 110, and the other end being inserted into the positioning hole. It should be noted that the shape and size of the positioning pin 131 can be designed according to actual needs, and this embodiment does not make specific limitations thereto.

[0072] It can be understood that the outer wall of the workpiece to be machined is provided with a positioning hole, which cooperates with the positioning pin 131 of the clamping jaw mechanism 100 to ensure that the clamping jaw assembly 120 can accurately clamp the workpiece to be machined, and also facilitates accurate alignment in subsequent assembly, improves clamping efficiency and assembly efficiency, and ensures product production quality.

[0073] In some embodiments, as shown in Figure 2 and Figure 3 , the positioning assembly 130 further includes an auxiliary support 132, one end of the auxiliary support 132 being arranged on the bottom surface of the mounting seat 110, and the other end extending in the vertical direction for abutting against the outer wall of the workpiece to be machined.

[0074] It can be understood that when the positioning pin 131 and the positioning hole are matched, the clamping jaw 123 is moved upward to support the workpiece, and the outer wall of the workpiece is abutted by the auxiliary support 132, so that the clamping jaw 123 is controlled to stop at the current position in time by the locking cylinder, which can reduce the possibility of lateral movement or excessive upward movement of the workpiece during clamping, and realize safe and reliable clamping and positioning of the workpiece.

[0075] In some embodiments, as shown in Figure 2 and Figure 3 , the positioning pin 131 and the auxiliary support 132 are both provided with two, and the positioning pin 131 and the auxiliary support 132 are distributed in a circumferential staggered manner, so as to improve the support and positioning effect of the workpiece, reduce the shaking or deviation of the workpiece during clamping, improve the safety and reliability of operation, and help to reduce the concentration of stress on the workpiece and the possibility of damage to the workpiece.

[0076] In some embodiments, as shown in Figure 2 , the clamping jaw mechanism 100 further comprises a camera module 140 arranged on the mounting seat 110, so as to capture the image of the workpiece, provide accurate positioning information for the clamping jaw 123, and detect the appearance defects of the workpiece, so as to ensure that only qualified workpieces can enter the assembly process, and improve the assembly efficiency and qualification rate.

[0077] In some embodiments, as shown in Figure 2 and Figure 3 , the clamping jaw mechanism 100 further comprises a code scanner 150 arranged on the mounting seat 110, so as to quickly scan the bar code on the workpiece, obtain the key information of the workpiece such as serial number, production date, batch number, etc., realize the traceability and quality control of the production process of the workpiece, and automatically adjust the action of the clamping jaw 123 according to the scanned information, realize more intelligent automatic operation.

[0078] The embodiment of the application also provides a mechanical hand. As shown in Figure 1 , the mechanical hand comprises a mechanical arm 200 and the above-mentioned clamping jaw mechanism 100, and the clamping jaw mechanism 100 is arranged at the end of the mechanical arm 200. Exemplarily, the mechanical arm 200 includes but is not limited to a six-axis mechanical arm 200.

[0079] According to the mechanical hand provided by the embodiment of the application, the stability and safety of clamping are improved, the carrying efficiency and accuracy are increased, and the automation level is improved.

[0080] The terms "first", "second", and the like in the description and in the claims of this application are used for distinguishing between similar objects and are not necessarily used to describe a particular sequential or chronological order. It is to be understood that the use of the terms so construed can interchange depending on the context in which it is used, and that the embodiments of this application can be capable of operation in other sequences than depicted or otherwise described herein. The terms "first", "second", and the like are generally used to distinguish between two separate objects, and are not necessarily used to describe a particular sequential or chronological order. Also, the singular forms "a", "an" and "the" are used herein not to denote one or the only one of something as opposed to plural forms, but rather to denote the existence of at least one of something unless the context clearly indicates otherwise. The term "and / or" as used herein refers to and encompasses any and all possible combinations of one or more of the associated listed items.

[0081] In the description of the application, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", and the like mean the orientation or positional relationship as shown in the drawings, and are merely intended to facilitate the description of the application and simplify the description, and are not intended to indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation of the application.

[0082] In the description of the application, "first feature" and "second feature" can include one or more of the features.

[0083] In the description of the application, "a plurality of" means two or more.

[0084] In the description of the application, "above", "over", and "on" of a first feature to a second feature can include that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact through another feature between them.

[0085] In the description of the application, "above", "over", and "on" of a first feature to a second feature include that the first feature is directly above and obliquely above the second feature, or only means that the first feature is higher than the second feature in horizontal height.

[0086] In the description of the application, the description of the terms "one embodiment", "some embodiments", "exemplary embodiment", "example", "specific example", or "some examples" means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the application. In the description of the application, the exemplary description of the above terms does not necessarily refer to 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.

[0087] While the embodiments of the application have been shown and described, it is to be understood that the embodiments can be varied, modified, substituted and changed by those skilled in the art without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

Claims

1. A gripper mechanism, characterized by, The utility model relates to a kind of clamping device, including: Mounting seat (110); Multiple jaw assemblies, the jaw assembly is arranged in the mounting seat (110), and multiple jaw assemblies form clamping space between them, the clamping space is used to clamp workpiece, and the size of the clamping space is adjustable; Positioning assembly (130), it is arranged in the mounting seat (110) and with the clamping space is located same side, the positioning assembly (130) is used to cooperate with the workpiece positioning.

2. The jaw mechanism of claim 1, wherein, The jaw assembly includes: Linear drive (121), the fixed end of linear drive (121) is arranged in the mounting seat (110); Slide plate (122), the drive end of linear drive (121) is connected with slide plate (122), for driving slide plate (122) relative to the mounting seat (110) moves along horizontal direction; Jaw (123), jaw (123) includes connecting piece (1231) and abutting piece (1232), connecting piece (1231) extends along vertical direction and one end passes through the mounting seat (110) and is connected with slide plate (122), abutting piece (1232) is protruded on the outer side wall of connecting piece (1231), and the abutting piece (1232) is close to the outer side wall of connecting piece (1231) and the mounting seat (110) one side and respectively with the workpiece abuts cooperation.

3. The jaw mechanism of claim 2, wherein, The connecting piece (1231) is slid along vertical direction and is arranged in the slide plate (122), and in the case where the slide plate (122) slides towards the center of the mounting seat (110), the abutting piece (1232) moves towards the direction of the mounting seat (110).

4. The jaw mechanism of claim 3, wherein, The jaw assembly further includes: Matching piece (126), the matching piece (126) is arranged on the mounting seat (110), and the height of the matching piece (126) is monotonic and does not decrease along the direction of the center of the mounting seat (110); Adjusting piece (127), the adjusting piece (127) is in contact with the top surface of the matching piece (126), and one end of the connecting piece (1231) passes through the slide plate (122) and is connected with the adjusting piece (127).

5. The jaw mechanism of claim 4, wherein, Two matching pieces (126) are respectively arranged on the two sides of the slide plate (122), and the adjusting piece (127) includes: Mounting portion (1271), the mounting portion (1271) is arranged on the slide plate (122) and is in sliding cooperation with the two sides of the two matching pieces (126), and the mounting portion (1271) is connected with the connecting piece (1231); Two rolling portions (1272) are respectively arranged on the two sides of the mounting portion (1271), and the rolling portion (1272) corresponds to the matching piece (126), and the rolling portion (1272) is rotatably arranged on the mounting portion (1271) and is in rolling cooperation with the corresponding matching piece (126).

6. The jaw mechanism of claim 2, wherein, The abutting piece (1232) has a notch away from the mounting seat (110), and the jaw (123) further includes a buffer (1233), and the buffer (1233) is arranged in the notch.

7. The jaw mechanism according to any one of claims 1-6, wherein, The plurality of jaw assemblies are distributed in a circumferential direction, and a part of the plurality of jaw assemblies form a first clamping group, and another part of the plurality of jaw assemblies form a second clamping group. At least two jaws (123) in the first clamping group move in different horizontal directions, and all the jaws (123) in the second clamping group move in the same horizontal direction.

8. The jaw mechanism according to any one of claims 1-6, wherein, The workpiece to be processed has a positioning hole, and the positioning assembly (130) comprises: A positioning pin (131) extending in a vertical direction, one end of the positioning pin (131) being arranged on the bottom surface of the mounting seat (110), and the other end being inserted into the positioning hole.

9. The jaw mechanism of claim 8, wherein, The positioning assembly (130) further comprises: An auxiliary support (132), one end of the auxiliary support (132) being arranged on the bottom surface of the mounting seat (110), and the other end extending in the vertical direction and abutting against the outer wall of the workpiece to be processed.

10. The jaw mechanism of claim 9, wherein, The positioning pin (131) and the auxiliary support (132) are both arranged in two, and the positioning pin (131) and the auxiliary support (132) are distributed in a circumferential direction.

11. A robot, characterized in that Comprise: A mechanical arm (200); And The jaw mechanism according to any one of claims 1-10 is arranged at the end of the mechanical arm (200).

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