TW201914786A - Self-adaptive gripper mechanism with self-locking function capable of immediately generating self-locking effect once power of gear reduce is stopped - Google Patents

Abstract

The present invention provides a self-adaptive gripper mechanism with self-locking function, which comprises a first arm having both ends pivoted with a base and a second arm, respectively. The base is assembled with a motor. The motor is connected to a screw rod through a planetary gear set. A sliding base is screwed on the screw rod. The sliding base is linked with the first arm and the second arm through multiple connecting rods, wherein the motor is axially connected to a sun gear in the planetary gear set. The outer periphery of the sun gear is configured with a plurality of planetary gear trains, wherein the planetary gear train comprises a first planetary gear and a second planetary gear that are coaxially connected in series, wherein the first planetary gear is engaged with a fixed ring gear, and the second planetary gear is engaged with a movable ring gear. The movable ring gear is formed at one end of the screw rod as a whole. Thus, the present invention may improve the problem in the prior art that the self-adaptive gripper is not provided with self-locking function.

Description

 Self-locking adaptive jaw mechanism  

The invention relates to a structural technology of an adaptive jaw, in particular to an adaptive jaw mechanism with a self-locking function.

In the automation work, the robot arm is often used, and the jaws are arranged to move and process the objects through the jaws arranged on the robot arm. The jaws can be distinguished into the traditional jaws and the adaptive jaws according to the configuration, wherein the claws of the conventional jaws are The contact area with the object cannot be automatically adjusted according to the shape of the object. When the contact area between the claw arm of the traditional jaw and the object is small, the solidity of the traditional jaw when clamping the object is affected, and if the object is designed for the object, the special clip is designed. The claws improve the firmness of the jaws when holding the object, but limit the application range of the jaws.

In order to improve the above problems, an adaptive jaw is developed. The so-called adaptive jaw is a kind of claw arm capable of covering an object, increasing the contact area between the claw arm and the object, thereby firmly holding the object; the claw arm of the adaptive jaw The manner of covering the object can be roughly divided into two types, wherein the claw arm of one adaptive jaw is made of an elastic material, and when the claw arm of the adaptive jaw holds the object, the surface of the claw arm is in contact with the object. The deformation causes the claw arm to wrap the object, thereby increasing the contact surface of the claw arm and the object; the other is to design the claw arm of the adaptive jaw to be a human finger-like structure, so that the claw arm of the adaptive jaw can The object is covered by a human finger, thereby increasing the contact surface of the claw arm with the object.

Regardless of whether the adaptive jaws use any of the above methods to cover the object, the power source of the adaptive jaws for driving the claw arms is generally driven by air pressure, hydraulic pressure or electric power, wherein the electric drive is driven by a speed reduction motor. Claw arm.

It is also known that the reduction motor is an integrated power drive unit combined with an electric motor and a gear reduction mechanism or a non-gear reduction mechanism. Generally, in the case of the same driving voltage, if there is a low-speed and high-torque output, the volume is usually relatively large, and the manufacturing cost is also high. If the high-speed and low-torque output is used, the volume is usually relatively small, and the manufacturing cost is also small. Low, and the deceleration motor allows the motor to convert to a low speed and high torque through a speed reduction mechanism while generating high speed and low torque, providing a large torque output in a relatively small volume, such as elevators, winches and robots.

Among them, the gear reduction mechanism used by the reduction motor generally uses the planetary gear set as an intermediate transmission component in order to obtain an ideal reduction ratio output. It is also known that, in the conventional technology, a planetary gear set having a multi-step reduction ratio transmission output is used to construct the gear type speed reduction mechanism, and an ideal low-speed, high-torque reduction ratio output can be obtained.

Taking the patents of Taiwan Publication No. I404306, M524003, and I538363 as an example, a reduction motor using a gear reduction mechanism is disclosed, respectively. However, these conventional geared motors provide the ideal reduction ratio output, but they lack the self-locking function.

Furthermore, the planetary gear set generally includes a sun gear, a planetary gear, a planetary gear plate, and a ring gear, and the gear motor of the conventional planetary gear set is configured to increase or decrease the gear assembly. Combine to generate a power output with a reduction ratio.

The gear reduction mechanism of the above-mentioned reduction motor has an input end and an output end. For the entire speed reduction mechanism, the input end and the output end can be respectively selected from the sun gear, the planetary gear disc and the ring gear to achieve an ideal deceleration. The object of the ratio; the motor in the reduction motor is used as the input end to provide a rotary power input, and the output end is usually coupled with a device with high torque and deceleration driving requirements (such as the above-mentioned adaptive jaw); As a whole, the device of the output end has a pinning factor such as gravity, which will become the load of the speed reduction mechanism; when the motor at the input end stops running (including forward rotation and reverse rotation), the moment of inertia is generally Revolving inertia) maintains the end speed operation in the same direction of rotation, so that it is impossible to accurately grasp the transmission position where the force end device stops moving, or cause the output end device to stop moving and cause damage or danger. In addition, when the output end device stops at a moment, it is also common to apply a rotational momentum to the speed reduction mechanism opposite to the rotation direction of the transmission due to the load of the device connected to the output end, which is also a problem affecting the positioning accuracy of the output end device. . The reason for this is that the traditional geared motor lacks the self-locking function.

Due to the problem that the above-mentioned speed reducing motor cannot be self-locking, the adaptive jaw cannot accurately grasp the driving position where the claw arm stops moving when the speed reducing motor stops running, and even the adaptive jaw cannot maintain the action of the clamping arm holding the object. The object that is clamped by the adaptive jaw is loosened and dropped. Therefore, how to make the adaptive jaw have a self-locking function becomes a technical problem to be overcome.

In view of the above, the object of the present invention is to improve the problem that the conventional adaptive jaw cannot generate self-locking immediately at the moment of stopping the power of the reduction motor, and even affect the robustness of the adaptive jaw when clamping the object.

In order to achieve the above object and solve the problem, a preferred embodiment of the present invention provides an adaptive jaw mechanism with a self-locking function, the structural configuration details including: a first claw arm, one end of which is pivotally connected to a base a second claw arm is pivotally connected to the other end of the first claw arm; a motor is disposed on the base, and the motor is connected to a screw via a planetary gear set, and the screw upper screw group has a sliding seat. The carriage is linked to the first claw arm and the second claw arm by a plurality of connecting rods; wherein the motor is coupled to a sun gear in the planetary gear set, and the plurality of planetary gear strings in the planetary gear set are respectively Arranged on an outer edge of the sun gear, the plurality of planetary gear strings respectively have a first planetary gear and a second planetary gear in a coaxial series, the first planetary gears mesh with the sun gear, and the planetary gear set a fixed ring gear is fixed on the base and is disposed on a periphery of the first planetary gear. A movable ring gear in the planetary gear set is movable and disposed on a periphery of the second planetary gear. Active ring tooth Integrally formed at one end of the screw.

In a further implementation, the connecting rod includes a first connecting rod, a second connecting rod and a third connecting rod. One end of the first connecting rod is pivotally connected to the second claw arm, and the second connecting rod is One end is pivotally connected to the base, one end of the third link is pivotally connected to the sliding seat, and the other ends of the second connecting rod and the third connecting rod are respectively pivotally connected to the first connecting rod The other end. The first claw arm, the second claw arm, the first link and the second link together form a four-link structure. The pivotal connection between the first claw arm and the second claw arm has a first pivot point, and the second claw arm and the first link have a second pivot point, the first connection The pivotal connection between the rod and the second link has a third pivot point, and the pivotal connection between the second link and the first claw arm has a fourth pivot point, the first pivot point and the The distance between the second pivot point is equal to the distance between the third pivot point and the fourth pivot point, and the distance between the first pivot point and the fourth pivot point is equal to the second pivot point and the third A distance between the pivot points, the first pivot point, the second pivot point, the third pivot point and the fourth pivot point form a parallelogram. A direct outlet is disposed on the base, and the second link holds the direct sales via a spring force of a resilient member. One side of the second link extends to form a tongue, and the second link holds the direct line via the tongue. The tongue has an arc groove through which the tongue holds the outlet.

In a further implementation, the plurality of planetary gear strings are respectively disposed on a planetary gear plate, and each of the plurality of planetary gear strings and each of the second planetary gears respectively receive the planetary gear plate Constrained and synchronized around the sun gear revolution. The first planetary gear of the plurality of planetary gears is integrally formed coaxially with the second planetary gear and pivotally coupled to a planetary gear shaft, and the planetary gear shaft is fixed to the planetary gear plate.

According to the above technical means, the present invention has the advantages of connecting the motor shaft to the sun gear as the input force in the planetary gear set, and connecting the claw arm of the adaptive jaw to the movable ring gear as the output force in the planetary gear set to be driven by the motor. The components in the planetary gear set are intermeshing, thereby providing a pawl arm having a reduction ratio of power output to the adaptive jaw. In addition to this basic function, the components in the planetary gear set can also have a self-locking function by virtue of the above-mentioned configuration features, especially when the motor is stopped, between the components in the planetary gear set. The brakes can be immediately braked to each other, and the pawl arm can be immediately stopped when it is moved to the desired position, so that the object clamped by the adaptive jaw can be effectively prevented from loosening and falling due to the stop of the motor.

Further, details of the related art to which the present invention may be implemented will be explained in the following embodiments and drawings.

10‧‧‧ Pedestal

21‧‧‧First claw arm

211‧‧‧First pivotal

212‧‧‧Second pivotal

22‧‧‧Second claw arm

221‧‧‧First pivotal

222‧‧‧Second pivotal

30‧‧‧ planetary gear set

31‧‧‧Sun Gear

32‧‧‧ planetary gear train

321‧‧‧First planetary gear

322‧‧‧Second planetary gear

323‧‧‧Gear bearing

324‧‧‧ planetary gear shaft

33‧‧‧ planetary gear plate

34‧‧‧Fixed ring gear

35‧‧‧Active ring gear

40‧‧‧Motor

41‧‧‧ Output shaft

51‧‧‧ screw

52‧‧‧Slide

61‧‧‧ first link

611‧‧‧First pivotal

612‧‧‧Second pivotal

613‧‧‧ third pivotal

62‧‧‧second connecting rod

621‧‧‧First pivotal

622‧‧‧Second pivotal

623‧‧ ‧Tongue

624‧‧‧Arc groove

63‧‧‧ Third Link

631‧‧‧First pivotal

632‧‧‧Second pivotal

71‧‧‧Latch

72‧‧‧ buckle

73‧‧‧Direct

74‧‧‧Flexible components

A1‧‧‧ first pivot point

A2‧‧‧ second pivot point

A3‧‧‧ third pivot point

A4‧‧‧ fourth pivot point

1 is a perspective view of the embodiment of the present invention; FIG. 2 is an exploded perspective view of FIG. 1, FIG. 3 is a cross-sectional view of FIG. 1, FIG. 3a is a partial enlarged view of FIG. 3, and FIG. FIG. 3c is an enlarged schematic view of the third link of FIG. 3; FIG. 4 is a cross-sectional view of the AA cross section of FIG. 3; and FIG. 5 to FIG. 7 are respectively schematic views of the operation of FIG.

First, please refer to FIG. 1 to FIG. 4 to disclose the configuration details of a preferred embodiment of the present invention. The self-locking adaptive jaw mechanism provided by the present invention includes a base 10 and a first claw. An arm 21, a second claw arm 22, a planetary gear set 30 and a motor 40, wherein: the base 10 serves as a fixed end of the entire jaw mechanism, the first claw arm 21, the second claw arm 22, and the planet The gear unit 30 and the motor 40 are respectively disposed on the base 10, wherein the two ends of the first claw arm 21 respectively form a first pivoting portion 211 and a second pivoting portion 212, and the first claw arm 21 The first pivoting portion 211 is pivotally connected to the base 10 by the latching member 71 and the retaining ring 72. The second pivoting arm 22 is formed with a first pivoting portion 221 and a second pivoting portion 222 at one end. The first pivoting portion 221 of the second claw arm 22 receives the restraint of the latch 71 and the buckle 72 and is pivotally connected to the second pivoting portion 212 of the first claw arm 21 .

The motor 40 is fixed to the base 10. The motor 40 is connected to a screw 51 via a planetary gear set 30. The screw 51 is screwed onto a slide 52. The motor 40 can drive the screw 51 to rotate via the planetary gear set 30. The slide 52 is moved along the axial direction of the screw 51; further, the slide 52 is linked to the first claw arm via a first link 61, a second link 62 and a third link 63. 21 and the second claw arm 22, wherein one end of the first link 61 forms a first pivoting portion 611, and the other end of the first connecting rod 61 is formed with a second pivoting portion 612 and a third portion. The pivoting portion 613 has a first pivoting portion 621 and a second pivoting portion 622 (shown in FIG. 3b) at the two ends of the second connecting rod 62. The double ends of the third connecting rod 63 are respectively formed. A first pivoting portion 631 and a second pivoting portion 632 (shown in Figure 3c).

In a specific implementation, the first pivoting portion 611 of the first connecting rod 61 receives the restraint of the latch 71 and the buckle 72 and is pivotally connected to the second pivoting portion 222 of the second claw arm 22, the second connection. The first pivoting portion 621 of the rod 62 receives the restraint of the latch 71 and the buckle 72 and is pivotally coupled to the base 10 of the first claw arm 21 of the first claw arm 21 . The second link 62 is coaxially connected to the first pivoting portion 211 of the first claw arm 21 . The second pivoting portion 622 is pivotally connected to the second pivoting portion 612 of the first link 61 by the latch 71, and the first pivoting portion 631 of the third link 63 is constrained by the latch 71. The second pivoting portion 632 of the third connecting rod 63 is pivotally connected to the third pivoting portion 613 of the first connecting rod 61, and is connected to the third pivoting portion 613 of the first connecting rod 61. The first claw arm 21, the second claw arm 22, the first link 61 and the second link 62 together form a four-link structure, wherein the second pivoting portion 212 of the first claw arm 21 and the second The first pivoting portion 221 of the claw arm 22 has a first pivot point A1, and the second pivoting portion 222 of the second claw arm 22 and the first pivoting portion of the first link 61 611 has a second pivotal connection to each other A2, the second pivoting portion 612 of the first link 61 and the second pivoting portion 622 of the second link 62 have a third pivot point A3, and the second link 62 The first pivoting portion 621 and the first pivoting portion 211 of the first claw arm 21 are pivotally connected to each other to have a fourth pivot point A4, because the first pivot point A1 and the second pivot point A2 The distance between the third pivot point A3 and the fourth pivot point A4 is equal to the distance between the first pivot point A1 and the fourth pivot point A4. The distance between the contact point A2 and the third pivot point A3 is such that the first pivot point A1, the second pivot point A2, the third pivot point A3 and the fourth pivot point A4 form a parallel Since the first claw arm 21 and the first link 61 and the second claw arm 22 and the second link 62 are respectively rotatable in the same direction in parallel with each other.

Referring to FIG. 3 and FIG. 3b, the base 10 is disposed with a direct outlet 73. The direct sales 73 is located on a path when the second link 62 is pivoted with the first pivoting portion 621 as a center. The swing angle of the second link 62 is restrained, and since the second claw arm 22 is restrained by the four-link structure and has the same swing angle as the second link 62, the swing of the second claw arm 22 can be controlled. The second link 62 has a tongue 623 extending from one side thereof, and the second link 62 holds the direct line 73 via the tongue 623 to restrain the swing angle; further, the tongue 623 has an arc groove 624. The tongue 623 holds the direct lead 73 via the arc groove 624. The tongue 623 can reduce the volume by the design of the arc groove 624, thereby reducing the required space for the second link 62. In addition, the base 10 is provided with an elastic member 74. The elastic member 74 is embodied as a torsion spring. The two ends of the torsion spring respectively hold the second link 62 and the direct wire 73, so that the second link 62 is elasticized. The element 74 is spring loaded to hold the direct sale 73.

According to the above configuration details, when the motor 40 drives the screw 51 to rotate via the planetary gear set 30, the carriage 52 is driven to move in the direction away from the motor 40 in the axial direction of the screw 51, and the carriage 52 drives the third link 63. Linking the first link 61; referring to FIG. 5, the second link 62 is fixed by the spring force of the elastic member 74, so that the first link 61 is pivoted around the third pivot point A3. And the first claw arm 21 is swung at the same speed and swing direction as the first link 61, and the second claw arm 22 is followed by the first claw arm 21 and the first link 61 during the swinging process. However, the second claw arm 22 does not swing due to the fixed relationship of the second link 62. Therefore, if the second claw arm 22 is in a vertical state before the movement, the vertical state is maintained during the entire movement; 6 and FIG. 7 , when the second pivoting portion 622 of the second link 62 is transmitted by the third link 63 through the first link 61 and the force is greater than the spring pressure of the elastic member 74, The connecting rod 62 is pivoted about the fourth pivot point A4, thereby driving the first link 61 to be first pivoted A1 is a center swing, and then the second claw arm 22 is linked to the swing, whereby when the first claw arm 21 is subjected to resistance (for example, touching the object) and cannot swing forward, the second claw arm 22 still has a direction The effect of the front swing is to enhance the coating of the adaptive jaw of the present invention when grasping the object. In addition, the number of the adaptive jaws of the present invention may be plural in implementation and disposed at one end of a robot arm (not shown) that passes through the first claw arm 21 of the plurality of adaptive jaws. The second claw arm 22 is used to simulate the grasping of the object by the human finger, thereby improving the firmness of the robot arm when gripping the object having different shapes.

Referring to FIG. 3 and FIG. 3 a , the planetary gear set 30 includes a sun gear 31 , a plurality of planetary gear strings 32 , a fixed ring gear 34 , and a movable ring gear 35 . The sun gear 31 is axially coupled to the motor. An output shaft 41 of 40, the sun gear 31 is used as an input end, the motor 40 inputs rotational power through the sun gear 31; the plurality of planetary gear strings 32 are respectively disposed at outer edges of the sun gear 31, and the plurality of planets The gear trains 32 respectively have a first planetary gear 321 and a second planetary gear 322 in a coaxial series. The first planetary gears 321 are engaged with the sun gear 31. The fixed ring gears 34 are fixed on the base 10. The fixing ring gear 34 is disposed on the outer periphery of the first planetary gear 321 so that the first planetary gear 321 can engage the fixed ring gear 34, thereby receiving the holding of the fixed ring gear 34 and bypassing the sun gear 31. The movable ring gear 35 is movably disposed on the periphery of the second planetary gear 322 and is used as the output end of the movable ring gear 35. The movable ring gear 35 can be integrally formed at the end of the screw 51 or Locked, Etc., or solid mate the movable ring gear 35 fixed to one end of the screw 51 are integrally formed.

The plurality of planetary gear strings 32 are respectively disposed on a planetary gear plate 33. The planetary gear plate 33 is pivotally mounted on the base 10, and each of the plurality of planetary gear strings 32 is first. The planetary gears 321 and the second planetary gears 322 are respectively restrained by the planetary gear plates 33 and disposed on the outer edge of the sun gear 31, and synchronously circulate around the sun gear 31; in a specific implementation, the planetary gear strings 32 are The first planetary gear 321 and the second planetary gear 322 are integrally formed coaxially and pivotally connected to a planetary gear shaft 324 via a gear bearing 323. The planetary gear shaft 324 is fixed to the planetary gear plate 33.

The first planetary gears 321 are respectively engaged with the sun gear 31 and the fixed ring gear 34, and the second planetary gears 322 are engaged with the movable ring gear 35 such that the sun gear 31 rotates when driven by the motor 40. At this time, the first planetary gear 321 can be rotated by the driving of the sun gear 31, and synchronously revolves following the planetary gear plate 33, so that the second planetary gear 322 following the rotation of the first planetary gear 321 drives the movable ring gear 35 relative to the sun gear. 31 Deceleration rotation at a specific reduction ratio.

In addition, the present invention can further configure the fixed ring gear 34 and the movable ring gear 35 to have different numbers of teeth; in other words, the fixed ring gear 34 has A number of teeth, the movable ring gear 35 has B teeth number, and the A teeth number ≠B Number of teeth. Furthermore, the present invention can further configure the first planetary gear 321 and the second planetary gear 322 of the synchronous rotation (including the rotation and the bypass sun gear 31) to have different modulus; that is, the first A planetary gear 321 has an X modulus, the second planetary gear 322 has a Y modulus, and an X modulus ≠Y modulus. Since the fixed ring gear 34 is in contact with the first planetary gear 321 and the movable ring gear 35 is in contact with the second planetary gear 322, the fixed ring gear 34 has the same X modulus as the first planetary gear 321, and the activity The ring gear 35 has the same Y modulus as the second planetary gear 322.

According to the above configuration details, when the motor 40 drives the sun gear 31 to rotate, the plurality of first planetary gears 321 having the X modulus are guided by the sun gear 31 and the fixed ring gear 34 to be driven to rotate and rotate. The sun gear 31 revolves, and since the first planetary gear 321 and the second planetary gear 322 are coaxially arranged in series, when the first planetary gear 321 is driven, the second planetary gear 322 can be combined with the first planetary gear. 321 synchronous rotation (including rotation and bypass sun gear 31 revolutions); wherein the high speed rotational speed of the sun gear 31 is transmitted through a plurality of first planetary gears 321 having X modulus to engage the fixed ring gear 34 having the A number of teeth, And by the plurality of second planetary gears 322 having the Y modulus, the movable ring gear 35 having the B-number of teeth is driven, and since the fixed ring gear 34 has been fixed to the base 10 without rotating, the activity having the B-number of teeth The ring gear 35 is different from the fixed ring gear 34 having the A number of teeth, and drives the movable ring gear 35 to rotate with respect to the sun gear 31 at a specific reduction ratio, thereby driving the screw 51 on the movable ring gear 35 to rotate. Output, driving the carriage 52 along the screw 51 axially moves.

Further, when the power input from the sun gear 31 as the input end of the planetary gear set 30 stops, the movable ring gear 35 as the output end of the planetary gear set 30 is reversely received by each of the first planetary gear 321 and the second planetary gear 322. The different modulus of the restraint and the mutual braking action of the fixed ring gear 34 cause self-locking. Therefore, even if the device axially connected to the output end has a load such as gravity, the load will continue to drive the output end (ie, the movable ring gear 35) and then drive the input end to rotate when the power input from the input end stops; however, The moment of inertia is subject to the above-mentioned self-locking condition of the present invention (constrained) and does not drive into the force end. Accordingly, the present invention can accurately grasp the transmission position of the output end when the adaptive jaw is stopped, and can also eliminate the problem that the motor 40 at the input end is not damaged or dangerous when the power is stopped at the input end.

However, the above embodiments are merely illustrative of preferred embodiments of the invention, but are not to be construed as limiting the scope of the invention. Therefore, the present invention should be based on the content of the claims defined in the scope of the patent application.

Claims (9)

 An adaptive jaw mechanism with a self-locking function, comprising: a first claw arm, one end of which is pivotally connected to a base, and the other end of the first claw arm is pivotally connected with a second claw arm; a motor, a group Provided on the base, the motor is connected to a screw via a planetary gear set, the screw upper set has a slide, and the slide connects the first claw arm and the second claw arm via a plurality of links; wherein The motor is coupled to a sun gear in the planetary gear set, and the plurality of planetary gear strings in the planetary gear set are respectively disposed on an outer edge of the sun gear, and the plurality of planetary gear strings respectively have a coaxial string a first planetary gear and a second planetary gear, the first planetary gear meshes with the sun gear, a fixed ring gear of the planetary gear set is fixed on the base, and is engaged with the first planetary gear At the periphery, a movable ring gear in the planetary gear set moves in a manner of being disposed on a periphery of the second planetary gear, and the movable ring gear is integrally formed at one end of the screw.    An adaptive jaw mechanism with a self-locking function according to claim 1, wherein the plurality of links comprise a first link, a second link and a third link, one end of the first link One end of the second link is pivotally connected to the base, and one end of the third link is pivotally connected to the slide, the second link and the third link The other ends of the rods are respectively pivotally connected to the other end of the first link.    The self-locking adaptive jaw mechanism of claim 2, wherein the first claw arm, the second claw arm, the first link and the second link together form a four-link structure.    The self-locking adaptive jaw mechanism of claim 3, wherein the first claw arm and the second claw arm have a first pivot point, and the second claw arm and the first The pivotal connection of the connecting rod has a second pivoting point, the pivotal connection between the first connecting rod and the second connecting rod has a third pivoting point, and the second connecting rod and the first claw arm are pivoted The connection has a fourth pivot point, and the distance between the first pivot point and the second pivot point is equal to the distance between the third pivot point and the fourth pivot point, the first pivot point and the The distance between the fourth pivot point is equal to the distance between the second pivot point and the third pivot point, and between the first pivot point, the second pivot point, the third pivot point and the fourth pivot point Form a parallelogram.    An adaptive jaw mechanism with a self-locking function according to claim 2, 3 or 4, wherein the base is provided with a direct outlet, and the second link holds the direct sales via a spring force of an elastic member.    The self-locking adaptive jaw mechanism of claim 5, wherein one side of the second link extends to form a tongue, and the second link holds the direct line via the tongue.    An adaptive jaw mechanism having a self-locking function as claimed in claim 6, wherein the tongue has an arc groove through which the tongue holds the outlet.    An adaptive jaw mechanism having a self-locking function according to claim 1, wherein the plurality of planetary gear strings are respectively disposed on a planetary gear plate, and each of the plurality of planetary gear strings is Each of the second planetary gears respectively receives the restraint of the planetary gear disc and synchronously bypasses the sun gear for revolution.    The self-locking adaptive jaw mechanism of claim 8, wherein the first one of the plurality of planetary gears is coaxially formed with the second planetary gear and is pivotally coupled to a planetary gear shaft. The planetary gear shaft is fixed to the planetary gear plate.