A driving mechanism of a pneumatic gripper

Abstract

The present invention discloses a driving mechanism of a pneumatic clamp, comprising a ventilation block and two groups of cylinder assemblies that are on the same straight line and symmetrically distributed on both sides of the ventilation block. The cylinder assembly comprises a cylinder and a piston rod; one end of the piston rod in the cylinder is provided with a piston part, and the other end is connected to the ventilation block; the piston part divides the inner cavity of the cylinder into a cavity space one and a cavity space two that are independent of each other; inside the piston rod, there are provided an air passage one that is connected to the cavity space one and an air passage two that is connected to the cavity space two; the ventilation block is provided with a ventilation passage one and a ventilation passage two that are connected at both ends and are independent of each other; one end of the ventilation passage one is simultaneously connected to two air passages one on different piston rods, and one end of the ventilation passage two is simultaneously connected to two air passages two on different piston rods. The present invention does not need to add an external air intake duct, which can save installation space and improve the synchronization of the operation of the two clamps.

Description

Technical Field

[0001] The invention relates to the field of pneumatic clamping jaw tools, and in particular to a driving mechanism of a pneumatic clamping jaw. Background Art

[0002] In the existing large-scale pneumatic grippers, when gripping and moving workpieces, the driving mechanism used mainly uses a poorly enclosed frame as the supporting and connecting component of the entire mechanism, and other components of the driving mechanism such as slide rails, sliders and cylinder assemblies are connected to the frame, but there is no side panel to block and enclose the periphery; at the same time, the two ends of the slide rail are usually only connected to the frame at the two ends. Third, the existing driving components usually use a cylinder setting, such as Figure 1 As shown, the frame consists of a base plate 1-1 and two left end frames 1-2 and right end frames 1-3 connected to the symmetrical ends of the base plate 1-1. Two guide rails 1-7 are connected between the left and right end frames. The two guide rails 1-7 are connected to two left and right sliders 1-6. The clamping part 1-5 is connected below the slider 1-6. The cylinder 1-4 is connected to the frame and is located between the right clamping part and the base plate 1-1 of the frame. The two ends of the piston rod 1-8 are respectively connected to the left clamping part and the cylinder 1-4. When moving, the air is injected into the cylinder cavity through the air inlet hole set on the cylinder through the external air inlet pipe, driving the piston rod 1-8 to move, thereby driving the left clamping part to move to the right or left, but the right slider does not move. When the left clamping part moves to the right, the purpose of clamping the workpiece between the left and right clamping parts can be achieved, and the purpose of clamping the workpiece can be achieved. When clamping the workpiece, the right slider is pressed tightly against the inner side of the right end frame 1-3.

[0003] The existing drive mechanism has the following defects:

[0004] 1. The whole mechanism is installed on a frame with poor sealing performance. Guide rails 1-7, sliders 1-6, cylinders 1-4 and other components are exposed without side panels or covers around them. They are easily damaged by accidental collisions or exposed to dust, stains and moisture, which in turn affects the service life of the mechanism.

[0005] Second, the guide rail 1-7 is only connected and fixed to the end frame 1-2 at both ends to achieve a fixed connection with the frame. When the torque generated by the clamping force in the clamping direction is large, the guide rail 1-7 will be subjected to a large pulling force, and the fixed end of the guide rail 1-7 and the frame is limited, and it will be difficult to withstand the huge pulling force, so it is easy to be damaged, bent or loosened from the frame.

[0006] 3. The cylinder assembly used is a common structure, that is, it includes a cylinder 1-4 and a piston rod 1-8. The piston rod 1-8 and the cylinder 1-4 can be movably connected, and the connection is sealed. A piston part is provided at one end of the piston rod 1-8, and a separate air inlet hole is provided on the cylinder 1-4, which is connected to an external ventilation device through an external air pipe. The ventilation device changes the gas content inside the cylinder through the external air pipe, thereby affecting the air pressure change in the air cavity on both sides of the piston part, promoting the movement of the piston part in the cylinder, thereby driving the left clamping part 1-5 connected to the piston rod 1-8 to move. In this structure, in order to promote the change of air pressure in the cylinder 1-4, an additional external air inlet pipe needs to be connected, which is complicated to install and occupies too much installation space. In addition, one cylinder 1-4 is used to realize the workpiece clamping operation of the left and right clamping parts. During the operation, under the existing scheme, only one of the left and right clamping parts moves, and the other does not move, and the left and right clamping parts cannot perform synchronous centering movement. Summary of the invention

[0007] 1. Technical issues to be solved

[0008] The purpose of the present invention is to provide a driving mechanism for a pneumatic gripper, which mainly solves the technical problem of the above-mentioned prior art that complex air intake pipe wiring needs to be added outside the cylinder to realize the operation of the cylinder. The present invention does not need to additionally arrange a complex external air intake pipe on the cylinder, and can better realize the synchronous movement of the clamping components driven by different cylinders.

[0009] (II) Technical solution

[0010] In order to achieve the above object, the present invention adopts the following technical solutions:

[0011] A driving mechanism of a pneumatic gripper, characterized in that it comprises a ventilation block and two groups of cylinder assemblies which are in the same straight line and symmetrically distributed on both sides of the ventilation block;

[0012] Each group of cylinder components comprises a cylinder and a piston rod movably connected to the cylinder, one end of the piston rod in the cylinder is provided with a piston part closely attached to the inner wall of the cylinder, and the other end of the piston rod outside the cylinder is connected to the ventilation block; the piston part divides the inner cavity of the cylinder into a cavity space 1 and a cavity space 2 which are independent of each other; an airway 1 and an airway 2 which are connected at both ends are provided inside the piston rod; one end of the airway 1 is connected with the cavity space 1, and the other end thereof is located at the connection between the piston rod and the ventilation block; one end of the airway 2 is connected with the cavity space 2, and the other end thereof is located at the connection between the piston rod and the ventilation block;

[0013] The ventilation block is provided with ventilation passage 1 and ventilation passage 2 which are connected at both ends and are independent of each other. One end of the ventilation passage 1 and ventilation passage 2 is arranged at the connection between the piston rod and the ventilation block; the other end of the ventilation passage 1 and ventilation passage 2 passes through the outer wall of the ventilation block;

[0014] One end of the ventilation channel 1 is mutually connected with two air channels 1 on different piston rods in the two groups of cylinder assemblies, and one end of the ventilation channel 2 is mutually connected with two air channels 2 on different piston rods in the two groups of cylinder assemblies.

[0015] Furthermore, a connecting groove for connecting the end of the piston rod is provided in the ventilation block, and the ventilation openings at one end of the ventilation channel 1 and the ventilation channel 2 are provided on the inner wall of the connecting groove.

[0016] Furthermore, the piston rod is cylindrical, and the connecting groove is hollow cylindrical.

[0017] Furthermore, it also includes a gear assembly; the gear assembly includes two parallel distributed racks and a gear located between the two racks, and the gear is fixed to the bottom of the ventilation block or fixed to the bottom of the ventilation block through a connecting piece; one end of the two racks is respectively connected to the bottom of the two cylinders, and each rack is provided with a tooth portion that can be embedded with the gear on one side facing the gear.

[0018] Furthermore, it also includes an outer shell, which includes a bottom plate and side plates, and the bottom plate and side plates together form an inner concave outer shell cavity that can accommodate the cylinder assembly and the ventilation block; the bottom of the ventilation block is directly or through a connecting block connected to the upper side of the bottom plate.

[0019] Furthermore, two slide rails are provided on the inner side of the side plate, the two slide rails are parallel to the movement direction of the piston rod and are distributed on both symmetrical sides of the cylinder; a number of sliders are respectively connected to the two symmetrical sides of each cylinder, and one side of the slider is slidably connected to the slide rail.

[0020] Furthermore, a guide wheel is respectively provided on the bottom plate between the two racks and the adjacent side plates, and the tire surface of the guide wheel is close to the side wall of the rack.

[0021] Furthermore, the shell also includes a cover plate, which is connected to the side plate and covers the upper side of the ventilation block.

[0022] Furthermore, a dustproof plate that can move back and forth under the cover plate is connected to the outer side of each cylinder, and the dustproof plate covers one side of the piston rod.

[0023] Furthermore, the cylinder is a cube, and the shell cavity is a rectangular parallelepiped.

[0024] Furthermore, the piston portion is elliptical.

[0025] (III) Beneficial effects

[0026] Compared with the prior art, the present invention provides a driving mechanism for a pneumatic clamp, which has the following beneficial effects:

[0027] 1. The cylinder assembly in the present invention integrates an external ventilation duct with a piston rod, and two air passages that are connected at both ends are arranged inside the piston rod body. The two air passages are located at one end of the cylinder cavity and are separately connected to the two cylinder cavity spaces separated by the piston part, and the other end is arranged at the connection between the piston rod and the ventilation block; two independent ventilation passages are arranged in the ventilation block, one end of the two ventilation passages is separately connected to the air passage one and the air passage two in the single cylinder assembly, and the other end of the two ventilation passages is arranged on the side wall of the ventilation block and can be connected to the external air pressure equipment. Thus, in each cylinder assembly, two independent through ventilation paths are formed between the two cavity spaces, the two air passages and the two ventilation channels. When in use, the external ventilation device injects gas into one of the ventilation channels, and the air pressure in the cavity space connected with it increases, pushing the piston part to move in the cylinder toward the other cavity space. The air in the other cavity space is squeezed and flows out along the air passage in the piston rod connected with it, flows through the ventilation passage connected with the air passage and is discharged to the outside. The change in air pressure in the two cavity spaces inside the same cylinder pushes the cylinder to move along the piston rod, thereby driving the movement of the clamp connected to the cylinder.

[0028] The present invention simplifies the arrangement of the airway, integrates the external ventilation duct into the interior of the piston rod, and can realize the injection and extraction of gas inside the cylinder without arranging ventilation holes on the surface of the cylinder and connecting to an external air inlet pipe.

[0029] 2. The clamp driving mechanism of the present invention includes two groups of cylinder assemblies, which are located on the same straight line and symmetrically distributed with the ventilation block as the axis center; one end of the ventilation channel 1 in the ventilation block is mutually connected with two air channels 1 on different piston rods in the two groups of cylinder assemblies, and one end of the ventilation channel 2 is mutually connected with two air channels 2 on different piston rods in the two groups of cylinder assemblies. When air is injected into two cavity spaces 1 or two cavity spaces 2 on different piston rods through any ventilation channel at the same time, the two air claws connected to different cylinders will perform synchronous centering movement on the same straight line or separate to both ends, thereby realizing the clamping and loosening operations of the workpiece.

[0030] Since the air pressure pushing the piston parts in each group of cylinder assemblies comes from the same ventilation channel at the same time, the size of the air pressure pushing force and the time of pushing will be completely synchronized, thus, the synchronization of the operation of the clamping jaws connected to the outer wall of the cylinder will also be the same.

[0031] 3. The present invention also includes a housing, which includes a bottom plate and side plates. The bottom plate and side plates together form a concave housing cavity that can accommodate the cylinder assembly and the ventilation block; the bottom of the ventilation block is directly connected to the upper side of the bottom plate or through a connecting block. The cylinder assembly and the ventilation block are placed in the housing cavity instead of being exposed to the outside. Their periphery is shielded by the bottom plate and side plates, which can reduce the probability of accidental collision damage or the entry of dust, stains and moisture, thereby increasing the service life of the drive mechanism.

[0032] 4. In the present invention, two slide rails are symmetrically arranged on both sides of the side plate of the housing, and the side wall of the cylinder is slidably connected to the slide rails through a slider, and a gear assembly is arranged at the bottom of the cylinder. During the operation of the cylinder, the rack teeth in the gear assembly continuously engage with the gear. The racks at the bottom of the cylinders on both sides mesh with the gear in the center at the same time, so as to synchronize the movement of the cylinders on the left and right sides and realize the centering of the clamped object. The force of the cylinder on one side can be transmitted to the other side through the rack and gear, thereby increasing the force on one side. There are several sliders on the side of the cylinder, so that the whole can withstand greater torque during use.

[0033] 5. The present invention also includes a cover plate covering the top of the ventilation block, and each cylinder is also connected to a dust plate that can shuttle under the cover plate, and the dust plate covers one side of the piston rod. The cover plate and the two dust plates cover the ventilation block and one side of the piston rod, playing a role of dust prevention and covering, which can prevent dust, stains and moisture from entering the relatively narrow and unfavorable cleaning areas such as between the bottom plate and the cylinder assembly, and can increase the service life of the overall drive mechanism.

[0034] 6. In the present invention, the piston part is elliptical. Under the same height dimension, the width direction space is utilized, and the cross-sectional area of ​​the piston is increased compared with the circular piston, thereby providing greater driving force. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a structural schematic diagram of an existing long-stroke pneumatic gripper drive mechanism;

[0036] Figure 2 This is a schematic diagram of the structure of the driving mechanism after the clamping jaws are installed in the present invention;

[0037] Figure 3 for Figure 2 Schematic diagram of the local structure;

[0038] Figure 4 After the clamping claws are removed in the present invention Figure 2 sectional view of

[0039] Figure 5 After removing the bottom plate in the present invention Figure 2 Bottom view of

[0040] Figure 6 It is a structural schematic diagram of the left cylinder assembly in the present invention;

[0041] Figure 7 The three-dimensional structure of the two cylinder assemblies and the gear assembly after assembly in the present invention is shown in FIG. Figure 1 ;

[0042] Figure 8 The three-dimensional structure of the two cylinder assemblies and the gear assembly after assembly in the present invention is shown in FIG. Figure 2 ;

[0043] Fig. 9 The structure of the housing in the present invention is shown in FIG. Figure 1 ;

[0044] Fig.10 The structure of the housing in the present invention is shown in FIG. Figure 2 ;

[0045] Fig.11 It is a schematic diagram of the three-dimensional structure of the left piston rod in the present invention;

[0046] Fig.12 is a cross-sectional view of the left piston rod in the present invention;

[0047] Fig.13 It is a structural schematic diagram of the ventilation block in the present invention;

[0048] Fig.14 is a cross-sectional view of the ventilation block of the present invention;

[0049] In the picture:

[0050] 1-1-base plate, 1-2-left end frame, 1-3-right end frame, 1-4-cylinder, 1-5-clamping component, 1-6-slider, 1-7-guide rail, 1-8-piston rod;

[0051] 1-gripper, 2-bottom plate, 3-side plate 1, 4-side plate 2, 5-side plate 3, 6-side plate 4, 7-cover plate, 8-left cylinder, 9-right cylinder, 10-ventilation block, 11-left piston part, 12-left piston rod, 13-right piston part, 14-right piston rod, 15-slide rail 1, 16-slider 1, 17-slider 2, 18-slider 3, 19-slider 4, 20-slide rail 2, 21-slider 5, 22-slider 6, 23-slider 7, 24-slider 8, 25-left cavity space 1, 26-left cavity space 2, 27- Right cavity space one, 28-right cavity space two, 29-first rack, 30-second rack, 31-gear, 32-first guide wheel, 33-second guide wheel, 34-left air duct one, 35-left air duct two, 36-right air duct one, 37-right air duct two, 38-connecting groove, 39-ventilation channel one, 40-ventilation channel two, 41-ventilation hole one, 42-ventilation hole two, 43-ventilation hole three, 44-channel bifurcation, 45-bottom plate vent hole one, 46-bottom plate vent hole two, 47-raised end, 48-sealing ring installation groove. DETAILED DESCRIPTION

[0052] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0053] like Figures 2 to 14 The figure shows an embodiment of a driving mechanism of a long-stroke pneumatic gripper. The driving mechanism of a pneumatic gripper comprises a vent block 10 and two groups of cylinder assemblies which are on the same straight line and symmetrically distributed on the left and right sides of the vent block 10, wherein the left cylinder assembly comprises a left cylinder 8 and a left piston rod 12 which is movably connected to the left cylinder 8, and the right cylinder assembly comprises a right cylinder 9 and a right piston rod 14 which is movably connected to the right cylinder 9.

[0054] In this embodiment, the structures and sizes of the left and right cylinder assemblies are the same. Figure 6 A schematic diagram of the structure of the left cylinder assembly is shown.

[0055] The left end of the left piston rod 12 is connected to the left piston part 11 which can be closely attached to the inner wall of the left cylinder 8, and the left piston part 11 divides the inner cavity of the left cylinder 8 into a left cavity space 1 25 and a left cavity space 2 26; the right end of the right piston rod 14 is connected to the right piston part 13 which can be closely attached to the inner wall of the right cylinder 9, and the right piston part 13 divides the inner cavity of the right cylinder 9 into a right cavity space 1 27 and a right cavity space 2 28; the left cavity space 1 25 and the right cavity space 1 27 are both located on the front side of the piston part, and the left cavity space 2 26 and the right cavity space 2 28 are both located on the rear side of the piston part.

[0056] The left piston rod 12 is provided with a left air channel 1 34 and a left air channel 2 35 with both ends connected. The left end of the left air channel 1 34 passes through the left end of the left piston rod 12 and is connected with the left cavity space 1 25. The left end of the left air channel 2 35 is located on the outer wall of the left piston rod 12 on the rear side of the left movable end portion 11 and is connected with the left cavity space 2 26.

[0057] The right piston rod 14 is provided with a right airway 1 36 and a right airway 2 37 with both ends connected. The right end of the right airway 1 36 passes through the right end of the right piston rod 14 and is connected with the right cavity space 1 27. The right end of the right airway 2 37 is located on the outer wall of the right piston rod 14 on the rear side of the right movable end portion 13 and is connected with the right cavity space 2 28.

[0058] The right end of the left piston rod 12 and the left end of the right piston rod 14 are respectively connected to the ventilation block 10. In this embodiment, the right end of the left piston rod 12 and the right piston rod 14 have the same structure. Figure 11-12 Schematic diagram of the structure of the left piston rod 12. As shown in the figure, a protruding end 47 and a sealing ring installation groove 48 are provided on the outer wall of the right end of the piston rod 12, and the right vent holes of the left airway 1 34 and the left airway 2 35 are both provided between the protruding end 47 and the sealing ring installation groove 48. When the left piston rod 12 is connected to the ventilation block 10, its right end sleeve is embedded in the connecting groove 38, and the depth of the right end of the left piston rod 12 embedded in the connecting groove 38 can be controlled by the raised end 47, which plays a positioning role, so that the right ventilation holes of the left air channel 1 34 and the left air channel 2 35 are accurately docked with the ventilation channel 1 39 and the ventilation channel 2 40, and after embedding, a matching pressure plate can be installed on the outside of the raised end 47 to strengthen the tightness between the right end of the left piston rod 12 and the ventilation block 10; an annular sealing ring can be inserted into the sealing ring installation groove 48 to achieve a sealing effect, while increasing the friction between the left piston rod 12 and the inner wall of the connecting groove 38 to prevent the left piston rod 12 from radially rotating or loosening after connection.

[0059] In this embodiment, the ventilation block 10 is in the shape of a block, and a ventilation channel 1 39 and a ventilation channel 2 40 are provided in the block, and the ventilation ports at the upper ends of the ventilation channel 1 39 and the ventilation channel 2 40 are provided at the connection between the piston rod and the ventilation block 10; the lower ends of the ventilation channel 1 39 and the ventilation channel 2 40 penetrate the outer wall of the ventilation block 10;

[0060] In this embodiment, the ventilation channel 1 39 is simultaneously connected with the right end of the left air channel 1 34 and the left end of the right air channel 1 36, and an air path is formed between the left cavity space 1 25, the left air channel 1 34, the right cavity space 1 27, the right air channel 1 36 and the ventilation channel 1 39; the ventilation channel 2 40 is simultaneously connected with the right end of the left air channel 2 35 and the left end of the right air channel 2 37, and an air path is formed between the left cavity space 2 26, the left air channel 2 35, the right cavity space 2 28, the right air channel 2 37 and the ventilation channel 2 40;

[0061] When clamping the workpiece, air is injected into the ventilation channel 40, and the air enters the left air channel 2 35 and the right air channel 2 37 through the passage air channel 2, and finally enters the left cavity space 2 26 and the right cavity space 2 28 respectively; the air pressure in the left cavity space 26 and the right cavity space 2 28 increases at the same time, respectively prompting the left cylinder 8 and the right cylinder 9 to move synchronously toward the ventilation block 10, and at the same time, the air in the left cavity space 1 25 and the right cavity space 1 27 is squeezed and respectively flows into the ventilation channel 1 39 through the left air channel 1 34 and the right air channel 1 36, and finally withdrawn, realizing the synchronous centering movement of the left and right cylinders 9, and driving the clamping jaws 1 respectively installed on the outside of the two cylinders to perform synchronous centering movement, completing the workpiece clamping operation. When the ventilation channel 1 39 is used for air injection and the ventilation channel 2 40 is used for air extraction, the two clamping jaws 1 can be separated, thereby realizing the operation of loosening the clamped workpiece.

[0062] Preferably, the right side of the left piston rod 12 and the left side of the right piston rod 14 are connected to the ventilation block 10 through a connecting groove 38 provided on the ventilation block 10; in the present embodiment, the left and right piston rods 14 are both cylindrical, and the connecting groove 38 is a cylindrical shape that passes through the left and right sides of the ventilation block 10; when connected, the right side of the left piston rod 12 and the left side of the right piston rod 14 are embedded in the connecting groove 38, which can enhance the connection strength between the piston rod and the ventilation block 10, and at the same time facilitate the connection of the ventilation hole at one end of the piston rod with the ventilation hole of the ventilation channel located on the inner wall of the connecting groove 38, which has a simple structure and better airtightness.

[0063] Preferably, a gear assembly is also included. Figure 7-8 As shown, the gear assembly includes two parallel first racks 29, a second rack 30, and a gear 31 fixed to the bottom of the ventilation block 10 through a connecting block and located between the two racks; the left end of the first rack 29 is fixedly connected to the bottom of the right cylinder 9, and the left end of the second rack 30 is fixedly connected to the bottom of the left cylinder 8; the first rack 29 and the second rack 30 are parallel to each other and parallel to the piston rod, and a gear 31 is also provided between the first rack 29 and the second rack 30, and the upper end of the gear 31 is fixed to the lower side of the ventilation block 10 through a connecting piece. During operation, the teeth provided on one side of the first rack 29 and the second rack 30 toward the gear 31 are engaged with the gear 31, and the axial movement of the gear 31 promotes the rack to drive the cylinder to move, thereby enhancing the force in the direction of cylinder movement, making the cylinder operation more labor-saving and smooth.

[0064] In this embodiment, the ventilation channel 1 39 is provided with two ventilation holes on the inner wall of the connecting groove 38, namely, ventilation hole 1 41 and ventilation hole 2 42, and the ventilation channel 2 40 is provided with a ventilation hole 3 43 on the inner wall of the connecting groove 38. Two ventilation branch channels are formed in the ventilation channel 1 39, and the two ventilation branch channels intersect with the main ventilation channel of the ventilation channel 1 39 at the channel bifurcation 44, and the other ends thereof extend to the inner wall of the connecting groove 38 to form ventilation hole 1 41 and ventilation hole 2 42 respectively. When connected, ventilation hole 1 41 is connected with the left airway 1 34, ventilation hole 2 42 is connected with the right airway 1 36, and ventilation hole 3 43 is connected with the left airway 2 35 and the right airway 2 37 at the same time. Figure 13-14 The establishment of ventilation channels can flexibly control the speed of air injection and extraction.

[0065] Preferably, it also includes a shell, which includes a bottom plate 2 and a side plate. Figure 9-10 As shown, in this embodiment, the side panels include side panel 1 3, side panel 2 4, side panel 3 5 and side panel 4 6. Side panel 1 3, side panel 2 4, side panel 3 5, side panel 4 6 and bottom plate 2 together form a concave shell cavity that can accommodate the cylinder assembly and the ventilation block 10. In this embodiment, the shell cavity is a rectangular parallelepiped, and the left and right groups of cylinder assemblies and the ventilation block 10 are placed in the shell cavity, which are shielded by four side panels on all sides, and the bottom of the ventilation block 10 is directly connected to the upper side of the bottom plate 2 or through a connecting block. Through the above-mentioned shell, the cylinder assembly and the ventilation block 10 can be prevented from being exposed to the outside, and their peripheries are shielded by the bottom plate 2 and the side panels, which can reduce the probability of accidental collision damage or the entry of dust, stains and moisture, thereby improving the service life of the drive mechanism.

[0066] When connected, the bottom of the ventilation block 10 is fixed to the upper side of the bottom plate 2 through the connecting block, and the lower ends of the ventilation channel 1 39 and the ventilation channel 2 40 pass through the bottom of the ventilation block 10, and are respectively connected with the bottom plate ventilation hole 1 45 and the bottom plate ventilation hole 2 46 on the side of the bottom plate 2 through the channel in the bottom connecting block. When in use, air is injected into the ventilation channel 1 39 or the ventilation channel 2 40 from the bottom plate ventilation hole 1 45 and the bottom plate ventilation hole 2 46.

[0067] Preferably, a slide rail 15 and a slide rail 20 are respectively arranged on the inner side of the side plate 1 3 and the side plate 2 4, and the slide rail 15 and the slide rail 2 20 are parallel to the movement direction of the piston rod and are distributed on the symmetrical sides of the cylinder; the slide rail 15 is slidably connected with a slider 16, a slider 2 17, a slider 3 18 and a slider 4 19, and the slide rail 2 20 is slidably connected with a slider 5 21, a slider 6 22, a slider 7 23 and a slider 8 24; the slider 1 16 and the slider 2 17 are connected to one side of the left cylinder 8, and the slider 5 21 and the slider 6 22 are connected to the other symmetrical side of the left cylinder 8; the slider 3 18 and the slider 4 19 are connected to one side of the right cylinder 9, and the slider 7 23 and the slider 8 24 are connected to the other symmetrical side of the right cylinder 9. When the left and right cylinders 9 move, the left and right sides thereof will move along the slide rails under the action of the sliders, which can reduce the resistance during the movement and make the cylinders move more smoothly. At the same time, in the present embodiment, slide rail 1 15 and slide rail 2 20 are fixedly connected to the inner wall of the side panel at the side, and the cylinder assembly is connected to the slide rail through each slider, which can increase the connection surface between the cylinder assembly and the outer shell, and enhance the connection strength between the cylinder assembly and the outer shell; at the same time, the two sliders on both sides of each cylinder are symmetrically distributed, and the spacing between the two sliders on the same side plus the sum of the widths of the two sliders is equivalent to the length of the cylinder side wall, so that it can withstand the torque generated by a larger clamping force, and can enable the product to be used in situations where a larger clamping force and a longer clamping arm are required.

[0068] Preferably, a guide wheel 1 is provided between the first rack 29 and the first side plate on the upper side of the bottom plate 2, and a guide wheel 2 is provided between the second rack 30 and the second side plate; the tire surfaces of the two guide wheels are close to the side walls of the racks. When the two cylinders move synchronously, the two racks are placed between the two guide wheels, the smooth side of the first rack 29 runs close to the tire surface of the first guide wheel 32, and the smooth side of the second rack 30 runs close to the tire surface of the second guide wheel 33; the two guide wheels can effectively guide the two racks to run on a fixed track between the guide wheels and the gear 31, thereby improving the stability of the cylinder running track.

[0069] Preferably, the housing further comprises a cover plate 7 , which is connected to the side plate and covers the upper side of the ventilation block 10 .

[0070] Preferably, the outer sides of the left and right cylinders are also respectively connected with dustproof plates 1 and 2 which can shuttle under the cover plate 7. Dustproof plate 1 is connected to the right side of the upper end of the left cylinder 8, and dustproof plate 2 is connected to the left side of the upper end of the right cylinder 9.

[0071] The provision of the cover plate 7 and the dustproof plate can reduce the probability of accidental collision damage or the entry of dust, stains and moisture, thereby increasing the service life of the drive mechanism.

[0072] Preferably, the left piston portion 11 and the right piston portion 13 are both elliptical in shape. Under the same height dimension, the width direction space is utilized, and the cross-sectional area of ​​the piston is increased compared with a circular piston, so that a greater driving force can be provided.

[0073] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0074] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A driving mechanism for a pneumatic gripper, characterized in that: It includes a ventilation block and two groups of cylinder assemblies which are on the same straight line and symmetrically distributed on both sides of the ventilation block; Each group of cylinder components comprises a cylinder and a piston rod movably connected to the cylinder, one end of the piston rod in the cylinder is provided with a piston part closely attached to the inner wall of the cylinder, and the other end of the piston rod outside the cylinder is connected to the ventilation block; the piston part divides the inner cavity of the cylinder into a cavity space 1 and a cavity space 2 which are independent of each other; an airway 1 and an airway 2 which are connected at both ends are provided inside the piston rod; one end of the airway 1 is connected with the cavity space 1, and the other end thereof is located at the connection between the piston rod and the ventilation block; one end of the airway 2 is connected with the cavity space 2, and the other end thereof is located at the connection between the piston rod and the ventilation block; The ventilation block is provided with ventilation passage 1 and ventilation passage 2 which are connected at both ends and are independent of each other. One end of the ventilation passage 1 and ventilation passage 2 is arranged at the connection between the piston rod and the ventilation block; the other end of the ventilation passage 1 and ventilation passage 2 passes through the outer wall of the ventilation block; One end of the ventilation channel 1 is mutually connected with two air channels 1 on different piston rods in the two groups of cylinder assemblies, and one end of the ventilation channel 2 is mutually connected with two air channels 2 on different piston rods in the two groups of cylinder assemblies.

2. A driving mechanism for a pneumatic gripper according to claim 1, characterized in that: The ventilation block is provided with a connecting groove for connecting the end of the piston rod, and the ventilation openings at one end of the ventilation passage 1 and the ventilation passage 2 are arranged on the inner wall of the connecting groove.

3. A driving mechanism for a pneumatic gripper according to claim 2, characterized in that: The piston rod is cylindrical, and the connecting groove is hollow cylindrical.

4. A driving mechanism for a pneumatic gripper according to claim 3, characterized in that: It also includes a gear assembly; the gear assembly includes two parallel distributed racks and a gear located between the two racks, and the gear is fixed to the bottom of the ventilation block or fixed to the bottom of the ventilation block through a connecting piece; one end of the two racks is respectively connected to the bottom of the two cylinders, and each rack is provided with a tooth portion that can be embedded with the gear on one side facing the gear.

5. A driving mechanism for a pneumatic gripper according to claim 4, characterized in that: It also includes a shell, which includes a bottom plate and side plates, which together form a concave shell cavity that can accommodate the cylinder assembly and the ventilation block; the bottom of the ventilation block is directly or through a connecting block connected to the upper side of the bottom plate.

6. A driving mechanism for a pneumatic gripper according to claim 5, characterized in that: Two slide rails are arranged on the inner side of the side plate, and the two slide rails are parallel to the movement direction of the piston rod and are distributed on the symmetrical sides of the cylinder; a plurality of slide blocks are respectively connected to the symmetrical sides of each cylinder, and one side of the slide block is slidably connected to the slide rail.

7. A driving mechanism for a pneumatic gripper according to claim 6, characterized in that: A guide wheel is respectively arranged on the bottom plate between the two racks and the adjacent side plates, and the tire surface of the guide wheel is close to the side wall of the rack.

8. The driving mechanism of a pneumatic gripper according to claim 7, characterized in that: The shell also includes a cover plate, which is connected to the side plate and covers the upper side of the ventilation block.

9. A driving mechanism for a pneumatic gripper according to claim 8, characterized in that: The outer side of each cylinder is also connected with a dustproof plate which can shuttle and move under the cover plate, and the dustproof plate covers one side of the piston rod.

10. A driving mechanism for a pneumatic gripper according to claim 9, characterized in that: The cylinder is a cube, and the shell cavity is a rectangular parallelepiped.

11. A driving mechanism for a pneumatic gripper according to any one of claims 1 to 10, characterized in that: The piston portion is oval in shape.

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