A force multiplier pneumatic gripper

Abstract

The application relates to a force-amplifying pneumatic clamping jaw, which comprises multiple unit air cylinders, a tail cover, an end cover, a driving rod, a first clamping jaw and a second clamping jaw, the cylinder body and the end cover of each unit air cylinder are provided with first air holes, the piston body of each unit air cylinder is provided with a second air hole; the end cover is provided with a third air hole, one end of the third air hole is communicated with a second air nozzle, and the other end is communicated with the rod cavity of the unit air cylinder closest to the end cover, the cylinder body of each unit air cylinder except the unit air cylinder closest to the end cover is provided with a fourth air hole, one end of the fourth air hole is communicated with the rod cavity of the unit air cylinder, and the other end is communicated with the atmosphere. The application rearranges the air inlet and outlet channels, only has a slight impact on the workpiece once when performing the clamping action, presents a stable clamping phenomenon, and has small vibration; meanwhile, the clamping force is rapidly increased from small; when performing the opening action, a stable opening phenomenon is presented, vibration and noise can be reduced.

Description

Technical Field

[0001] This application relates to the field of pneumatic gripper technology, and in particular to a force-multiplying pneumatic gripper. Background Technology

[0002] The existing multi-force pneumatic gripper is composed of several stacked unit cylinders, which can provide a very large clamping force. Specifically, it includes multiple unit cylinders, a tail cover, an end cover, a drive rod, a first gripper, and a second gripper. The multiple unit cylinders are axially stacked between the tail cover and the end cover. The end cover is also provided with a first air nozzle and a second air nozzle. The first gripper and the second gripper are radially slidably disposed on the end cover. The drive rod is axially slidably disposed on the end cover. Each unit cylinder includes a cylinder body and a piston body. The piston body of the unit cylinder closest to the end cover is directly fixedly connected to the drive rod. The drive rod is used to drive the first gripper and the second gripper to clamp and separate.

[0003] In existing pneumatic grippers, high-pressure gas enters the rodless chamber of the unit cylinder sequentially from the first nozzle. From a microscopic perspective, during clamping, the high-pressure gas enters the rodless chamber from the front to the rear. The foremost piston moves upward first, driving the first and second grippers to clamp the workpiece. Then, the secondary piston moves upward, impacting the foremost piston, and so on. All the rear pistons impact the foremost pistons, causing multiple micro-vibrations in the first and second grippers. This is not ideal for the workpiece, easily damaging the first and second grippers, and also resulting in significant wear and tear on the entire pneumatic gripper, shortening its lifespan. During opening, high-pressure gas enters from the second nozzle and then flows into the rod chamber of each unit cylinder, pushing the piston backward, which in turn pushes the drive rod backward. The drive rod then separates the first and second grippers. The problem with this intake method is that high-pressure gas enters the rod chamber of each unit cylinder almost simultaneously. However, the pistons of each unit cylinder need to overcome friction to move. From a microscopic perspective, the piston at the rear end has the least friction (another reason is that if the rear piston doesn't move, the front piston can't move either), so it moves first. Then, the other pistons move sequentially from the rear to the front, eventually driving the drive rod to retract. The drive rod then causes the first and second grippers to separate. The entire release process is slow, so the front piston will impact the rear piston. Multiple impacts will also generate micro-vibrations, affecting the service life of each component and causing excessive noise. At the same time, the screws connecting the tail cap to each unit cylinder bear the sum of the thrust of all the unit cylinders, increasing the risk of the connecting screws breaking. Summary of the Invention

[0004] To address the technical problem that existing pneumatic grippers with multi-force action involve multiple impacts, generating micro-vibrations that affect the service life of various components and result in excessive noise, this invention provides a multi-force pneumatic gripper.

[0005] This application provides a pneumatic gripper with the following technical solution: A pneumatic gripper includes multiple unit cylinders, a tail cover, an end cover, a drive rod, a first gripper, and a second gripper. The multiple unit cylinders are axially stacked between the tail cover and the end cover. The end cover is also provided with a first air nozzle and a second air nozzle. The first and second grippers are radially slidably disposed on the end cover. The drive rod is axially slidably disposed on the end cover. Each unit cylinder includes a cylinder body and a piston body. The piston body of the unit cylinder closest to the end cover is directly fixedly connected to the drive rod. The drive rod is used to drive the first and second grippers to clamp and separate. Each unit cylinder's cylinder body and end cover are provided with a first vent hole. The first vent holes are... The cylinders are interconnected to form a first air passage. One end of the first air passage is connected to the first air nozzle, and the other end is connected to the rodless chamber of the unit cylinder closest to the tail cover. Each unit cylinder has a second vent hole in its piston body. The second vent holes are interconnected to form a second air passage. A vent groove is also provided between the piston bodies of adjacent unit cylinders to enable communication between the rodless chamber of the unit cylinder and the second air passage. The end cover has a third vent hole. One end of the third vent hole is connected to the second air nozzle, and the other end is connected to the rod chamber of the unit cylinder closest to the end cover. Each unit cylinder except the one closest to the end cover has a fourth vent hole in its cylinder body. One end of the fourth vent hole is connected to the rod chamber of the unit cylinder, and the other end is connected to the atmosphere.

[0006] By adopting the above technical solution, this application redesigns the air inlet and outlet channels. During the clamping action, high-pressure gas enters from the first nozzle, passes through the first air passage, and first enters the rodless chamber of the last unit cylinder. Then it enters the second air passage, passes through the ventilation groove, and then simultaneously enters the rodless chambers of the other unit cylinders. Therefore, the rodless chamber of the last unit cylinder is filled with high-pressure gas first. Moreover, the rodless chamber of this unit cylinder has a large area, which can overcome the frictional force of multiple pistons stacked together, and push all the pistons in front forward synchronously with a relatively smooth motion. In this way, the drive rod drives the first and second grippers to clamp, resulting in only a slight impact on the workpiece, with little vibration and low overall noise. At the same time, the clamping force increases rapidly from small to large. Then, the rodless chambers of each unit cylinder are gradually filled. The thrust of the multiplier cylinder is equivalent to the sum of the thrusts of all unit cylinders. Therefore, the first and second grippers can provide a very large clamping force. During the increase of the clamping force, there will be no multiple vibrations, resulting in a smooth clamping phenomenon, which can improve the service life of each unit cylinder, the first gripper, and the second gripper. At the same time, the gas in the rod chamber of each unit cylinder naturally escapes from the third and fourth vent holes, without affecting the movement of the piston body.

[0007] During the opening action, high-pressure gas enters through the second nozzle, passes through the third channel, and enters the rod chamber of the foremost unit cylinder, pushing all pistons backward to achieve a smooth opening. There is no impact between the pistons, reducing vibration and noise. Simultaneously, the screws connecting the tail cap to each unit cylinder only bear the thrust of a single cylinder, minimizing the risk of screw breakage. Furthermore, the high-pressure gas only needs to fill the foremost unit cylinder, rapidly reaching maximum pressure for instantaneous opening. At the same time, the gas in the rodless chambers of each unit cylinder escapes through the vent groove, the second channel, and the first channel, finally exiting through the first nozzle without affecting the piston movement.

[0008] Preferably, the cylinder body and end cover of the unit cylinder closest to the end cover are integrally machined.

[0009] By adopting the above technical solutions, the number of parts and assembly steps can be reduced.

[0010] Preferably, the outer end of the fourth vent is provided with an air plug for dust prevention, and the air plug has a micro vent hole on its side or in the center.

[0011] By adopting the above technical solution, the air plug can largely prevent dust from entering the rod chamber of the unit cylinder, and the micro vent hole can ensure that the air plug does not affect the airflow, thereby improving the overall service life.

[0012] Preferably, each unit cylinder other than the one closest to the end cap is provided with a fifth vent hole on its cylinder body. The fifth vent hole is used to connect with the fourth vent hole of each unit cylinder. The outer end of the fourth vent hole is provided with an air plug for dust prevention. Only one of the multiple fourth vent holes is allowed to communicate with the atmosphere.

[0013] By adopting the above technical solution, which connects all the exhaust and intake channels into one, leaving only a fourth vent to communicate with the atmosphere, dust is largely prevented from entering the rod chamber of the unit cylinder, and airflow noise is also reduced.

[0014] Preferably, a magnetic ring is fixedly mounted on the piston body of one of the unit cylinders, and a magnetic switch mounting groove is provided on the outer wall of the cylinder body corresponding to the unit cylinder.

[0015] By adopting the above technical solution, the magnetic ring will move synchronously with the piston body, and the status of the power-operated pneumatic gripper, whether it is in a clamped state or an open state, can be known through an external magnetic switch.

[0016] Preferably, the tail end of the magnetic ring is provided with a buffer pad.

[0017] Preferably, the piston body is further provided with a buffer pad at its tail end, and the end cap is also provided with a buffer pad at its tail end.

[0018] By adopting the above technical solution, the impact force between moving parts can be reduced during the movement of the power-operated pneumatic gripper, and noise reduction effect is also achieved.

[0019] Preferably, a sealing ring is provided between the piston body and the cylinder body of the unit cylinder, and a sealing ring is also provided between the cylinder bodies of adjacent unit cylinders, and they are fixedly connected by screws.

[0020] By adopting the above technical solution, it is possible to ensure that the entire power-operated pneumatic gripper maintains the necessary seal and does not leak air.

[0021] Preferably, the drive rod has inclined tops on both sides, and the first and second grippers have corresponding inclined grooves. The inclined tops are embedded in the inclined grooves, and the axial movement of the drive rod drives the radial movement of the first and second grippers.

[0022] By adopting the above technical solution, the axial movement of the drive rod is converted into the radial movement of the first and second grippers by utilizing the cooperation relationship between the inclined slots, and the thrust of the multiplier cylinder is also converted into the clamping force of the first and second grippers.

[0023] Preferably, the outer end face of the end cap is further provided with a limiting piece for controlling the inner limit position of the first gripper and the second gripper.

[0024] By adopting the above technical solution, in order to avoid excessive clamping force and adverse effects on the workpiece, this application uses a limiting piece to limit the inner limit position of the first and second jaws, which can effectively prevent the workpiece from being excessively squeezed and deformed.

[0025] In summary, this application includes at least one of the following beneficial technical effects:

[0026] 1. This application redesigns the air inlet and outlet channels. During clamping, there is only one slight impact on the workpiece, resulting in minimal vibration and overall noise. The clamping force increases rapidly from a small value. During opening, the opening is smooth, with no impact between the pistons, further reducing vibration and noise. The screws connecting the tail cap to each unit cylinder only bear the thrust of a single unit cylinder, reducing the risk of screw breakage. High-pressure gas only needs to fill the frontmost unit cylinder, rapidly reaching maximum pressure for instantaneous opening.

[0027] 2. The air plug can largely prevent dust from entering the rod chamber of the unit cylinder, and the miniature vent hole ensures that the air plug does not affect the airflow, thereby improving the overall service life.

[0028] 3. This application uses limiting plates to limit the inner limit positions of the first and second grippers, which can effectively prevent the workpiece from being excessively squeezed and deformed. Attached Figure Description

[0029] Figure 1 A perspective view of the force-multiplying pneumatic gripper described in Embodiment 1 of this application is shown;

[0030] Figure 2 A top view of the force-multiplying pneumatic gripper described in Embodiment 1 of this application is shown;

[0031] Figure 3 It is illustrated Figure 2 Sectional view along the AA direction;

[0032] Figure 4 It is illustrated Figure 2 Cross-sectional view of the middle section (clamping action);

[0033] Figure 5 It is illustrated Figure 2 Cross-sectional view along the CC direction (clamping action);

[0034] Figure 6 It is illustrated Figure 2 Central CC-direction cross-section (opening action);

[0035] Figure 7 It is illustrated Figure 2 BB-directed cross-sectional view (opening action);

[0036] Figure 8 A partially exploded structural diagram of the force-multiplying pneumatic gripper described in Embodiment 1 of this application is shown;

[0037] Figure 9 A schematic diagram illustrating the engagement relationship between the drive rod, the first gripper, and the second gripper as described in Embodiment 1 of this application is shown.

[0038] Figure 10 A schematic diagram illustrating the fit relationship between the piston bodies of adjacent unit cylinders in Embodiment 1 of this application is shown.

[0039] Figure 11 A schematic diagram illustrating the engagement state of the piston bodies of adjacent unit cylinders in Embodiment 1 of this application is shown.

[0040] Figure 12 A cross-sectional view of the force-multiplying pneumatic gripper described in Embodiment 2 of this application is shown;

[0041] Figure 13 A schematic diagram of the structure of the air plug described in Embodiment 2 of this application is illustrated;

[0042] Figure 14 A cross-sectional view of the force-multiplying pneumatic gripper described in Embodiment 3 of this application is shown.

[0043] Explanation of reference numerals in the attached drawings: 100, unit cylinder; 1, cylinder body; 1A, magnetic switch mounting slot; 2, piston body; 21, vent groove; 3, first vent hole; 3A, first air passage; 4, second vent hole; 4A, second air passage; 5, third vent hole; 6, fourth vent hole; 7, air plug; 71, miniature vent hole; 8, fifth vent hole; 9, magnetic ring; 10, buffer pad; 11, sealing ring; 12, screw; 200, tail cap; 300, end cap; 301, first air nozzle; 302, second air nozzle; 303, limiting plate; 400, drive rod; 401, inclined top; 500, first gripper; 600, second gripper; 601, inclined groove. Detailed Implementation

[0044] The following is in conjunction with the appendix Figure 1-14 This application will be described in further detail.

[0045] Example 1:

[0046] Reference Figures 1 to 5 This application discloses a multiplier pneumatic gripper, including multiple unit cylinders 100, a tail cover 200, an end cover 300, a drive rod 400, a first gripper 500, and a second gripper 600. The multiple unit cylinders 100 are axially stacked between the tail cover 200 and the end cover 300. The end cover 300 is also provided with a first air nozzle 301 and a second air nozzle 302. The first gripper 500 and the second gripper 600 are radially slidably disposed on the end cover 300. The drive rod 400 is axially slidably disposed on the end cover 300. Each unit cylinder 100 includes a cylinder body 1 and a piston body 2. The piston body 2 of the unit cylinder closest to the end cover 300 is directly fixedly connected to the drive rod 400. The drive rod 400 is used to drive the first gripper 500 and the second gripper 600 to clamp and separate. Each unit cylinder's cylinder body 1 and end cover 300 are provided with... The first vent 3 is interconnected to form a first air passage 3A. One end of the first air passage 3A is connected to the first air nozzle 301, and the other end is connected to the rodless chamber of the unit cylinder closest to the tail cover 200. Each unit cylinder piston body 2 is provided with a second vent 4, which is interconnected to form a second air passage 4A. A ventilation groove 21 is also provided between the piston bodies 2 of adjacent unit cylinders to realize the connection between the rodless chamber of the unit cylinder and the second air passage 4A. The end cover 300 is provided with a third vent 5, one end of which is connected to the second air nozzle 302, and the other end is connected to the rod chamber of the unit cylinder closest to the end cover 300. Except for the unit cylinder closest to the end cover 300, each unit cylinder body 1 is provided with a fourth vent 6, one end of which is connected to the rod chamber of the unit cylinder, and the other end is connected to the atmosphere.

[0047] Reference Figure 4The cylinder body 1 of the unit cylinder closest to the end cover 300 and the end cover 300 are integrally machined, which can reduce the number of parts and assembly steps.

[0048] Reference Figure 3 One of the unit cylinders 100 (the second one from the front) has a magnetic ring 9 fixedly mounted on its piston body 2, and a magnetic switch mounting groove 1A is provided on the outer wall of the corresponding unit cylinder body 1. The magnetic ring 9 moves synchronously with the piston body 2, and the status of the multiplier pneumatic gripper, whether it is in a clamping state or an open state, can be known through an external magnetic switch.

[0049] Reference Figure 3 The magnetic ring 9 has a buffer pad 10 at its tail end; the piston body 2 has a buffer pad 10 at its tail end; and the end cap 300 also has a buffer pad 10 at its tail end. During the movement of the pneumatic gripper, this reduces the impact force between moving parts and also has a noise reduction effect.

[0050] Reference Figure 3 A sealing ring 11 is provided between the piston body 2 and the cylinder body 1 of the unit cylinder, and a sealing ring is also provided between the cylinder bodies 1 of adjacent unit cylinders. The cylinder bodies 1 are fixedly connected by screws 12. This is to ensure that the entire power-operated pneumatic gripper maintains the necessary seal and does not leak air.

[0051] Reference Figure 8 and Figure 9 The drive rod 400 has inclined tops 401 on both sides, and the first gripper 500 and the second gripper 600 have corresponding inclined grooves 601. The inclined tops 401 are embedded in the inclined grooves 601. The axial movement of the drive rod 400 drives the radial movement of the first gripper 500 and the second gripper 600. By utilizing the cooperation between the inclined grooves 601, the axial movement of the drive rod 400 is converted into the radial movement of the first gripper 500 and the second gripper 600, and the thrust of the multiplier cylinder is also converted into the clamping force of the first gripper 500 and the second gripper 600.

[0052] Reference Figure 1 The outer end face of the end cap 300 is also fixedly provided with a limiting piece 303, which is used to control the inner limit position of the first gripper 500 and the second gripper 600. In order to avoid excessive clamping force and adverse effects on the workpiece, this application uses the limiting piece 303 to limit the inner limit position of the first gripper 500 and the second gripper 600, which can effectively prevent the workpiece from being excessively squeezed and deformed.

[0053] The implementation principle of this application is as follows: This application redesigns the air inlet and outlet channels, and during the clamping action, refers to... Figure 4High-pressure gas enters through the first nozzle 301, passes through the first air passage 3A, first enters the rodless chamber of the last unit cylinder, then enters the second air passage 4A, passes through the venting groove 21, and then simultaneously enters the rodless chambers of the other unit cylinders (see details). Figure 10 and Figure 11 (Specific structure of the central ventilation groove 21), so the rodless chamber of the last unit cylinder is filled with high-pressure gas first, and the area of ​​the rodless chamber of this unit cylinder is relatively large, which can overcome the friction of multiple piston bodies 2 stacked together, and push all the piston bodies 2 in front to move forward synchronously relatively smoothly. In this way, the drive rod 400 drives the first gripper 500 and the second gripper 600 to clamp, with only one slight impact on the workpiece, small vibration, and low overall noise. At the same time, the clamping force increases rapidly from small to large. Then the rodless chambers of each unit cylinder are gradually filled, and the thrust of the multiplier cylinder is equivalent to the sum of the thrust of all unit cylinders. Therefore, the first gripper 500 and the second gripper 600 can provide a very large clamping force. There will be no multiple vibrations during the increase of the clamping force, presenting a stable clamping phenomenon, which can improve the service life of each unit cylinder, the first gripper 500 and the second gripper 600. At the same time, refer to Figure 5 The gas in the rod chamber of each unit cylinder naturally escapes from the third vent hole 5 and the fourth vent hole 6, without affecting the movement of the piston body 2.

[0054] When performing the opening action, refer to Figure 6 High-pressure gas enters through the second nozzle 302 and then through the third channel into the rod chamber of the foremost unit cylinder, pushing all pistons 2 backward, resulting in a smooth opening. There is no impact between the pistons 2, reducing vibration and noise. Simultaneously, the screws connecting the tail cap 200 to each unit cylinder 100 only bear the thrust of a single unit cylinder 100, reducing the risk of screw breakage. Furthermore, the high-pressure gas only needs to fill the foremost unit cylinder, rapidly reaching maximum pressure for instantaneous opening. Meanwhile, referring to… Figure 7 The gas in the rodless chamber of each unit cylinder escapes through the venting groove 21, the second channel and the first channel, and finally from the first air nozzle 301, without affecting the movement of the piston body 2.

[0055] Example 2:

[0056] Reference Figure 12 and Figure 13 The difference from Embodiment 1 is that the outer end of the fourth vent 6 is provided with a dust-blocking air plug 7, and the air plug 7 has a micro vent hole 71 on its side or center. The air plug 7 can largely prevent dust from entering the rod chamber of the unit cylinder 100, and the micro vent hole 71 ensures that the air plug 7 does not affect the airflow, thereby improving the overall service life. The air plug 7 can generally be made of screws.

[0057] Example 3:

[0058] Reference Figure 14 The difference from Embodiment 1 is that, except for the unit cylinder closest to the end cover 300, each unit cylinder 1 is also provided with a fifth vent hole 8. The fifth vent hole 8 is used to connect to the fourth vent hole 6 of each unit cylinder. The outer end of the fourth vent hole 6 is provided with a dust-blocking plug 7. Only one of the multiple fourth vent holes 6 is open to the atmosphere. That is, all exhaust and intake channels are connected into one, and only one fourth vent hole 6 is left to communicate with the atmosphere, which also largely avoids dust from entering the rod chamber of the unit cylinder and can also reduce airflow noise.

[0059] The above are all preferred embodiments of this application, and are not intended to limit the scope of protection of this application. Therefore, all equivalent changes made in accordance with the structure, shape and principle of this application should be covered within the scope of protection of this application.

Claims

1. A pneumatic gripper with multiplier force, comprising multiple unit cylinders (100), a tail cover (200), an end cover (300), a drive rod (400), a first gripper (500) and a second gripper (600) located at one end of the drive rod (400) and within the end cover (300), wherein the multiple unit cylinders (100) are axially stacked between the tail cover (200) and the end cover (300), and the end cover (300) is further provided with a first air nozzle (301) and a second air nozzle (302), wherein the first gripper... The first gripper (500) and the second gripper (600) are radially slidably disposed on the end cap (300), and the drive rod (400) is axially slidably disposed on the end cap (300). The unit cylinder (100) includes a cylinder body (1) and a piston body (2). The piston body (2) of the unit cylinder closest to the end cap (300) is directly fixedly connected to the drive rod (400). The drive rod (400) is used to drive the first gripper (500) and the second gripper (600) to clamp and separate. The characteristic feature is that: Both sides of the drive rod (400) are provided with inclined tops (401), and the first jaw (500) and the second jaw (600) are provided with inclined grooves (601). The inclined tops (401) are embedded in the inclined grooves (601). By utilizing the cooperation between the inclined tops (401) and the inclined grooves (601), the axial movement of the drive rod (400) is converted into the radial movement of the first jaw (500) and the second jaw (600). The thrust of the multiplier cylinder is equivalent to the sum of the thrusts of the multiple unit cylinders (100). The thrust of the multiplier cylinder is converted into the clamping force of the first jaw (500) and the second jaw (600). Each unit cylinder (100) has a first vent hole (3) on its cylinder body (1) and end cap (300). The first vent holes (3) are interconnected to form a first air passage (3A). One end of the first air passage (3A) is connected to the first air nozzle (301), and the other end is connected to the rodless chamber of the unit cylinder closest to the tail cap (200). Each unit cylinder (100) has a second vent hole (4) in its piston body (2). The second vent holes (4) are interconnected to form a second air passage (4A). A ventilation groove (21) is also provided between the piston bodies (2) of adjacent unit cylinders to realize the connection between the rodless chamber of the unit cylinder (100) and the second air passage (4A). The end cap (300) is provided with a third vent hole (5). One end of the third vent hole (5) is connected to the second air nozzle (302), and the other end is connected to the rod chamber of the unit cylinder closest to the end cap (300). The cylinder body (1) of each unit cylinder other than the unit cylinder closest to the end cap (300) is provided with a fourth vent hole (6). One end of the fourth vent hole (6) is connected to the rod chamber of the unit cylinder, and the other end is connected to the atmosphere. The outer end of the fourth vent (6) is provided with a dust-proof air plug (7), and the side or center of the air plug (7) is provided with a miniature vent (71); or, except for the unit cylinder closest to the end cover (300), each unit cylinder (100) is provided with a fifth vent (8) on its cylinder body (1), the fifth vent (8) is used to connect the fourth vent (6) of each unit cylinder, the outer end of the fourth vent (6) is provided with a dust-proof air plug (7), and only one of the multiple fourth vents (6) is left to communicate with the atmosphere.

2. The force-multiplying pneumatic gripper according to claim 1, characterized in that, The cylinder body (1) and end cover (300) of the unit cylinder closest to the end cover (300) are integrally machined.

3. The force-multiplying pneumatic gripper according to claim 1, characterized in that, A magnetic ring (9) is fixedly provided on the piston body (2) of one of the unit cylinders (100), and a magnetic switch mounting groove (1A) is provided on the outer wall of the cylinder body (1) of the corresponding unit cylinder (100).

4. The force-multiplying pneumatic gripper according to claim 3, characterized in that, The magnetic ring (9) is provided with a buffer pad (10) at its tail end.

5. The force-multiplying pneumatic gripper according to claim 1, characterized in that, The piston body (2) is also provided with a buffer pad (10) at its tail end, and the end cap (300) is also provided with a buffer pad (10) at its tail end.

6. The force-multiplying pneumatic gripper according to claim 1, characterized in that, A sealing ring (11) is provided between the piston body (2) and the cylinder body (1) of the unit cylinder (100), and a sealing ring (11) is also provided between the cylinder bodies (1) of adjacent unit cylinders (100), and they are fixedly connected by screws (12).

7. The force-multiplying pneumatic gripper according to claim 1, characterized in that, The outer end face of the end cap (300) is also fixedly provided with a limiting piece (303) for controlling the inner limit position of the first gripper (500) and the second gripper (600).

Images