Pneumatic clamping jaw

Abstract

The invention discloses a pneumatic clamping jaw which solves the problems that in the prior art, a pneumatic clamping jaw is insufficient in dustproof sealing performance, abrasion gaps are increased after sliding friction runs for a long time, and clamping repeated positioning precision is affected. The pneumatic clamping jaw comprises a shell, a piston cylinder is arranged on the lower portion of the shell, a horizontal sliding groove is formed in the upper portion of the shell, two sliding blocks are symmetrically arranged in the horizontal sliding groove, clamping jaw bodies are connected to the sliding blocks, a piston is arranged in the piston cylinder, a T-shaped block is connected to the piston, rolling bodies in rolling fit with the sliding blocks are arranged on the T-shaped block, and a reinforced dustproof structure is arranged between the sliding blocks and the shell. The T-shaped block and the sliding block are in rolling fit through the rolling body, traditional sliding friction is converted into rolling friction, motion resistance and energy loss are greatly reduced, piston thrust is more efficiently converted into clamping jaw clamping force, and the clamping and positioning precision is improved; a reinforced dustproof structure is arranged between the sliding block and the shell, multiple sealing barriers are formed, the operation stability of the clamping jaw under the severe working condition is improved, and the maintenance-free period of the clamping jaw under the severe working condition is prolonged.

Description

Technical Field

[0001] This invention relates to the field of clamping device technology, and in particular to a parallel gripper. Background Technology

[0002] Pneumatic grippers, as key actuators in industrial automated production lines, are widely used in machining, assembly, and material handling to achieve rapid clamping and release of workpieces. Their basic principle is to use compressed air to drive a piston, which in turn converts the linear motion into the opening and closing action of the grippers through a transmission mechanism.

[0003] Traditional pneumatic grippers typically employ a basic structure consisting of a housing, cylinder, piston, transmission mechanism, slider, and grippers. The transmission mechanism often utilizes a rack and pinion pair, linkage mechanism, or wedge-slider mechanism, where the reciprocating motion of the piston drives the grippers on both sides to move synchronously in opposite directions along a guide rail, thus completing the gripping action. However, this traditional structure reveals the following technical shortcomings in actual industrial environments: I. Insufficient Dustproof Sealing Performance. Under harsh working conditions such as machining and grinding, contaminants such as metal chips, dust, and coolant can easily penetrate the slider guide rail area. Existing technologies mostly rely on simple sealing rings or single-sided cover plates for protection, which are difficult to form an effective seal. After contaminants enter the slide groove, they will cause increased slider movement resistance, decreased transmission accuracy, and abnormal wear of the guide rail, thereby shortening the service life of the grippers and increasing the frequency of equipment downtime for maintenance. Especially in precision assembly, the intrusion of tiny particles will directly affect the clamping and positioning accuracy, leading to unstable workpiece quality.

[0004] Second, the contradiction between transmission efficiency and structural compactness is prominent. In traditional wedge transmission mechanisms, the slider and transmission components often use sliding friction, resulting in high frictional resistance, low transmission efficiency, and increased wear clearance after long-term operation, affecting the clamping and repeatability accuracy. Although some improved solutions introduce rolling elements to reduce friction, they suffer from problems such as complex structure, difficult assembly, and large axial dimensions, which are not conducive to the miniaturization and integration requirements of modern industrial equipment.

[0005] Third, modular design and insufficient maintenance convenience. Traditional pneumatic grippers typically integrate dustproof and detection components with the main body. When seals age or sensors malfunction, the entire unit must be disassembled for maintenance, which is time-consuming and labor-intensive. Furthermore, the lack of standardized interfaces between functional modules makes it difficult to flexibly configure detection, dustproof, and other functions according to actual working conditions, limiting the product's versatility and maintainability.

[0006] In summary, existing pneumatic gripper technology cannot simultaneously meet the comprehensive performance requirements of high protection level, high precision detection, high transmission efficiency, long service life and easy maintenance. There is an urgent need for a new type of pneumatic gripper solution that is compact, dustproof, reliable and accurate in detection. Summary of the Invention

[0007] To address the shortcomings in the aforementioned background technology, this invention proposes a pneumatic gripper that solves the problems of insufficient dustproof sealing performance, increased wear gaps after long-term operation due to sliding friction, and reduced clamping and repeatability positioning accuracy in existing pneumatic grippers.

[0008] The technical solution of this invention is implemented as follows: A pneumatic gripper includes a housing, a piston cylinder at the lower part of the housing, and a horizontal slide groove at the upper part. Two sliders are symmetrically arranged in the horizontal slide groove, and grippers are connected to the sliders. A piston is provided in the piston cylinder, and a T-shaped block is connected to the piston. A rolling element that rolls with the slider is provided on the T-shaped block. A reinforced dustproof structure is provided between the slider and the housing. The housing integrates the piston cylinder and the horizontal slide groove, modularly integrating pneumatic drive, motion conversion, and guiding functions into a single component. This significantly reduces the overall axial dimension and radial space occupied, facilitating installation and deployment in densely packed automated equipment layouts, while also reducing the number of parts and assembly complexity. The T-block and the slider use rolling contact, which converts traditional sliding friction into rolling friction, significantly reducing motion resistance and energy loss. This allows the piston thrust to be converted into gripper force more efficiently, improving gripping and positioning accuracy. A reinforced dustproof structure is set between the slider and the housing, forming multiple sealing barriers that effectively prevent metal chips, dust, and cutting fluid from entering the groove. This prevents the slider from jamming or abnormally wearing due to foreign objects, improving the stability of the gripper under harsh working conditions and extending the maintenance-free period.

[0009] Further optimization involves toothed grooves on both sides of the horizontal slide, toothed protrusions on both sides of the slider that mate with the toothed grooves, wedge-shaped grooves on the slider that mate with T-shaped blocks, and guide grooves on both sides of the wedge-shaped grooves that mate with the rolling elements. The toothed grooves and toothed protrusions form a precision meshing guide structure, significantly increasing the contact constraint surface between the slider and the slide, effectively suppressing slider deflection and tilting caused by workpiece eccentricity or lateral impact during clamping, ensuring the grippers maintain precise centering movement, and improving operational stability under heavy load conditions.

[0010] Further optimization enhances the dustproof structure by including an L-shaped rubber pad. The long arm of the L-shaped rubber pad has a clearance groove, and baffles are located on both sides of the long arm, fitting against the corresponding sides of the slider. The short arm of the L-shaped rubber pad fits against the outer end of the slider, and toothed pads that mate with the toothed grooves are located on both sides of the short arm. The L-shaped rubber pad, through its long arm wrapping around the top and sides of the slider and its short arm covering the outer end face of the slider, forms a three-dimensional sealing system integrating the top, side, and end faces between the slider and the housing. The baffles on both sides of the long arm directly fit against the sides of the slider, forming the first lateral seal together with the toothed protrusions; the end face of the short arm fits to form the second end seal; and the toothed pads embedded in the toothed grooves form the third labyrinth seal. This three-level barrier works synergistically, significantly increasing the complexity and resistance of dust penetration paths and effectively preventing the intrusion of micron-sized contaminants.

[0011] Further optimized, the long arm of the L-shaped rubber pad is pressed onto the slider by a dustproof top plate, and the short arm of the L-shaped rubber pad is pressed onto the slider by a dustproof side plate. The dustproof side plate has a toothed pressing part that matches the toothed pad. A top cover plate is provided at the top of the housing, corresponding to the middle position of the horizontal slide groove. The mechanical pressing of the L-shaped rubber pad by the dustproof top plate and dustproof side plate ensures that the rubber pad remains stably installed in a pre-compressed state, effectively resisting the loosening or displacement of the seal caused by long-term vibration. Compared with traditional adhesive or embedded seals, mechanical pressing can precisely control the compression amount, ensure uniform distribution of sealing pressure, avoid local overpressure or underpressure, and significantly improve sealing consistency and maintainability. The top cover plate on the top of the housing completely closes the middle opening of the horizontal slide groove, forming a top-side-end fully enclosed sealing cavity of the slide groove together with the L-shaped rubber pad and dustproof side plate, completely blocking the path of contaminants falling vertically from above. This modular, enclosed design facilitates initial assembly and debugging, and allows for quick opening and maintenance without disassembling the gripper body, greatly reducing production line downtime.

[0012] Further optimization involves providing a positioning hole at the outer end of the slider and a positioning dustproof post on the inner side of the short arm of the L-shaped rubber pad, which mates with the positioning hole. The interference fit between the positioning dustproof post and the positioning hole at the outer end of the slider achieves both rapid and precise positioning and installation of the short arm of the L-shaped rubber pad, and forms an additional cylindrical seal at the center of the slider end face. This structure effectively seals any micro-gap that may exist at the end due to the clamp mounting bolt holes, preventing contaminants from seeping into the groove from the center area of ​​the end, compensating for the weaknesses of traditional planar seals, and improving the overall seal integrity.

[0013] Further optimized, the lower part of the slider is provided with a detection groove, which is connected to a vertical detection hole set on the housing. A horizontally positioned ball-type set screw is located within the detection groove, and a sensing block is mounted on the ball-type set screw. A proximity switch sensor is located within the vertical detection hole, and the proximity switch sensor is connected to the housing via a mounting block. The ball-type set screw horizontally fixes the sensing block, and its built-in spring ball structure allows for radial fine-tuning and reliable locking of the sensing block. When the detection position needs to be adjusted, there is no need to disassemble the gripper body; simply tightening or loosening the screw allows the sensing block to be continuously moved within the detection groove. Combined with the proximity switch in the vertical detection hole, the opening and closing limit positions of the gripper can be accurately calibrated. This structure significantly simplifies the debugging process and improves the efficiency of equipment changeover or parameter adjustment.

[0014] Further optimized, the piston cylinder and the horizontal slide groove are connected via a connecting hole. The cylindrical portion of the T-shaped block extends into the piston cylinder through the connecting hole and is connected to the piston via a set screw. A first sealing ring is provided between the cylindrical portion of the T-shaped block and the connecting hole. The first sealing ring, located on the sliding mating surface between the cylindrical portion of the T-shaped block and the connecting hole, directly isolates the high-pressure chamber of the piston cylinder from the normal-pressure zone of the slide groove, preventing air leakage. This sealing structure is specifically designed for the yaw condition of reciprocating motion, automatically compensating for the slight swaying of the T-shaped block caused by lateral forces, balancing sealing performance and movement flexibility.

[0015] Further optimization involves a limiting platform at the bottom of the cylindrical portion of the T-block, which mates with a limiting groove on the piston. A second sealing ring is located between the cylindrical portion of the T-block and the piston, and a third sealing ring is located between the piston and the piston cylinder. The cylinder bore is sealed by a cylinder head plate. The limiting platform at the bottom of the cylindrical portion of the T-block is embedded in the piston limiting groove, achieving circumferential positioning and preventing the T-block from rotating relative to the piston due to loosening of the set screw during operation. This structure provides a unique correct orientation indicator during assembly, eliminating the risk of misassembly. The second, third, and first sealing rings together form a three-stage tandem seal. The second sealing ring acts as a final safety measure, preventing gas from entering the slide groove even if the first sealing ring is abnormally worn. The third sealing ring features a bidirectional lip design, suitable for piston bidirectional pressure conditions, ensuring complete isolation between the high and low pressure chambers. The synergy of these three elements enhances the overall sealing reliability.

[0016] Further optimization involves a magnetic block on the piston, with a limiting groove on the piston facing the magnetic block. A sensor groove is located on the outer wall of the housing near the magnetic block, housing a magnetic switch sensor. The magnetic block on the piston and the magnetic switch sensor on the outer wall of the housing constitute a non-contact position detection system, forming a dual detection loop with the proximity switch sensor on the slider side. The magnetic switch monitors the piston stroke, indirectly determining the status of the gripper's power source; the proximity switch directly monitors the actual position of the slider. Cross-validation of the data from both systems allows for accurate identification of abnormal conditions such as jamming, insufficient air pressure, or mechanical failures, improving the fault diagnosis capability and operational redundancy of the control system.

[0017] Further optimization involves two symmetrical mounting holes on the crossbeam of the T-block, with the rolling elements tumbling within them. Alternatively, two independent mounting holes on the crossbeam of the T-block can be used to form modular rolling element units. When rolling elements need replacement due to long-term wear, the entire T-block can be removed without disassembling it; simply use a special tool to push out the old rolling element from both ends of the mounting hole and press in the new one, significantly reducing maintenance time. The housing has threaded holes that connect to the horizontal slide groove, and waterproof vent valves are installed within these holes to ensure stable internal air pressure. Several vent holes are also provided on the housing, sealed with bolts and sealing rings, enhancing ease of assembly.

[0018] The beneficial effects of this invention are as follows: The T-block and the slider of this invention adopt rolling contact, which converts traditional sliding friction into rolling friction, greatly reducing motion resistance and energy loss, and making the piston thrust more efficiently converted into the clamping force of the gripper, thereby improving the clamping and positioning accuracy; A reinforced dustproof structure is set between the slider and the housing to form multiple sealing barriers, which effectively prevents contaminants such as metal chips, dust and cutting fluid from entering the slide groove, preventing the slider from jamming or abnormal wear due to foreign objects, and improving the operating stability and maintenance-free cycle of the gripper under harsh working conditions.

[0019] This invention strengthens the dustproof structure to construct a highly reliable three-dimensional dustproof system, significantly improving adaptability to harsh working conditions. Through the precise meshing of the slider's toothed protrusions and the horizontal sliding groove's toothed slots, the three-dimensional wrapping of the slider's top / side / end faces by the L-shaped rubber pad, and the interference fit between the toothed pad and the toothed groove, a three-stage tandem dustproof structure is formed: "meshing gap sealing—elastic contact sealing—labyrinth path sealing." This effectively blocks the intrusion of metal chips, dust, and cutting fluid, achieving a protection level of IP67. The clearance groove design on the long arm of the L-shaped rubber pad avoids interference with the rolling element's motion pair, while the positioning dustproof post on its short arm, in conjunction with the slider's positioning hole, eliminates the risk of end-face center penetration. Combined with the mechanical compression of the top plate and the dustproof side plate, the sealing compression can be precisely controlled, preventing seal loosening or fatigue failure caused by high-frequency vibration, ensuring long-term dynamic sealing stability.

[0020] This invention employs a rolling element engagement between the T-block and the slider wedge groove to achieve low-loss transmission through rolling friction, balancing high precision and long lifespan. The rolling element engagement between the T-block and the slider wedge groove converts traditional sliding friction into rolling friction, reducing the coefficient of friction, increasing clamping force under the same air pressure, and accelerating response speed. Simultaneously, the precise constraint of the rolling element within the guide groove prevents uneven wear and movement, ensuring long-term maintenance of micron-level repeatability positioning accuracy; transmission efficiency and precision are improved simultaneously.

[0021] This invention establishes a dual-redundant non-contact detection system to enhance control intelligence and fault diagnosis capabilities. Built-in fully sealed position detection: The built-in detection chain, consisting of a detection groove at the bottom of the slider, a ball-bearing set screw, and a sensing block, works in conjunction with a proximity switch inside the vertical detection hole of the housing to form a completely sealed detection channel, improving detection accuracy. The piston's built-in magnetic block and the magnetic switch on the outer wall of the housing constitute a non-contact cylinder position detection system, forming a dual-loop cross-verification with the proximity switch on the slider side. This accurately identifies anomalies such as insufficient air pressure, mechanical jamming, or excessive wear, improving fault diagnosis coverage and significantly enhancing system reliability.

[0022] This invention optimizes the multi-stage sealing and limiting coordination to ensure zero leakage and long-term stable operation of the system. In addition, the modular design of this invention enhances the versatility of parts and reduces manufacturing costs. The compact structure broadens the application range in automated equipment in confined spaces, and its market applicability and technological advancement are significantly superior to existing technologies. Attached Figure Description

[0023] To more clearly illustrate the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a cross-sectional view of the present invention in the horizontal direction; Figure 3 This is a longitudinal cross-sectional view of the present invention; Figure 4 Schematic diagram of enhanced dustproof structure; Figure 5 This is a schematic diagram of a T-shaped block structure; Figure 6 This is a schematic diagram of the slider structure. Detailed Implementation

[0025] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0026] Example 1, such as Figure 1 , 2As shown, a pneumatic gripper includes a housing 1. In this embodiment, the direction in which the gripper is located is defined as upward. The lower part of the housing 1 is provided with a piston cylinder 101, and the upper part is provided with a horizontal slide groove 102. Two sliders 2 are symmetrically arranged in the horizontal slide groove 102, namely a left slider and a right slider. Grippers are connected to the sliders 2, which are not shown in the figure. A piston 4 is provided in the piston cylinder 101, and a T-shaped block 5 is connected to the piston 4. The T-shaped block 5 is provided with rolling elements 6 that roll with the sliders 2. Specifically, the crossbeam of the T-shaped block 5 is symmetrically provided with two mounting holes, and the rolling elements 6 are rolled in the mounting holes. The piston drives the T-shaped block to move up and down. During the up and down movement of the T-shaped block, the rolling elements drive the two sliders to move towards or away from each other in the horizontal slide groove, thereby realizing the gripping and releasing actions of the two grippers. The T-block and slider utilize a rolling contact mechanism, converting traditional sliding friction into rolling friction. This reduces the coefficient of friction, significantly decreasing motion resistance and energy loss. It also allows the piston thrust to be more efficiently converted into gripper force, shortening the opening and closing response time and improving the cycle time of high-frequency operations. A reinforced dustproof structure is installed between slider 2 and housing 1. This reinforced dustproof structure forms multiple sealing barriers, effectively preventing metal chips, dust, and cutting fluid from entering the groove. This prevents slider jamming or abnormal wear caused by foreign objects, improving the gripper's operational stability and maintenance-free cycle under harsh working conditions.

[0027] In this embodiment, the housing integrates the piston cylinder and horizontal slide, modularly integrating pneumatic drive, motion conversion, and guiding functions into a single component. This significantly reduces the overall axial dimension and radial footprint, facilitating installation and deployment in densely packed automated equipment layouts, while also reducing the number of parts and assembly complexity. Rolling pairs are formed between the slider and the rolling elements, and between the rolling elements and the T-block. These rolling pairs, in conjunction with the precision horizontal slide guide, prevent increased clearance due to sliding wear. Even after long-term operation, micron-level repeatability positioning accuracy is maintained, significantly extending the lifespan of the grippers and making it suitable for precision assembly and high-precision handling applications. The symmetrically arranged dual sliders are driven by the same T-block, achieving forced synchronization through the rolling transmission of the rolling elements. This ensures strictly equidistant opening and closing actions of the grippers on both sides, maintaining a constant gripping center position and preventing workpiece offset or uneven clamping force caused by off-center loading. The reinforced dustproof structure between the slider and the housing solves the problem of insufficient dustproof sealing performance of the pneumatic grippers. Furthermore, the rolling element design on the T-block, which rolls in conjunction with the slider, solves the problem of increased wear clearance after long-term operation due to sliding friction, thus addressing the issue of affecting gripping repeatability positioning accuracy.

[0028] Example 2, as Figure 3 , 6As shown, a pneumatic gripper is further optimized based on Embodiment 1. In this embodiment, toothed grooves 103 are provided on both side walls of the horizontal slide groove 102. The number of toothed grooves can be set from 1 to 3 as needed. This embodiment takes two toothed grooves on one side as an example. Both sides of the slider 2 are provided with toothed protrusions 201 that cooperate with the toothed grooves. The slider 2 is provided with wedge grooves 202 that cooperate with the T-shaped block 5. Guide grooves 203 that cooperate with the rolling elements 6 are provided on both sides of the wedge grooves 202. The rolling cooperation between the rolling elements 6 and the guide grooves 203 and the cooperation between the T-shaped block 5 and the wedge grooves 202 cause the T-shaped block 5 to drive the two sliders to move horizontally accordingly during the up and down movement. The rolling elements can be rollers, rollers, or wheels. The guide groove provides a precisely controlled rolling track for the rolling elements, ensuring they maintain optimal contact angle and centering position during wedge-shaped transmission. This prevents axial movement and uneven wear of the rolling elements, reduces contact stress concentration, thereby improving transmission efficiency, reducing wear particle generation, and significantly lowering operating noise and vibration. The toothed groove and toothed protrusion form a precision meshing guide structure, significantly increasing the contact constraint surface between the slider and the groove. This effectively suppresses slider deflection and tilting caused by workpiece eccentricity or lateral impact during clamping, ensuring the grippers maintain precise centering movement and improving operational stability under heavy loads. The toothed meshing structure creates multi-stage tortuous sealing gaps between the slider and the housing, forming a highly efficient labyrinthine dustproof path. This significantly extends the contaminant intrusion path length and increases flow resistance, reliably preventing foreign matter from entering the core friction surface even in environments with high concentrations of dust or splashing cutting fluid, significantly extending maintenance cycles and service life. In addition, the toothed meshing greatly increases the effective load-bearing area between the slider and the housing, making the lateral load distribution more uniform and reducing local stress concentration. This allows for the transmission of greater clamping force under the same size, or the realization of a more compact structural design under the same load, meeting the development needs of lightweight and high power density.

[0029] like Figure 4As shown, in this preferred embodiment, the enhanced dustproof structure includes an L-shaped rubber pad 7, with the long arm corresponding to the horizontal portion of the L-shaped rubber pad and the short arm corresponding to the vertical portion. The long arm of the L-shaped rubber pad 7 has a clearance groove 71; the clearance groove 71 avoids the connecting seat on the slider for connection with the gripper; baffles 72 are provided on both sides of the long arm of the L-shaped rubber pad 7, the baffles 72 fitting against the corresponding sides of the slider 2; the short arm of the L-shaped rubber pad 7 fits against the outer end of the slider 2; and toothed pads 73 that mate with the toothed groove 103 are provided on both sides of the short arm of the L-shaped rubber pad 7. The L-shaped rubber pad, through its long arm, wraps around the top and sides of the slider, and the short arm covers the outer end face of the slider, forming a three-dimensional sealing system of "top surface-side surface-end face" between the slider and the housing. The baffles on both sides of the long arm directly adhere to the side of the slider, forming the first lateral seal together with the toothed protrusions; the end face of the short arm adheres to form the second end seal; and the toothed pads embedded in the toothed grooves form the third labyrinth seal. This three-tiered barrier works synergistically, significantly increasing the complexity and resistance of dust penetration paths and effectively preventing the intrusion of micron-sized contaminants. The toothed pads on both sides of the short arm are interference-fitted with the toothed grooves, maintaining a tight fit throughout the slider's reciprocating motion, transforming the originally open toothed meshing gap into a sealed contact surface. This design cleverly utilizes the slider's own guiding structure as a sealing carrier, achieving zero-gap sealing of the sliding interface while maintaining high-precision guidance without the need for additional sealing grooves. It is particularly suitable for high-frequency, long-stroke applications.

[0030] In this preferred embodiment, the long arm of the L-shaped rubber pad 7 is pressed onto the slider 2 by a dustproof top plate 74, which is fixed to the slider by screws. The short arm of the L-shaped rubber pad 7 is pressed onto the slider 2 by a dustproof side plate 75, which is fixed to the slider end by screws. The mechanical pressing of the L-shaped rubber pad by the top plate and the dustproof side plate ensures stable installation of the rubber pad in a pre-compressed state, effectively resisting loosening or displacement of the seal caused by long-term vibration. Compared with traditional adhesive or embedded seals, mechanical pressing can precisely control the compression amount, ensure uniform distribution of sealing pressure, avoid local overpressure or underpressure, significantly improve sealing consistency and maintainability, and eliminate the need to disassemble the core transmission components when replacing the seal. The dustproof side plate 75 is provided with a toothed pressing part that matches the toothed pad 73. The toothed pressing part provides support for the toothed pad and prevents the toothed pad from failing to seal during back-and-forth movement. The toothed pressing part on the dustproof side plate can transmit the locking force of the side plate to the rubber pad through multiple points through the toothed structure, making the fit between the toothed pad and the toothed groove tighter and more uniform, preventing the rubber pad from tearing or peeling under the impact of high-pressure cutting fluid. At the same time, the rigid support of the metal side plate greatly improves the puncture resistance of the end seal and adapts to the harsh environment of flying metal chips. A top cover plate 3 is provided at the top of the housing 1 and at the middle position corresponding to the horizontal slide groove 102. The top cover plate provided at the top of the housing completely closes the middle opening of the horizontal slide groove, and together with the L-shaped rubber pad and the dustproof side plate, it forms a top-side-end fully enclosed sealing cavity of the slide groove, completely blocking the path of contaminants falling vertically from above. This modular, enclosed design facilitates initial assembly and debugging, and allows for quick opening and maintenance without disassembling the gripper body, greatly reducing production line downtime.

[0031] Furthermore, as a preferred embodiment, the outer end of the slider 2 is provided with a positioning hole, and the inner side of the short arm of the L-shaped rubber pad 7 is provided with a positioning dustproof post 76, which mates with the positioning hole. The positioning dustproof post and the positioning hole at the outer end of the slider are interference-fitted, which not only achieves rapid and accurate positioning and installation of the short arm of the L-shaped rubber pad, but also forms an additional cylindrical seal at the center of the slider end face. This structure effectively seals the end micro-gap that may exist due to the mounting bolt holes of the grippers, preventing contaminants from seeping into the groove from the center area of ​​the end, compensating for the weakness of traditional planar seals, and improving the integrity of the overall seal. After the positioning dustproof post is embedded in the positioning hole, it can limit the slight slippage or torsion of the short arm of the L-shaped rubber pad during the reciprocating motion of the slider, avoiding frictional wear between the seal and the metal surface. This anti-micro-motion design ensures that the seal maintains its initial installation posture for a long time, and the sealing performance decays slowly, making it particularly suitable for applications with high-frequency start-stop or large vibration and impact. During assembly, the positioning dustproof post can guide the L-shaped rubber pad to quickly center, avoiding positional deviations caused by manual adjustment, and ensuring that the design sealing pressure is achieved in each assembly.

[0032] Example 3 provides a pneumatic gripper, further optimized from Examples 1 or 2. In this example, the lower part of the slider 2 is provided with a detection groove 204, which is connected to a vertical detection hole 104 on the housing 1. A horizontally positioned ball set screw 8 is provided within the detection groove 204, and a sensing block 9 is mounted on the ball set screw 8. A proximity switch sensor 10 is provided within the vertical detection hole 104, and the proximity switch sensor 10 is connected to the housing 1 via a mounting block 11. The detection groove is hidden in the lower part of the slider and communicates with the vertical detection hole of the housing, forming a completely enclosed detection channel that completely encloses the ball set screw, sensing block, and proximity switch sensor within a sealed cavity. This embedded design completely isolates the detection element from interference by contaminants such as cutting fluid and metal shavings, avoiding the false signal or failure problems caused by contamination in traditional external sensors. This significantly improves the reliability of the detection system under harsh working conditions and extends the sensor's service life. The outer end of the ball set screw has an internal hexagonal hole that extends to the dustproof side plate. The sensing block is horizontally fixed using ball-bearing set screws, and its built-in spring steel ball structure allows for radial fine-tuning and reliable locking. When the detection position needs to be adjusted, there is no need to disassemble the gripper body; simply tightening or loosening the screws allows the sensing block to be continuously moved within the detection slot. Combined with the proximity switch in the vertical detection hole, the opening and closing limit positions of the gripper can be accurately calibrated. This structure significantly simplifies the debugging process and improves the efficiency of equipment changeovers or parameter adjustments. The sensing block is directly installed in the detection slot below the slider, moving rigidly and synchronously with the slider, eliminating the mechanical lag and positional deviation caused by traditional linkages or external bracket transmissions. The proximity switch is directly fixed to the housing via a mounting block, ensuring a constant detection distance and achieving "zero-distance" real-time monitoring of the slider position, improving detection accuracy and meeting the rapid response requirements of precision assembly processes for position feedback.

[0033] In this preferred embodiment, the piston cylinder 101 and the horizontal slide groove 102 are connected by a connecting hole 105. The cylindrical portion of the T-shaped block 5 extends into the piston cylinder 101 through the connecting hole 105 and is connected to the piston 4 by a set screw 12. The piston cylinder and the horizontal slide groove are connected only by a small-diameter connecting hole, through which the cylindrical portion of the T-shaped block passes and connects to the piston, minimizing the power transmission path and compressing the axial height dimension. Compared to the traditional separate cylinder and transmission box structure, this design reduces the overall volume, making it particularly suitable for space-constrained robotic end-effector installation scenarios and improving system integration. A first sealing ring 13 is provided between the cylindrical portion of the T-shaped block 5 and the connecting hole 105. The first sealing ring is provided on the sliding mating surface between the cylindrical portion of the T-shaped block and the connecting hole, directly isolating the high-pressure chamber of the piston cylinder from the normal-pressure area of ​​the slide groove, preventing compressed air from leaking into the slide groove, i.e., preventing air leakage. This sealing structure is specifically designed for reciprocating yaw conditions and can automatically compensate for the slight swaying of the T-block caused by lateral forces, thus balancing sealing performance and movement flexibility.

[0034] like Figure 5 As shown, in this embodiment, a limiting platform 51 is provided at the bottom of the cylindrical part of the T-block 5. The limiting platform 51 cooperates with the limiting groove provided on the piston 4. The limiting platform at the bottom of the cylindrical part of the T-block is embedded in the piston limiting groove, realizing circumferential positioning and preventing the T-block from rotating relative to the piston due to loosening of the set screw during operation. This structure provides a unique correct orientation indication during assembly, eliminating the risk of misassembly. At the same time, it can withstand a large shear force at the moment of piston start-up, avoiding the set screw bearing all the torque and extending the fatigue life of the connecting parts. A second sealing ring 14 is provided between the cylindrical part of the T-block 5 and the piston 4, and a third sealing ring 15 is provided between the piston 4 and the piston cylinder 101. The cylinder port of the piston cylinder 101 is sealed by the cylinder cover plate 16, and a sealing ring is provided between the cylinder cover plate 16 and the cylinder port of the piston cylinder 101. The second sealing ring (the contact surface between the T-block and the piston), the third sealing ring (the piston and the piston cylinder wall), and the first sealing ring (the connecting hole) together constitute a three-stage series seal. The second sealing ring acts as a final safety measure, preventing gas from entering the slide groove even if the first sealing ring wears abnormally. The third sealing ring features a bidirectional lip design, suitable for pistons under bidirectional pressure, ensuring complete isolation between the high and low pressure chambers. The combined effect of these three elements improves overall sealing reliability and extends the system's pressure holding time.

[0035] In this embodiment, a magnetic block 41 is provided on the upper surface of the piston 4, and the limiting groove on the piston 4 faces the magnetic block 41. A sensor groove 106 is provided on the outer wall of the housing 1 near the magnetic block 41, and a magnetic switch sensor 17 is provided in the sensor groove 106. The magnetic block on the piston and the magnetic switch sensor on the outer wall of the housing constitute a non-contact position detection, forming a dual detection loop with the proximity switch sensor on the slider side. The magnetic switch monitors the piston stroke and indirectly determines the state of the gripper's power source; the proximity switch directly monitors the actual position of the slider. The cross-validation of the two data can accurately identify abnormal conditions such as jamming, insufficient air pressure, or mechanical failure, improving the fault diagnosis capability and operational redundancy of the control system. The magnetic block is embedded inside the piston and moves with the piston without contact, requiring no cable connection, completely solving the problem of fatigue fracture of the moving parts' lead wires. The sensor groove is opened on the outer wall of the housing, and the magnetic switch can be quickly installed and removed online without disassembling the gripper body during debugging. This cableless design greatly improves the system reliability, reduces the downtime risk caused by sensor circuit failure, and simplifies wiring, making the appearance cleaner. The piston limiting groove is oriented towards the magnetic block, minimizing the distance between the magnetic block's mounting position and the sensor groove (typically <5mm), thus maximizing the magnetic field detection intensity. This layout ensures that the magnetic switch can clearly distinguish the piston position signal, avoiding missed detections or false triggers.

[0036] It should be noted that in this embodiment, the housing 1 is provided with a threaded hole that communicates with the horizontal slide groove 102, and a waterproof and breathable valve 18 is provided in the threaded hole. The waterproof and breathable valve is waterproof, dustproof and breathable. Since the outside of the cavity 102 is sealed by 7, the cavity space will change when the slider slides inside the horizontal slide groove 102. In order to ensure the stability of the air pressure inside the cavity, threaded holes are provided on both the front and rear surfaces of the gripper to the horizontal slide groove 102. A valve body that is waterproof, dustproof and breathable is installed in the threaded hole. The stable air pressure of the horizontal slide groove allows the slider to move stably. In addition, the housing 1 is also provided with several vent holes, which are sealed by bolts 19 and sealing rings (not shown in the figure). This invention changes the structure of sealing the vent holes with hexagonal set screws and glue to a bolt + sealing ring sealing structure, which enhances the ease of assembly.

[0037] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A pneumatic gripper, comprising a housing (1), characterized in that: The lower part of the housing (1) is provided with a piston cylinder (101) and the upper part is provided with a horizontal slide groove (102). Two sliders (2) are symmetrically arranged in the horizontal slide groove (102). The sliders (2) are connected with grippers. The piston cylinder (101) is provided with a piston (4). The piston (4) is connected with a T-shaped block (5). The T-shaped block (5) is provided with a rolling body (6) that rolls with the sliders (2). A reinforced dustproof structure is provided between the sliders (2) and the housing (1).

2. The pneumatic gripper according to claim 1, characterized in that: The horizontal slide (102) has toothed grooves (103) on both sides. The slider (2) has toothed protrusions (201) on both sides that cooperate with the toothed grooves. The slider (2) has wedge grooves (202) that cooperate with the T-shaped block (5). The wedge grooves (202) have guide grooves (203) on both sides that cooperate with the rolling element (6).

3. The pneumatic gripper according to claim 2, characterized in that: The enhanced dustproof structure includes an L-shaped rubber pad (7), with a clearance groove (71) on the long arm of the L-shaped rubber pad (7), baffles (72) on both sides of the long arm of the L-shaped rubber pad (7), the baffles (72) fitting on both sides of the corresponding slider (2), the short arm of the L-shaped rubber pad (7) fitting on the outer end of the slider (2), and toothed pads (73) that cooperate with the toothed groove (103) on both sides of the short arm of the L-shaped rubber pad (7).

4. The pneumatic gripper according to claim 3, characterized in that: The long arm of the L-shaped rubber pad (7) is pressed onto the slider (2) by the dustproof top plate (74), and the short arm of the L-shaped rubber pad (7) is pressed onto the slider (2) by the dustproof side plate (75). The dustproof side plate (75) is provided with a toothed pressing part that matches the toothed pad (73); the top of the housing (1) and the middle position corresponding to the horizontal slide groove (102) are provided with an upper cover plate (3).

5. The pneumatic gripper according to claim 3 or 4, characterized in that: The outer end of the slider (2) is provided with a positioning hole, and the inner side of the short arm of the L-shaped rubber pad (7) is provided with a positioning dustproof column (76), which is matched with the positioning hole.

6. The pneumatic gripper according to claim 5, characterized in that: The lower part of the slider (2) is provided with a detection groove (204), which is connected to a vertical detection hole (104) on the housing (1). A horizontally arranged ball set screw (8) is provided in the detection groove (204), and a sensing block (9) is provided on the ball set screw (8). A proximity switch sensor (10) is provided in the vertical detection hole (104), and the proximity switch sensor (10) is connected to the housing (1) through a mounting block (11).

7. The pneumatic gripper according to any one of claims 1 to 4, 6, characterized in that: The piston cylinder (101) and the horizontal slide (102) are connected through a connecting hole (105). The cylindrical part of the T-shaped block (5) extends into the piston cylinder (101) through the connecting hole (105) and is connected to the piston (4) through a set screw (12). A first sealing ring (13) is provided between the cylindrical part of the T-shaped block (5) and the connecting hole (105).

8. The pneumatic gripper according to claim 7, characterized in that: The bottom of the cylindrical part of the T-shaped block (5) is provided with a limiting platform (51), which is matched with the limiting groove provided on the piston (4). A second sealing ring (14) is provided between the cylindrical part of the T-shaped block (5) and the piston (4), and a third sealing ring (15) is provided between the piston (4) and the piston cylinder (101). The cylinder port of the piston cylinder (101) is sealed by the cylinder cover plate (16).

9. The pneumatic gripper according to claim 8, characterized in that: A magnetic block (41) is provided on the piston (4), and the limiting groove on the piston (4) faces the magnetic block (41). A sensor groove (106) is provided on the outer wall of the housing (1) near the magnetic block (41), and a magnetic switch sensor (17) is provided in the sensor groove (106).

10. The pneumatic gripper according to claim 1, 8, or 9, characterized in that: The crossbeam of the T-shaped block (5) is symmetrically provided with two mounting holes, and the rolling body (6) is rolled in the mounting holes; the housing (1) is provided with a threaded hole that communicates with the horizontal slide (102), and a waterproof and breathable valve (18) is provided in the threaded hole; the housing (1) is also provided with several vent holes, which are sealed by bolts (19) and sealing rings.

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