Clamping jaw air cylinder and clamping device

Abstract

The utility model discloses a clamping jaw air cylinder and a clamping device. The clamping jaw air cylinder comprises a cylinder body, a first clamping jaw, a second clamping jaw and a piston. The cylinder body is provided with at least one first air cavity and at least one second air cavity; the first clamping jaw is rotationally connected to the cylinder body and is provided with a first clamping part; the second clamping jaw is rotationally connected to the cylinder body and is provided with a second clamping part opposite to the first clamping part; the pistons comprise a first piston and a second piston; the first pistons are arranged in the first air cavities in a one-to-one correspondence mode and abut against the first clamping jaws. The second piston is correspondingly arranged in the second air cavity and abuts against the second clamping jaw. The length of a power arm, driving the first clamping jaw to rotate, of at least part of the first piston is larger than that of a resisting arm, hindering rotation of the first clamping jaw, of materials; the length of a power arm of at least part of the second piston driving the second clamping jaw to rotate is larger than that of a resisting arm of materials hindering rotation of the second clamping jaw. The material clamping device can be suitable for clamping materials which are small in size and extremely small in arrangement distance.

Description

Technical Field

[0001] The utility model relates to the technical field of material clamping equipment, in particular to a clamping claw cylinder and a clamping device with the same. Background Art

[0002] For materials with small size and extremely small arrangement spacing, it is usually necessary to select multiple extremely small clamping cylinders to complete the material clamping. However, when the size of the clamping cylinder becomes smaller, since the output of the clamping cylinder is the product of the air pressure and the piston force area, the clamping force that can be provided by the extremely small cylinder is also very small, so it is difficult to meet the clamping force application requirements. To solve this problem, in the related art, a relatively large cylinder is selected to meet the clamping force application requirements, and at the same time, the clamping jaws of the clamping cylinder are made into a curved form so that the distance between the clamping ends of the multiple cylinder clamps in the arrangement direction of the material can adapt to the arrangement spacing between the materials, thereby adapting to the clamping of materials with small spacing and large clamping force requirements; however, when a large number of clamping cylinders (especially more than 4) are required to cooperate and each clamping cylinder needs to be independently lifted and lowered, the lifting clamping cylinder is easy to interfere with the bent jaws of other clamping cylinders. Utility Model Content

[0003] The utility model aims to solve at least one of the technical problems existing in the prior art. To this end, the utility model provides a clamping claw cylinder, which can be relatively thinner while providing a relatively large clamping force, so as to better adapt to the clamping of small-sized materials with extremely small arrangement spacing.

[0004] The utility model also provides a clamping device with the clamping claw cylinder.

[0005] According to the first embodiment of the utility model, the clamping jaw cylinder comprises a cylinder body, a first clamping jaw, a second clamping jaw and a piston; at least one first air cavity and at least one second air cavity are arranged inside the cylinder body; the first clamping jaw is rotatably connected to the cylinder body and is provided with a first clamping portion; the second clamping jaw is rotatably connected to the cylinder body and is arranged opposite to the first clamping jaw, and is provided with a second clamping portion opposite to the first clamping portion; the piston comprises at least one first piston and at least one second piston; the first piston is arranged in a one-to-one correspondence in the first air cavity and abuts against the first clamping jaw so as to drive the first air cavity to be ventilated when the first air cavity is ventilated. The first clamping jaw is driven to drive the first clamping part to approach the second clamping part; the second pistons are arranged in a one-to-one correspondence in the second air cavity and abut against the second clamping jaw, so as to drive the second clamping jaw to drive the second clamping part to approach the first clamping part when the second air cavity is ventilated; wherein, at least a part of the length of the power arm driven by the first piston to rotate the first clamping jaw is greater than the length of the resistance arm of the material abutting against the first clamping part that hinders the rotation of the first clamping jaw; at least a part of the length of the power arm driven by the second piston to rotate the second clamping jaw is greater than the length of the resistance arm of the material abutting against the second clamping part that hinders the rotation of the second clamping jaw.

[0006] The clamping cylinder according to the first embodiment of the utility model has at least the following beneficial effects:

[0007] The gripper cylinder of this embodiment connects the first gripper to the cylinder body through rotation, so that the first gripper can form a lever structure, and at the same time, the power arm applied to the first gripper by at least one first piston driving the first gripper to rotate is set to be greater than the length of the resistance arm of the material abutting against the first gripper to hinder the rotation of the first gripper. Therefore, in the case of using a single first piston, the gripping force applied to the material by the first gripper can be amplified to be greater than the abutting force applied to the first gripper by the first piston. In the case of using multiple first pistons, not only the abutting force applied to the first gripper by at least one first piston can be amplified, but also the gripping force applied to the material by the first gripper can be further doubled due to the force applied to the first gripper by multiple first pistons together. Similarly, the second gripper can form a lever structure by rotationally connecting the second gripper to the cylinder body, and at the same time, the power arm applied to the first gripper by at least one second piston driving the second gripper to rotate is set to be greater than the length of the resistance arm of the material abutting against the first gripper. The power arm applied to the second clamping jaw is set to be larger than the length of the resistance arm of the material abutting against the second clamping part that hinders the rotation of the second clamping jaw. Therefore, when a single second piston is used, the clamping force applied by the second clamping part to the material can be amplified to be larger than the abutting force applied by the second piston to the second clamping jaw. When multiple second pistons are used, not only can the abutting force applied by at least one second piston to the second clamping jaw be amplified, but also the clamping force applied by the second clamping part to the material can be further doubled because the second clamping jaw is forced together by multiple second pistons. Therefore, the clamping jaw cylinder of this embodiment can obtain a larger clamping force while using a smaller piston, that is, it can provide a relatively large clamping force while being relatively smaller and thinner in the direction perpendicular to the rotation and opening and closing of the first clamping part and the second clamping part, so that it can better adapt to the clamping of materials with small size and extremely small arrangement spacing.

[0008] According to the gripper cylinder of some embodiments of the first aspect of the utility model, the first gripper has a first active arm located on the side of its rotation axis away from the first clamping part, and the second gripper has a second active arm located on the side of its rotation axis away from the second clamping part; a plurality of first air cavities are provided, and are arranged at intervals along the extension direction of the first active arm; a plurality of second air cavities are provided, and are arranged at intervals along the extension direction of the second active arm.

[0009] According to some embodiments of the first aspect of the utility model, the clamping cylinder further includes a linkage mechanism, which connects the first clamping jaw and the second clamping jaw and is used to make the first clamping jaw and the second clamping jaw rotate synchronously.

[0010] According to some embodiments of the first aspect of the utility model, the clamping cylinder, the linkage mechanism includes a telescopic member, a first connecting rod and a second connecting rod. The telescopic member is slidably and telescopically connected to the cylinder body. The first end and the second end of the first connecting rod are respectively rotatably connected to the first clamping jaw and the telescopic member. The first end and the second end of the second connecting rod are respectively rotatably connected to the second clamping jaw and the telescopic member.

[0011] According to the gripper cylinder of some embodiments of the first aspect of the utility model, the first gripper and the second gripper are symmetrically arranged on both sides of the central axis surface of the cylinder body, the central axis of the telescopic member is located on the central axis surface of the cylinder body and can be telescoped along its own central axis direction, the first end of the first connecting rod and the first end of the second connecting rod are coaxially rotatably connected to the telescopic member, and the rotation axis is located on the central axis surface of the cylinder body, and the rotation axis of the second end of the first connecting rod and the rotation axis of the second end of the second connecting rod are symmetrically arranged about the central axis surface of the cylinder body.

[0012] According to the clamping cylinder of some embodiments of the first aspect of the utility model, a U-shaped accommodating groove is arranged on the peripheral side of the cylinder body, and the accommodating groove spans three adjacent peripheral side surfaces of the cylinder body, the first clamping jaw includes an L-shaped first main body portion, the second clamping jaw includes an L-shaped second main body portion, the first clamping portion is connected to an end of the first main body portion close to the second clamping jaw, and is located on a side of the first main body portion away from the cylinder body, the second clamping portion is connected to an end of the second main body portion close to the first clamping jaw, and is located on a side of the second main body portion away from the cylinder body, the second main body portion and the first main body portion are accommodated in the accommodating groove, and can rotate in the accommodating groove.

[0013] According to some embodiments of the first aspect of the utility model, the jaw cylinder also includes an elastic reset mechanism, which is connected to the first jaw and / or the second jaw and is used to drive the first jaw and the second jaw to rotate and reset, so as to drive the first clamping part and the second clamping part to separate from each other.

[0014] According to some embodiments of the first aspect of the utility model, the clamping cylinder further includes a sensor, which is arranged adjacent to the first clamping jaw and is used to detect the position of the first clamping jaw to determine whether the clamping cylinder is in a clamping state or a releasing state.

[0015] According to the clamping cylinder of some embodiments of the first aspect of the utility model, a detection piece is provided at one end of the first clamping jaw away from the first clamping part, and when the first clamping part is rotated to be separated from the second clamping part, the detection piece is driven by the first clamping jaw to move into the detection range of the sensor, and when the first clamping part is rotated to be in contact with the second clamping part, the detection piece is driven by the first clamping jaw to move out of the detection range of the sensor.

[0016] According to some embodiments of the second aspect of the utility model, the clamping device includes a plurality of clamping modules arranged along a first horizontal direction, each clamping module includes a lifting drive mechanism and a clamping cylinder of the above-mentioned first aspect embodiment, the clamping cylinder is connected to the lower side of the driving part of the lifting drive mechanism, and the opening and closing direction of the first clamping part and the second clamping part in the clamping cylinder is perpendicular to the first horizontal direction.

[0017] The clamping device according to some embodiments of the second aspect of the utility model has at least the following beneficial effects:

[0018] By adopting the clamping cylinder of the first embodiment in the clamping module, and making the arrangement direction of the clamping module perpendicular to the opening and closing direction of the first clamping part and the second clamping part in the clamping cylinder, since the clamping cylinder of the first embodiment can provide a relatively large clamping force while the size in the direction perpendicular to the rotation and opening and closing of the first clamping part and the second clamping part can be relatively smaller and thinner, the clamping device of this embodiment can adapt to the clamping of multiple materials with large clamping force requirements and small arrangement spacing, and there will be no mutual interference when each lifting drive mechanism independently drives each clamping cylinder to carry materials for lifting.

[0019] Additional aspects and advantages of the present invention will be given in part in the following description, and in part will become apparent from the following description, or will be learned through the practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:

[0021] Figure 1 This is a schematic structural diagram of a clamping cylinder according to one embodiment of the utility model;

[0022] Figure 2 for Figure 1 The exploded structural diagram of the gripper cylinder is shown;

[0023] Figure 3 for Figure 1 A schematic cross-sectional structural diagram of the clamping jaw cylinder shown, wherein the cross section is parallel to the rotation plane of the first clamping jaw and the second clamping jaw;

[0024] Figure 4 For display Figure 3 Schematic diagram of the length relationship between the power arm and the resistance arm of the lever formed by the first clamping jaw and the second clamping jaw.

[0025] Figure 5 is a schematic cross-sectional structural diagram of a clamping jaw cylinder shown in another embodiment, wherein the cross section is parallel to the rotation plane of the first clamping jaw and the second clamping jaw;

[0026] Figure 6 It is a structural schematic diagram of a clamping device according to one embodiment of the utility model.

[0027] Reference numerals:

[0028] Cylinder 100; air passage 110; first air cavity 120; second air cavity 130; containing groove 140; first adapter groove 150; second adapter groove 160; sealing ring 170; central axis surface S; first clamping jaw 200; first clamping portion 210; first main body 220; first active arm 221; first rotating portion 230; detection sheet 240; second clamping jaw 300; second clamping portion 310; clamping groove 311; second main body 320; second active arm 321; second rotating portion 330; first active arm Plug 400a; second piston 400b; linkage mechanism 500; telescopic member 510; first connecting rod 520; second connecting rod 530; oil-free bushing 540; hinge shaft 550; first elastic reset mechanism 600a; second elastic reset mechanism 600b; push rod 610; contact part 611; spring 620; mounting block 700; air inlet hole 710; air pipe joint 720; air supply pipe 800; sensor 900; clamping claw cylinder 1000; lifting drive mechanism 2000; clamping module 3000. DETAILED DESCRIPTION

[0029] The embodiments of the present invention are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be understood as limiting the present invention.

[0030] In the description of the present invention, it should be understood that descriptions involving orientation, such as up, down, left, right, front, back, etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0031] In the description of the utility model, if there is a description of first and second, it is only for the purpose of distinguishing the technical features, and cannot be understood as indicating or implying the relative importance or implicitly indicating the number of the indicated technical features or implicitly indicating the order of the indicated technical features.

[0032] In the description of the present invention, unless otherwise clearly defined, terms such as setting, installing, connecting, etc. should be understood in a broad sense, and technicians in the relevant technical field can reasonably determine the specific meanings of the above terms in the present invention based on the specific content of the technical solution.

[0033] The following is the attached Figure 1 To Attachment Figure 5 , describing the gripper cylinder 1000 of the first aspect embodiment of the utility model.

[0034] Reference Figures 1 to 3 According to some embodiments of the present invention, the clamping jaw cylinder 1000 includes a cylinder body 100, a clamping jaw and a piston; wherein the cylinder body 100 is provided with an air cavity and an air passage 110 communicating with the air cavity, and the piston is arranged in the air cavity, so that after compressed air is introduced into the air cavity through the air passage 110, the piston can be driven to move in the air cavity; the clamping jaw includes a first clamping jaw 200 and a second clamping jaw 300 arranged opposite to each other, and the first clamping jaw 200 and the second clamping jaw 300 are both rotatably connected to the cylinder body 100. In order to clamp the material, the first clamping jaw 200 is provided with a first clamping portion 210, and the second clamping jaw 300 is provided with a second clamping portion 310 opposite to the first clamping jaw 200, so that when the first clamping jaw 200 and the second clamping jaw 300 are synchronously rotated in two opposite directions, the first clamping portion 210 and the second clamping portion 310 can be made to approach each other to cooperate in clamping the material, or the first clamping portion 210 and the second clamping portion 310 can be made to move away from each other to release the clamped material.

[0035] It should be understood that in order to drive the two clamping jaws to rotate respectively, refer to Figure 3 The air cavity includes a first air cavity 120 and a second air cavity 130, and the piston includes a first piston 400a and a second piston 400b accordingly; wherein the first piston 400a is correspondingly arranged in the first air cavity 120 and abuts against the first clamping jaw 200, so that when the first air cavity 120 is ventilated, the first clamping jaw 200 is driven to drive the first clamping portion 210 to approach the second clamping portion 310; and the second piston 400b is correspondingly arranged in the second air cavity 130 and abuts against the second clamping jaw 300, so that when the second air cavity 130 is ventilated, the second clamping jaw 300 is driven to drive the second clamping portion 310 to approach the first clamping portion 210; thus, when the first air cavity 120 and the second air cavity 130 are ventilated at the same time through the air passage 110, the first clamping portion 210 and the second clamping portion 310 can be made to approach each other, thereby clamping the material.

[0036] It is understood that in some of these embodiments, reference Figure 3 and Figure 4, the number of the first air chamber 120 and the second air chamber 130 is one, and the number of the first piston 400a and the second piston 400b is also set to one accordingly. Since the first clamping jaw 200 and the second clamping jaw 300 are both rotatably connected to the cylinder body 100, the first clamping jaw 200 and the second clamping jaw 300 will form a lever structure, and in order to improve the clamping force of the first clamping part 210 and the second clamping part 310 on the material when they are close to each other, the length L1 of the power arm driven by the first piston 400a to rotate the first clamping jaw 200 is set to be greater than the length L2 of the resistance arm of the material abutting against the first clamping part 210 to hinder the rotation of the first clamping jaw 200. At the same time, the length L3 of the power arm driven by the second piston 400b to rotate the second clamping jaw 300 is set to be greater than the length L4 of the resistance arm abutting against the second clamping part 210 to prevent the rotation of the first clamping jaw 200. The material at 310 hinders the length L4 of the resistance arm of the second clamping jaw 300 from rotating, so that the clamping force applied to the material by the first clamping part 210 can be amplified to be greater than the abutment force applied to the first clamping jaw 200 by the first piston 400a under the action of the lever, and the clamping force applied to the material by the second clamping part 310 can be amplified to be greater than the abutment force applied to the second clamping jaw 300 by the second piston 400b. Therefore, the clamping cylinder 1000 of this embodiment can obtain a relatively larger clamping force while using a smaller piston, that is, it can provide a relatively larger clamping force while making the dimension in the direction perpendicular to the rotation and opening and closing of the first clamping part 210 and the second clamping part 310 relatively smaller and thinner, so as to better adapt to the clamping of materials with small size and extremely small arrangement spacing.

[0037] It can be understood that, in some other embodiments, the number of the first air chamber 120 and the second air chamber 130 can be set to be multiple, and the number of the first piston 400a and the number of the second piston 400b can also be set to be multiple, and the multiple first pistons 400a are set in the multiple first air chambers 120 in a one-to-one correspondence, and similarly, the multiple second pistons 400b are also set in the multiple second air chambers 130 in a one-to-one correspondence, so that when air is ventilated into the first air chamber 120 and the second air chamber 130, the multiple first pistons 400a jointly push the first clamping jaw 200 to drive the first clamping portion 210 to approach the second clamping portion 310, and at the same time, the second clamping jaw 300 is jointly pushed by the plurality of second pistons 400b to drive the second clamping portion 310 close to the first clamping portion 210, so that the clamping force of the first clamping portion 210 and the second clamping portion 310 on the material in the state of being close to each other is multiplied by the abutment force of the plurality of first pistons 400a on the first clamping jaw 200 and the abutment force of the plurality of second pistons 400b on the second clamping jaw 300; and, in order to further improve the clamping force of the clamping jaw cylinder 1000 on the material through the lever effect, at least one first piston 400a drives the first clamping jaw 200 to rotate. The length L1 of the power arm i(i is less than or equal to the number of first pistons 400a), greater than the length L2 of the resistance arm of the material abutting against the first clamping portion 210 to hinder the rotation of the first clamping jaw 200, and similarly, at least one second piston 400b drives the second clamping jaw 300 to rotate. The length L3 of the power arm i (i is less than or equal to the number of the second pistons 400 b ), and is greater than the length L4 of the resistance arm of the material abutting against the second clamping portion 310 that hinders the second clamping jaw 300 from rotating.

[0038] For example, refer to Figure 5 In one embodiment, the number of the first air chamber 120 and the second air chamber 130 can be set to three, and the number of the first piston 400a and the number of the second piston 400b can also be set to three, and the three first pistons 400a are set in the three first air chambers 120 one by one, and the three second pistons 400b are also set in the three second air chambers 130 one by one, so that when air is ventilated into the first air chamber 120 and the second air chamber 130, the three first pistons 400a are pushed together. The first clamping jaw 200 is driven to drive the first clamping part 210 to approach the second clamping part 310, and at the same time, the three second pistons 400b jointly push the second clamping jaw 300 to drive the second clamping part 310 to approach the first clamping part 210, thereby multiplying the clamping force of the first clamping part 210 and the second clamping part 310 on the material in a state of being close to each other; and along the direction close to the rotation axis of the first clamping jaw 200, the lengths of the power arms of the three first pistons 400a driving the first clamping jaw 200 to rotate are L1 and L2, respectively. 1 、L1 2 and L1 3 , where L1 1 and L1 2 , are greater than the length L2 of the resistance arm of the material abutting against the first clamping portion 210 that hinders the first clamping jaw 200 from rotating. Similarly, the lengths of the power arms of the three second pistons 400b driving the second clamping jaw 300 to rotate are L3 and L4, respectively. 1 、L3 2 and L3 3 , where L3 1 and L3 2 , are both greater than the length L4 of the resistance arm of the material abutting against the second clamping portion 310 that hinders the rotation of the second clamping jaw 300, that is, the clamping force generated by the two first pistons 400a in the first clamping portion 210 and the clamping force generated by the two second pistons 400b in the second clamping portion 310 can be further amplified by the lever action.

[0039] It can be understood that in order to enable the plurality of first pistons 400a to jointly drive the first clamping jaw 200 to rotate in the same direction, in some embodiments, reference is made to Figure 5The first clamping jaw 200 has a first active arm 221 located on a side of its rotation axis away from the first clamping portion 210, and the plurality of first air chambers 120 are arranged at intervals along the extension direction of the first active arm 221 and are located on a side of the first active arm 221 close to the second clamping jaw 300, so that after ventilation is introduced into each of the first air chambers 120, the first pistons 400a disposed in each of the first air chambers 120 will be able to jointly push the first active arm 221 to move in a direction away from the second clamping jaw 300, so that the first clamping portion 210 located on the other side of the rotation axis of the first clamping jaw 200 can rotate in a direction close to the second clamping portion 310; similarly, in order to enable the plurality of second pistons 400b to jointly drive the second clamping jaw 300 to rotate in the same direction, in some embodiments, reference is made to Figure 5 The second clamping jaw 300 has a second active arm 321 located on the side of its rotation axis away from the second clamping portion 310, and a plurality of second air chambers 130 are arranged at intervals along the extension direction of the second active arm 321 and are located on the side of the second active arm 321 close to the first active arm 221, so that after ventilation is introduced into each of the second air chambers 130, the second pistons 400b disposed in each of the second air chambers 130 will be able to push the second active arm 321 together to move in a direction away from the first active arm 221, so that the second clamping portion 310 located on the other side of the rotation axis of the second clamping jaw 300 can rotate in a direction close to the first clamping portion 210; at the same time, due to the first air chamber The first air cavity 120 and the second air cavity 130 are located between the first clamping jaw 200 and the second clamping jaw 300. Therefore, in the direction parallel to the rotation plane of the first clamping jaw 200 and the second clamping jaw 300, the size of the cylinder body 100 can be made relatively smaller. Moreover, since the first air cavity 120 and the first clamping portion 210 are respectively located on both sides of the rotation axis of the first clamping jaw 200, and the second air cavity 130 and the second clamping portion 310 are also respectively located on both sides of the rotation axis of the second clamping jaw 300, the first air cavity 120, the first piston 400a, the second air cavity 130 and the second piston 400b will not affect the clamping of the first clamping portion 210 and the second clamping portion 310 on the material.

[0040] It is understood that in order to avoid leakage between the piston and the cavity wall of the air cavity where it is located and to improve air tightness, Figure 3 A sealing ring 170 is embedded on the cavity wall of each first air cavity 120 and each second air cavity 130 , and each first piston 400 a and each second piston 400 b can be movably inserted into the corresponding sealing ring 170 .

[0041] It is understandable that, considering the influence of factors such as manufacturing errors, the speed at which the first jaw 200 rotates under the drive of the first piston 400a and the speed at which the second jaw 300 rotates under the drive of the second piston 400b in different jaw cylinders 1000 may be different, which will cause the position of the material after being clamped by the first clamping part 210 and the second clamping part 310 to be not fixed on different jaw cylinders 1000. Even in the same jaw cylinder 1000, if there is a large difference between the driving speed of the first piston 400a for the first jaw 200 and the driving speed of the second piston 400b for the second jaw 300, there will be a risk of material clamping failure. Therefore, in order to solve the above problem, in some embodiments, the jaw cylinder 1000 also includes a linkage mechanism 500, and the linkage mechanism 500 connects the first jaw 200 and the second jaw 300, and is used to make the first jaw 200 and the second jaw 300 rotate synchronously, so that the material can be in a relatively fixed position in the jaw cylinder 1000 after being clamped.

[0042] It is understood that in some of these embodiments, reference Figure 2 and Figure 4 The linkage mechanism 500 includes a telescopic member 510, a first connecting rod 520 and a second connecting rod 530; wherein the telescopic member 510 is slidably and telescopically connected to the cylinder body 100; the first end and the second end of the first connecting rod 520 are rotatably connected to the first clamping jaw 200 and the telescopic member 510, respectively, so that when the first clamping jaw 200 rotates, the telescopic member 510 can be driven to slide through the first connecting rod 520, or when the telescopic member 510 slides, it can also be driven in the reverse direction, that is, the first clamping jaw 200 is driven to rotate in the reverse direction through the first connecting rod 520. Similarly, the second connecting rod 530 The relative first and second ends of the rod 530 are respectively rotatably connected to the second clamping jaw 300 and the telescopic member 510, so that when the second clamping jaw 300 rotates, the telescopic member 510 can be driven to slide through the second connecting rod 530, or when the telescopic member 510 slides, it can be transmitted in the reverse direction to drive the second clamping jaw 300 to rotate in the reverse direction through the second connecting rod 530, and then with the help of the linkage mechanism 500 composed of the telescopic member 510, the first connecting rod 520 and the second connecting rod 530, the movement of the first clamping jaw 200 can be kept synchronized with the movement of the second clamping jaw 300.

[0043] It is understandable that, referring to Figure 4In some embodiments, specifically, the first clamping jaw 200 and the second clamping jaw 300 are symmetrically arranged on both sides of the central axis surface S of the cylinder body 100, and the central axis of the telescopic member 510 is located on the central axis surface S of the cylinder body 100 and can be telescopic along the direction of its own central axis, the first end of the first connecting rod 520 and the first end of the second connecting rod 530 are coaxially rotatably connected to the telescopic member 510, and the rotation axis is located on the central axis surface S of the cylinder body 100, and the rotation axis of the second end of the first connecting rod 520 and the rotation axis of the second end of the second connecting rod 530 are about the cylinder body. The central axis S of the cylinder body 100 is symmetrically arranged, so that the rotation axes at both ends of the first connecting rod 520 and the rotation axes at both ends of the second connecting rod 530 are projected on the rotation plane parallel to the first clamping jaw 200 and the second clamping jaw 300 to form three vertices of an isosceles triangle symmetrical about the central axis S of the cylinder body 100, so that under the action of the linkage mechanism 500, the rotation speed of the first clamping jaw 200 and the second clamping jaw 300 can always be the same, and the material can be clamped and located at the position of the central axis S of the cylinder body 100.

[0044] It should be understood that in some of these embodiments, reference Figure 2 and Figure 4 In order to enable the telescopic member 510 to slide smoothly on the cylinder body 100 , an oil-free bushing 540 is provided in the cylinder body 100 , and the telescopic member 510 is slidably inserted into the oil-free bushing 540 .

[0045] It should be understood that in some of these embodiments, reference Figure 2 and Figure 4 In order to facilitate the rotational connection between the first connecting rod 520, the second connecting rod 530 and the telescopic member 510 and the first clamping jaw 200 or the second clamping jaw 300, the first connecting rod 520 and the second connecting rod 530 are both selected to adopt hinge plates, and are respectively connected to the telescopic member 510 and the first clamping jaw 200 or the second clamping jaw 300 through the hinge shaft 550.

[0046] It is understandable that in order to enable the first clamping jaw 200 and the second clamping jaw 300 to rotate smoothly on the cylinder body 100, in some embodiments, reference is made to Figure 2 and Figure 3The cylinder body 100 is provided with a U-shaped receiving groove 140 on the peripheral side thereof, and the receiving groove 140 spans three adjacent peripheral side surfaces of the cylinder body 100. The first clamping jaw 200 includes an L-shaped first main body portion 220, and the second clamping jaw 300 includes an L-shaped second main body portion 320. The first clamping portion 210 is connected to one end of the first main body portion 220 close to the second clamping jaw 300 and is located on the side of the first main body portion 220 away from the cylinder body 100. The second clamping portion 310 is connected to one end of the second main body portion 320 close to the first clamping jaw 200. , and is located on the side of the second main body 320 away from the cylinder body 100, the second main body 320 and the first main body 220 are both accommodated in the accommodating groove 140, and the size of the accommodating groove 140 is set to allow the second main body 320 and the first main body 220 to rotate in the accommodating groove 140; and, in order to improve the aesthetics, when the first clamping jaw 200 and the second clamping jaw 300 are rotated to the first clamping portion 210 and the second clamping portion 310 are in contact, the second main body 320 and the first main body 220 are also correspondingly assembled into a U shape.

[0047] It should be understood that in some of these embodiments, reference Figure 3 In order to facilitate the rotational connection between the first clamping jaw 200 and the second clamping jaw 300 and the cylinder body 100, a first rotating portion 230 is protruded from the middle part of the first main body 220 on one side facing the second clamping jaw 300, and a second rotating portion 330 is protruded from the middle part of the second main body 320 on one side facing the first clamping jaw 200, and a first adapter groove 150 and a second adapter groove 160 are respectively provided at the positions corresponding to the first rotating portion 230 and the second rotating portion 330 at the bottom of the accommodating groove 140, wherein the first rotating portion 230 is embedded in the first adapter groove 150, and the second rotating portion 330 is embedded in the second adapter groove 160, and adapter holes are provided on the first rotating portion 230 and the second rotating portion 330, and are both rotatably connected to the cylinder body 100 through a hinge shaft 550 passing through the adapter holes.

[0048] It should be understood that in some of these embodiments, reference Figure 3 In order to better clamp and fix the material, the opposite sides of the first clamping portion 210 and the second clamping portion 310 are both provided with clamping grooves 311, and the clamping grooves 311 are configured to match the peripheral contour surface of the material.

[0049] It is understood that in some of these embodiments, reference Figures 1 to 3The clamping cylinder 1000 also includes a mounting block 700, which is connected to the side of the cylinder body 100 away from the first clamping portion 210, so that the clamping cylinder 1000 can be connected to the lifting drive mechanism 2000 that drives the clamping cylinder 1000 to rise and fall through the mounting block 700; and, in order to facilitate ventilation to the air cavity in the cylinder body 100, a trachea joint 720 is provided on the side of the mounting block 700 away from the cylinder body 100, and the trachea joint 720 is used to connect the clamping cylinder 1000 to the lifting drive mechanism 2000. An air supply pipe 800 is connected, and an air inlet hole 710 connecting the air duct 110 and the air pipe joint 720 is provided on the mounting block 700. The air duct 110 is respectively connected to each first air cavity 120 and each second air cavity 130. At the same time, in order to prevent the air pipe joint 720 and the air supply pipe 800 from affecting the connection between the mounting block 700 and the lifting drive mechanism 2000, one end of the mounting block 700 protrudes from the cylinder body 100 for connecting the lifting drive mechanism 2000.

[0050] It should be understood that the air supply pipe 800 is used to connect to a compressed gas supply device, and a three-way electromagnetic reversing valve can be set between the compressed gas device and the air supply pipe 800, so that the air supply pipe 800 can choose to connect to the compressed gas supply device or the outside atmosphere. When the air supply pipe 800 chooses to connect to the compressed gas supply device, compressed air can be introduced into the first air cavity 120 and the second air cavity 130. When the air supply pipe 800 chooses to connect to the outside atmosphere, the compressed air inside the first air cavity 120 and the second air cavity 130 can be discharged through the air supply pipe 800.

[0051] It is understandable that, in order to facilitate the rapid release of the material after the clamping cylinder 1000 carries the material to the target position, in some embodiments, the clamping cylinder 1000 further includes an elastic reset mechanism, wherein the elastic reset mechanism connects the first clamping jaw 200 and the second clamping jaw 300, and is used to drive the first clamping jaw 200 and the second clamping jaw 300 to rotate and reset, so as to drive the first clamping portion 210 and the second clamping portion 310 to separate from each other. Figure 2 and Figure 3 In one embodiment, two groups of elastic reset mechanisms are provided. For the convenience of description, the two groups of elastic reset mechanisms are respectively recorded as the first elastic reset mechanism 600a and the second elastic reset mechanism 600b, and the first elastic reset mechanism 600a and the second elastic reset mechanism 600b are respectively connected to the first clamping jaw 200 and the second clamping jaw 300, wherein the first elastic reset mechanism 600a and the second elastic reset mechanism 600b both include a push rod 610 and a spring 620, one end of the push rod 610 is formed with a contact portion 611 protruding from the circumferential side of the push rod 610, the spring 620 is sleeved on the push rod 610, and one end abuts on the contact portion 611, and the other end abuts on the cylinder body 100, and the contact portion 611 correspondingly abuts on the first clamping jaw 200 or the second clamping jaw 300.

[0052] It should be understood that, in the case where the clamping jaw cylinder 1000 is provided with a linkage mechanism 500, in some of the embodiments, the elastic reset mechanism may be selectively provided in one group instead of two groups; for example, in one of the embodiments, only the first elastic reset mechanism 600a may be provided, so that after the compressed air inside the first air cavity 120 and the second air cavity 130 is discharged, the first clamping jaw 200 is pushed to rotate and reset by abutting against the contact part 611 of the first clamping jaw 200, and the second clamping jaw 300 is synchronously rotated and reset under the drive of the linkage mechanism 500; or, similarly, in another embodiment, only the second elastic reset mechanism 600b connected to the second clamping jaw 300 may be provided.

[0053] It can be understood that in some of the embodiments, the gripper cylinder 1000 also includes a sensor 900, wherein the sensor 900 is arranged adjacent to the first gripper 200 and is used to detect the position of the first gripper 200 to determine whether the gripper cylinder 1000 is in a clamping state or a release state, so as to facilitate the precise control of the gripper cylinder 1000.

[0054] For example, in one embodiment, referring to Figures 1 to 3 , a detection sheet 240 is provided at one end of the first clamping jaw 200 away from the first clamping portion 210, and when the first clamping portion 210 rotates to separate from the second clamping portion 310, the detection sheet 240 can move into the detection range of the sensor 900 driven by the first clamping jaw 200, so that it can be detected by the sensor 900 and generate a corresponding electrical signal, and then it can be determined that the clamping jaw cylinder 1000 is in a loose state, and when the first clamping portion 210 rotates to fit with the second clamping portion 310, the detection sheet 240 can move out of the detection range of the sensor 900 driven by the first clamping jaw 200, so that the corresponding electrical signal disappears, and then it can be determined that the clamping jaw cylinder 1000 is in a clamping state. It should be understood that the sensor 900 can be optionally installed on the mounting block 700 to facilitate the fixation of the sensor 900.

[0055] The following describes the clamping device of the second embodiment of the utility model, referring to Figure 6 The clamping device of this embodiment includes a plurality of clamping modules 3000 arranged along a first horizontal direction, each clamping module 3000 includes a lifting drive mechanism 2000 and a clamping cylinder 1000 of the first embodiment described above, the clamping cylinder 1000 is connected to the lower side of the driving part of the lifting drive mechanism 2000, and the opening and closing directions of the first clamping part 210 and the second clamping part 310 in the clamping cylinder 1000 are perpendicular to the first horizontal direction.

[0056] It should be understood that by adopting the clamping cylinder 1000 of the above-mentioned first embodiment in the clamping module 3000, and making the arrangement direction of the clamping module 3000 perpendicular to the opening and closing direction of the first clamping part 210 and the second clamping part 310 in the clamping cylinder 1000, since the clamping cylinder 1000 of the above-mentioned first embodiment can provide a relatively large clamping force, the size in the direction perpendicular to the rotation and opening and closing of the first clamping part 210 and the second clamping part 310 can also be relatively smaller and thinner. Therefore, the clamping device of this embodiment can adapt to the clamping of multiple materials with large clamping force requirements and small arrangement spacing, and there will be no mutual interference when each lifting drive mechanism 2000 independently drives each clamping cylinder 1000 to carry materials for lifting.

[0057] It should be understood that in some of these embodiments, reference Figure 6 The lifting drive mechanism 2000 may optionally adopt a blade lifting cylinder.

[0058] Although the embodiments of the present invention have been shown and described, those skilled in the art will appreciate 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 claims and their equivalents.

Claims

1. A gripper cylinder, characterized in that: include: A cylinder body, in which at least one first air cavity and at least one second air cavity are arranged; A first clamping jaw is rotatably connected to the cylinder body and is provided with a first clamping portion; A second clamping jaw is rotatably connected to the cylinder body and is disposed opposite to the first clamping jaw, and is provided with a second clamping portion opposite to the first clamping portion; The piston comprises at least one first piston and at least one second piston; the first pistons are arranged in the first air cavity in a one-to-one correspondence and abut against the first clamping jaw, so that when the first air cavity is ventilated, the first clamping jaw is driven to drive the first clamping part to approach the second clamping part; the second pistons are arranged in the second air cavity in a one-to-one correspondence and abut against the second clamping jaw, so that when the second air cavity is ventilated, the second clamping jaw is driven to drive the second clamping part to approach the first clamping part; wherein, The length of the power arm driven by at least part of the first piston to rotate the first clamp is greater than the length of the resistance arm used by the material abutting against the first clamping part to hinder the rotation of the first clamp; the length of the power arm driven by at least part of the second piston to rotate the second clamp is greater than the length of the resistance arm used by the material abutting against the second clamping part to hinder the rotation of the second clamp.

2. A gripper cylinder according to claim 1, characterized in that: The first clamping jaw has a first active arm located on the side of its rotation axis away from the first clamping part, and the second clamping jaw has a second active arm located on the side of its rotation axis away from the second clamping part; a plurality of first air cavities are provided, and are arranged at intervals along the extension direction of the first active arm; a plurality of second air cavities are provided, and are arranged at intervals along the extension direction of the second active arm.

3. A gripper cylinder according to claim 1, characterized in that: The invention also includes a linkage mechanism, which connects the first clamping jaw and the second clamping jaw and is used to make the first clamping jaw and the second clamping jaw rotate synchronously.

4. A gripper cylinder according to claim 3, characterized in that: The linkage mechanism includes a telescopic member, a first connecting rod and a second connecting rod. The telescopic member is slidably and telescopically connected to the cylinder body. The first end and the second end of the first connecting rod are rotatably connected to the first clamp and the telescopic member respectively. The first end and the second end of the second connecting rod are rotatably connected to the second clamp and the telescopic member respectively.

5. A gripper cylinder according to claim 4, characterized in that: The first clamping jaw and the second clamping jaw are symmetrically arranged on both sides of the central axis surface of the cylinder body, the central axis of the telescopic member is located on the central axis surface of the cylinder body and can be telescoped along its own central axis direction, the first end of the first connecting rod and the first end of the second connecting rod are coaxially rotatably connected to the telescopic member, and the rotation axis is located on the central axis surface of the cylinder body, and the rotation axis of the second end of the first connecting rod and the rotation axis of the second end of the second connecting rod are symmetrically arranged about the central axis surface of the cylinder body.

6. A gripper cylinder according to claim 5, characterized in that: A U-shaped accommodating groove is provided on the circumferential side of the cylinder body, and the accommodating groove spans three adjacent circumferential side surfaces of the cylinder body, the first clamping jaw includes an L-shaped first main body portion, the second clamping jaw includes an L-shaped second main body portion, the first clamping portion is connected to an end of the first main body portion close to the second clamping jaw, and is located on a side of the first main body portion away from the cylinder body, the second clamping portion is connected to an end of the second main body portion close to the first clamping jaw, and is located on a side of the second main body portion away from the cylinder body, the second main body portion and the first main body portion are accommodated in the accommodating groove and can rotate in the accommodating groove.

7. A gripper cylinder according to any one of claims 1 to 6, characterized in that: It also includes an elastic reset mechanism, which is connected to the first clamping jaw and / or the second clamping jaw and is used to drive the first clamping jaw and the second clamping jaw to rotate and reset, so as to drive the first clamping part and the second clamping part to separate from each other.

8. A gripper cylinder according to any one of claims 1 to 6, characterized in that: A sensor is also included. The sensor is arranged adjacent to the first clamping jaw and is used to detect the position of the first clamping jaw to determine whether the clamping jaw cylinder is in a clamping state or a releasing state.

9. A gripper cylinder according to claim 8, characterized in that: A detection piece is provided at one end of the first clamping jaw away from the first clamping part. When the first clamping part rotates to separate from the second clamping part, the detection piece is driven by the first clamping jaw to move into the detection range of the sensor. When the first clamping part rotates to fit with the second clamping part, the detection piece is driven by the first clamping jaw to move out of the detection range of the sensor.

10. The clamping device is characterized by: It comprises a plurality of clamping modules arranged along a first horizontal direction, each of the clamping modules comprises a lifting drive mechanism and a clamping cylinder as described in any one of claims 1 to 9, the clamping cylinder is connected to the lower side of the driving part of the lifting drive mechanism, and the opening and closing directions of the first clamping part and the second clamping part in the clamping cylinder are perpendicular to the first horizontal direction.

Images