Pneumatic clamp holder

Abstract

The utility model discloses a pneumatic clamper, which comprises a clamper body, a piston assembly and two clamping jaw structures, a mounting part of each clamping jaw structure is provided with a mounting groove and a positioning hole, a positioning piece is arranged in the positioning hole in a penetrating manner and is connected with the clamper body, and a limiting push-pull block is positioned between the two clamping jaw structures. The two ends of the limiting push-pull block are inserted into the mounting grooves of the two clamping jaw structures; the mounting part is provided with two guide holes, the two guide holes correspondingly communicate with the two sides of the mounting groove, the limiting push-pull block is provided with two limiting guide grooves, limiting guide pieces parallel to the positioning pieces are arranged in the limiting guide grooves in a penetrating mode, and the two ends of each limiting guide piece are arranged in the two guide holes of the mounting part in a penetrating mode. The limiting push-pull block is simple in structure, machining of the limiting guide groove is easier, and miniaturization of the overall size of the clamp holder can be achieved through the structure of the limiting push-pull block.

Description

Technical Field

[0001] The utility model relates to the technical field of clamps, in particular to a pneumatic clamp. Background Art

[0002] Pneumatic grippers are widely used in industrial robots to enable the robots to grasp objects or workpieces. The cylinder structure drives the piston rod to move, and the piston rod drives a pair of jaws to rotate through a guide structure to achieve opening and closing. However, the guide structure in most pneumatic grippers is relatively complex, which is difficult and costly to process. In addition, the size of the guide structure is large, which easily causes the overall size of the pneumatic gripper to be larger. Utility Model Content

[0003] The utility model aims to provide a pneumatic clamp to solve the technical problems of the current pneumatic clamp having a complicated guiding structure, great processing difficulty and high cost.

[0004] The above-mentioned purpose of the utility model can be achieved by adopting the following technical solutions:

[0005] The utility model provides a pneumatic clamper, a clamper body, a piston assembly and two clamping claw structures, the clamper body has a pneumatic chamber and an installation chamber, the clamper body and the piston assembly cooperate to form a cylinder structure, the upper end of the piston assembly extends into the installation chamber and is connected to the two clamping claw structures through a limit push-pull block, the two clamping claw structures can be rotatably arranged on the clamper body around their respective positioning members relative to each other, the top of the clamper body is provided with an upper installation port connected to the installation chamber, an upper end cover is installed at the upper installation port, the bottom of the clamper body is provided with a lower installation port connected to the pneumatic chamber, a lower end cover is installed at the lower installation port; the clamping claw structure has a clamping portion and a mounting portion, the mounting portion of the clamping claw structure is provided with a mounting groove and a positioning hole, the The positioning piece is passed through the positioning hole and connected to the clamp body, the limit push-pull block is located between the two clamping jaw structures, and the two ends of the limit push-pull block are inserted into the mounting grooves of the two clamping jaw structures; the mounting portion is provided with two guide holes, and the two guide holes are correspondingly connected to the two sides of the mounting groove, the limit push-pull block is provided with two limit guide grooves, and a limit guide piece arranged parallel to the positioning piece is passed through the limit guide groove, and the two ends of the limit guide piece are passed through the two guide holes of the mounting portion; the limit push-pull block can push and pull the limit guide pieces in the two limit guide grooves to slide along their respective limit guide grooves under the drive of the piston assembly and drive the two clamping jaw structures to rotate around their respective positioning pieces to realize the clamping and opening of the clamping parts of the two clamping jaw structures.

[0006] In an embodiment of the present utility model, the limiting push-pull block is integrally formed at the top end of the piston rod.

[0007] In an embodiment of the present utility model, the distance between the two limiting guide grooves is smaller than the diameter of the piston rod.

[0008] In an embodiment of the present utility model, the limiting guide groove has a connected horizontal groove and an inclined groove. The horizontal groove extends from its first end towards the side close to the jaw structure along the relative direction of the two jaw structures to its second end. The first end of the inclined groove is connected to the second end of the horizontal groove, and the second end of the inclined groove extends obliquely towards the side close to the jaw structure relative to the extending direction of the piston assembly.

[0009] In an embodiment of the present utility model, the mounting portion has two mounting plates. The two mounting plates are connected to the bottom end of the clamping portion. An installation groove for cooperating with the limiting push-pull block is formed between the two mounting plates, and a guiding hole is respectively provided on each of the two mounting plates; the gripper body has a front wall plate and a rear wall plate arranged oppositely. The front wall plate and the rear wall plate are connected by two side wall plates. Two slots communicating with the installation chamber and the upper installation opening are provided on the side wall plates, and an installation hole penetrating through the front and rear is provided on the side wall plates. The two mounting plates of the jaw structure are inserted into the two slots, and the positioning member mounts the jaw structure on the gripper body by passing through the installation hole.

[0010] In an embodiment of the present utility model, a stroke adjustment structure is installed on the upper end cover. The stroke adjustment structure can axially move along the piston assembly and extend into the installation chamber. The stroke adjustment structure can abut against the limiting push-pull block to limit the movement of the limiting push-pull block in the extending direction of the piston assembly.

[0011] In an embodiment of the present utility model, the stroke adjustment structure includes an adjustment screw rod and a buffer pad. A threaded hole is provided on the upper end cover. The adjustment screw rod is threadedly connected to the threaded hole and can extend into the installation chamber. The buffer pad is installed at one end of the adjustment screw rod extending into the installation chamber.

[0012] In an embodiment of the present utility model, in the disassembled state of the stroke adjustment structure, a blocking member blocks the threaded hole.

[0013] In an embodiment of the present utility model, the inner cavity of the gripper body is separated by a partition to form the pneumatic chamber and the installation chamber, and the partition is provided with through holes communicating with the pneumatic chamber and the installation chamber; the piston assembly further includes a piston rod and a piston, the piston rod is in sealing sliding fit with the through hole along the axial direction of the piston assembly, the piston is arranged in the pneumatic chamber in a sealing sliding manner along the axial direction of the piston assembly and is connected to the piston rod, and the limit push-pull block is located in the installation chamber and is connected to the piston rod.

[0014] In an embodiment of the present utility model, the bottom end of the piston rod sequentially passes through the installation chamber and the through hole from the upper installation port and extends into the pneumatic chamber, and the installation part of the jaw structure and the limit push-pull block both extend into the installation chamber from the upper installation port; the piston extends into the pneumatic chamber from the lower installation port and is connected to the bottom end of the piston rod.

[0015] The features and advantages of the present utility model are:

[0016] For the pneumatic gripper of the present utility model, by arranging a limit push-pull block with a limit guiding groove on the piston assembly, and arranging installation grooves on the installation parts of the two jaw structures to cooperate with both ends of the limit push-pull block, the limit push-pull block has a simple structure, so it is easier to process the limit guiding groove on the limit push-pull block, and by reducing the size of the limit push-pull block, the requirement for the more miniaturized pneumatic gripper can be met, and the stability of the jaw structure can be improved, and the limit push-pull block has a smaller width dimension, so the material cost of the limit push-pull block can be reduced. In addition, by arranging installation grooves on the installation parts, when the width dimension of the jaw structure is certain, the weight of the jaw structure can be reduced by using the installation grooves, and the processing cost of the jaw structure can be reduced.

[0017] For the pneumatic gripper of the present utility model, the limit guiding groove is formed by the cooperation of the horizontal groove and the inclined groove, so that the piston assembly can realize a larger clamping angle and clamping force of the two jaw structures with a smaller stroke, and can avoid the impact on the object when the two jaw structures quickly clamp the object, and avoid the sudden reduction of the clamping force on the object when the two jaw structures quickly release the object. Description of the Drawings

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present utility model. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0019] Figure 1This is a schematic structural diagram of the pneumatic gripper in a clamping state in the present utility model.

[0020] Figure 2 This is a schematic structural diagram of the pneumatic gripper in an open state in the present utility model.

[0021] Figure 3 This is an exploded view of the pneumatic gripper in the present utility model.

[0022] Figure 4 This is a schematic structural diagram of the pneumatic gripper in another open state in the present utility model.

[0023] Figure 5 This is a schematic structural diagram of the stroke adjustment structure in the present utility model.

[0024] In the figure:

[0025] 1. Gripper body; 11. Pneumatic chamber; 111. Upper air chamber; 112. Lower air chamber; 12. Installation chamber; 13. Partition board; 14. Fixed hole; 15. Assembly groove; 16. Front wall plate; 17. Rear wall plate; 18. Side wall plate; 181. Slot; 182. Installation hole;

[0026] 2. Piston assembly; 21. Piston; 211. Third sealing ring; 212. Fastening screw; 22. Piston rod; 221. First sealing ring; 23. Limit push-pull block; 231. Limit guide groove; 232. Inclined groove; 233. Horizontal groove;

[0027] 3. Jaw structure; 31. Clamping part; 32. Installation part; 321. Installation plate; 322. Limit guide part; 323. Positioning part; 324. Guide hole; 325. Positioning hole; 326. Installation groove;

[0028] 4. Upper end cover; 41. Threaded hole; 42. Open slot; 43. Sealing part;

[0029] 5. Lower end cover; 51. Cover body; 52. Second sealing ring; 53. Circlip;

[0030] 6. Stroke adjustment structure; 61. Adjusting screw; 62. Buffer pad; 63. Nut. Detailed implementation manners

[0031] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all of the embodiments. Based on the embodiments in the present utility model, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present utility model.

[0032] As Figure 1 and Figure 2 shown, the present utility model provides a pneumatic gripper, comprising: a gripper body 1, the inner cavity of which is separated by a partition 13 to form a pneumatic chamber 11 and an installation chamber 12, and the partition 13 is provided with through holes communicating with the pneumatic chamber 11 and the installation chamber 12; a piston assembly 2, the lower end of the piston assembly 2 is sealingly and slidably arranged in the pneumatic chamber 11, the upper end of the piston assembly 2 passes through the through hole and extends into the installation chamber 12 and is provided with a limit push-pull block 23; two jaw structures 3, which are rotatably arranged on the gripper body 1 relative to each other around their respective positioning members 323 and are connected to the limit push-pull block 23, and the positioning member 323 is arranged perpendicular to the axial direction Y of the piston assembly 2; an upper end cover 4, the top of the gripper body 1 is provided with an upper installation port communicating with the installation chamber 12, and the upper end cover 4 is installed at the upper installation port; a lower end cover 5, the bottom of the gripper body 1 is provided with a lower installation port communicating with the pneumatic chamber 11, and the lower end cover 5 is installed at the lower installation port. By the cooperation of the gripper body 1 and the piston assembly 2, a cylinder structure is formed, so as to drive the piston assembly 2 to move along its axial direction Y by using gas, and further drive the two jaw structures 3 to rotate relative to each other around their respective positioning members 323 through the limit push-pull block 23 to realize the clamping and opening of the two jaw structures 3.

[0033] Specifically, the piston assembly 2 further includes a piston rod 22 and a piston 21. The piston rod 22 is sealingly and slidably matched with the through hole along the axial direction of the piston assembly 2. The piston 21 is sealingly and slidably arranged in the pneumatic chamber 11 along the axial direction of the piston assembly 2 and is connected to the piston rod 22. The limit push-pull block 23 is located in the installation chamber 12 and is connected to the piston rod 22. The pneumatic chamber 11 is divided into an upper air chamber 111 and a lower air chamber 112 by the piston 21, and the upper air chamber 111 is communicated with the through hole. The piston 21 slides under the pressure difference between the upper air chamber 111 and the lower air chamber 112. When the air pressure in the lower air chamber 112 is greater than the air pressure in the upper air chamber 111, the piston 21 slides towards the upper air chamber 111, and the piston rod 22 extends out; when the air pressure in the upper air chamber 111 is greater than the air pressure in the lower air chamber 112, the piston 21 slides towards the lower air chamber 112, and the piston rod 22 retracts.

[0034] Combined with Figure 3 shown, in order to facilitate the installation of the piston assembly 2 and the jaw structure 3 on the gripper body 1, first, the bottom end of the piston rod 22 is sequentially passed through the installation chamber 12 and the through hole from the upper installation port and extends into the pneumatic chamber 11. The installation part 32 of the jaw structure 3 and the limit push-pull block 23 both extend into the installation chamber 12 from the upper installation port, and then the upper end cover 4 is installed at the upper installation port to prevent foreign matters such as dust from entering the installation chamber 12 from the upper installation port; the piston 21 extends into the pneumatic chamber 11 from the lower installation port and is connected to the bottom end of the piston rod 22, and then the lower end cover 5 is installed at the lower installation port to form a closed chamber for the pneumatic chamber 11.

[0035] Specifically, as Figure 1 and Figure 2 shown, a sealing groove is provided on the inner wall surface of the through hole, and a first sealing ring 221 is installed in the sealing groove. The piston rod 22 is in sealing sliding fit with the through hole through the first sealing ring 221. A lower air chamber 112 is formed between the lower end cover 5 and the piston 21, and an upper air chamber 111 is formed between the piston 21 and the partition plate 13. The lower end cover 5 includes a cover body 51, and an annular groove for installing a second sealing ring 52 is provided on the cover body 51 along its circumference. The cover body 51 is in sealing connection with the lower installation port through the second sealing ring 52. In order to prevent the cover body 51 from being disengaged from the pneumatic chamber 11, the cover body 51 is fixed in the pneumatic chamber 11 by a circlip 53. The piston 21 is fixed to the bottom end of the piston rod 22 by a fastening screw 212, and an annular groove for installing a third sealing ring 211 is provided on the piston 21 along its circumference to be in sealing sliding fit with the inner wall surface of the pneumatic chamber 11.

[0036] In order to simplify the processing of the limit push-pull block 23 and improve the stability when the two-jaw structure 3 clamps a workpiece, the present utility model improves the cooperation between the limit push-pull block 23 and the two-jaw structure 3. Combining Figures 1 to 3 shown, the jaw structure 3 has a clamping portion 31 and a mounting portion 32. The mounting portion 32 of the jaw structure 3 is provided with a mounting groove 326 and a positioning hole 325. A positioning member 323 is inserted through the positioning hole 325 and connected to the gripper body 1. The limit push-pull block 23 is located between the two jaw structures 3, and both ends of the limit push-pull block 23 are inserted into the mounting grooves 326 of the two jaw structures 3; two guiding holes 324 are provided on the mounting portion 32, and the two guiding holes 324 communicate with both sides of the mounting groove 326 correspondingly. The limit push-pull block 23 is provided with two limit guiding grooves 231, and a limit guiding member 322 arranged parallel to the positioning member 323 is inserted through the limit guiding grooves 231, and both ends of the limit guiding member 322 are inserted into the two guiding holes 324 of the mounting portion 32; the limit push-pull block 23 can drive the limit guiding member 322 in the two limit guiding grooves 231 to slide along their respective limit guiding grooves 231 under the drive of the piston assembly 2 and drive the two jaw structures 3 to rotate around their respective positioning members 323 to realize the clamping and opening of the clamping portions 31 of the two jaw structures 3.

[0037] For the convenience of description of the present utility model, the relative positional relationship of each component is described in the direction indicated by the attached Figures 1 to 4 schematic diagram, but not limited thereto.

[0038] Combining Figure 3As shown, for the pneumatic gripper of the present utility model, by providing a limit push-pull block 23 with a limit guiding groove 231 on the piston assembly 2, and providing an installation groove 326 on the installation part 32 of the two jaw structures 3 to cooperate with both ends of the limit push-pull block 23, the structure of the limit push-pull block 23 is simple, so it is easier to process the limit guiding groove 231 on the limit push-pull block 23. Moreover, by reducing the size of the limit push-pull block 23, the requirement for the pneumatic gripper to be more miniaturized can be met, and the stability of the jaw structure 3 can be improved. And when the overall width dimension W of the pneumatic gripper (i.e., the dimension in the direction parallel to the positioning member 323) is fixed, the jaw structure 3 can have a larger width dimension W1, thus having a larger clamping area and being clamped more stably, while the limit push-pull block 23 has a smaller width dimension W2, so the material cost of the limit push-pull block 23 can be reduced. In addition, by providing the installation groove 326 on the installation part 32, when the width dimension W1 of the jaw structure 3 is fixed, the weight of the jaw structure 3 can also be reduced by using the installation groove 326, and the processing cost of the jaw structure 3 can be reduced.

[0039] Combined with Figure 1 and Figure 2 As shown, when the piston 21 slides in the direction close to the partition 13 under the action of air pressure, the piston 21 drives the piston rod 22 to slide and extend along the extending direction Y1, so that the limit push-pull block 23 pushes the limit guiding member 322 to slide along the limit guiding groove 231, and the two jaw structures 3 rotate around their positioning member 323 and move away from each other relative to each other, and the distance between the clamping parts 31 of the two jaw structures 3 increases and is in an open state; when the piston 21 slides in the direction away from the partition 13 under the action of air pressure, the piston 21 drives the piston rod 22 to slide and retract along the retracting direction Y2, so that the limit push-pull block 23 pulls the limit guiding member 322 to slide along the limit guiding groove 231, and the two jaw structures 3 rotate around their positioning member 323 and move closer to each other relative to each other, and the distance between the clamping parts 31 of the two jaw structures 3 decreases and is in a clamped state. Among them, through the cooperation and limitation of the limit guiding member 322 and the limit guiding groove 231, after the limit push-pull block 23 drives the jaw structure 3 to rotate to any angle, the jaw structure 3 can maintain its position without shaking, so as to ensure the stability of the two jaw structures 3 in the clamped state, and the rotation speed and rotation range of the jaw structure 3 can also be adjusted by adjusting the shape of the limit guiding groove 231.

[0040] Specifically, as Figure 3As shown, the clamping part 31 of the jaw structure 3 is generally in the form of a clamping plate structure. The positioning member 323 can be structures such as a positioning pin, a positioning shaft, or a positioning rod. The limiting and guiding member 322 can be structures such as a guiding pin, a guiding shaft, or a guiding rod. The mounting part 32 has two mounting plates 321 which are connected to the bottom end of the clamping part 31. An installation groove 326 which cooperates with the limiting push-pull block 23 is formed between the two mounting plates 321, and a guiding hole 324 is respectively provided on each of the two mounting plates 321. The gripper body 1 has a front wall plate 16 and a rear wall plate 17 which are oppositely arranged. The front wall plate 16 and the rear wall plate 17 are connected by two side wall plates 18. Two slots 181 which are communicated with the installation chamber 12 and the upper installation opening are provided on the side wall plates 18, and an installation hole 182 which penetrates through from front to back is provided on the side wall plates 18. The two mounting plates 321 of the jaw structure 3 are inserted into the two slots 181, and the positioning member 323 is passed through the installation hole 182 to mount the jaw structure 3 on the gripper body 1. By providing the two slots 181 on the side wall plates 18 to limit the two mounting plates 321, it is possible to prevent the mounting plates 321 from moving axially in the direction of the positioning member 323, so that the jaw structure 3 can rotate more stably around the positioning member 323. At least one assembly groove 15 for installing a sensor is provided on at least one side surface of the gripper body 1 to detect the angle at which the jaw structure 3 can rotate around the positioning member 323 by using the sensor. A plurality of fixing holes 14 for passing through fixing screws are provided at the top of the gripper body 1, and the upper end cover 4 is installed at the top of the gripper body 1 through the fixing screws to block the upper installation opening.

[0041] During installation, first, the mounting plates 321 of the two jaw structures 3 are assembled to the limiting push-pull block 23 through the limiting and guiding member 322, then the jaw structure 3, the limiting push-pull block 23, and the piston rod 22 are inserted into the installation chamber 12 from the upper installation opening. Furthermore, the bottom end of the piston rod 22 is passed through the through hole and extends into the pneumatic chamber 11, and the mounting plate 321 is inserted into the corresponding slot 181 to make the positioning hole 325 correspond to the installation hole 182. Then, the positioning member 323 is passed through the positioning hole 325 and the installation hole 182, so as to assemble the mounting part 32 of the jaw structure 3 to the gripper body 1. Then, the upper end cover 4 is fixed at the upper installation opening.

[0042] As Figures 1 to 3As shown in the figure, in the embodiment of the present utility model, the limiting push-pull block 23 and the piston rod 22 are integrally formed. By setting the limiting push-pull block 23 and the piston rod 22 into an integrally formed structure, on the one hand, the structural stability of the limiting push-pull block 23 can be improved, and on the other hand, it is also beneficial to reduce the distance between the two limiting guide grooves 231, and then the length L of the gripper body 1 can be reduced, that is, the length dimension of the gripper body 1 in the relative direction of the two jaw structures 3 (that is, the distance direction X between the two limiting guide grooves 231). In this embodiment, the distance between the two limiting guide grooves 231 is smaller than the diameter of the piston rod 22, so that the size of the limiting push-pull block 23 can be minimized. Specifically, the limiting push-pull block 23 is integrally formed at the top end of the piston rod 22. The length of the limiting push-pull block 23 in the relative direction of the two jaw structures 3 is slightly smaller than the length of the installation chamber 12 in the relative direction of the two jaw structures 3.

[0043] As Figure 1 and Figure 2 As shown in the figure, in the embodiment of the present utility model, the two limiting guide grooves 231 have a horizontal groove 233 and an inclined groove 232. The horizontal groove 233 extends from the first end towards the side close to the jaw structure 3 in the relative direction of the two jaw structures 3 to its second end. The first end of the inclined groove 232 is connected to the second end of the horizontal groove 233, and the second end of the inclined groove 232 extends obliquely towards the side close to the jaw structure 3 relative to the extending direction Y1 of the piston rod 22. The distance between the two limiting guide grooves 231 being smaller than the diameter of the piston rod 22 means that the distance between the first ends of the two horizontal grooves 233 is smaller than the diameter of the piston rod 22. The length of the limiting push-pull block 23 in the direction X is slightly larger than the distance between the second ends of the two inclined grooves 232. By providing the inclined groove 232 and the horizontal groove 233, the piston assembly can achieve a larger clamping angle and clamping force of the two jaw structures 3 with a smaller stroke. When the limiting push-pull block 23 pushes and pulls the limiting guide member 322 to slide in the horizontal groove 233, the rotation speed of the jaw structure 3 is faster, and when the limiting push-pull block 23 pushes and pulls the limiting guide member 322 to slide in the inclined groove 232, the rotation speed of the jaw structure 3 is slower, so as to avoid the impact on the object caused by the faster speed of the clamping part 31 of the jaw structure 3 when clamping the object, and avoid the sudden reduction of the clamping force on the object when the two jaw structures 3 quickly release the object. Among them, the lengths of the horizontal groove 233 and the inclined groove 232 and the inclination angle of the inclined groove 232 do not need to be specifically limited, and can be adjusted according to the installation position of the limiting guide member 322 relative to the positioning member 323, the required rotation angle range of the jaw structure 3 around the positioning member 323, and the rotation speed.

[0044] Specifically, as Figure 1 and Figure 2As shown, in order to make the limit guiding member 322 slide more smoothly in the limit guiding groove 231, in the embodiment of the present utility model, the cross-section of the limit guiding member 322 is circular, and the groove wall surface of the inclined groove 232 and the groove wall surface of the horizontal groove 233 are smoothly transitionally connected. Wherein, the diameter of the limit guiding member 322 is slightly smaller than the width of the limit guiding groove 231, so that when the limit push-pull block 23 moves up and down, the groove wall surface of the limit guiding groove 231 can push and pull the limit guiding member 322 to drive the jaw structure 3 to rotate, and when the limit push-pull block 23 is fixed, the groove wall surface of the limit guiding groove 231 can limit the limit guiding member 322 to prevent the jaw structure 3 from rotating.

[0045] In addition, as shown in combination with Figure 3 and Figure 4 in the embodiment of the present utility model, the stroke adjustment structure 6 is installed by using the upper end cover 4. The stroke adjustment structure 6 can extend into the installation chamber 12 movably along the axial direction Y of the piston assembly 2. The stroke adjustment structure 6 can abut against the limit push-pull block 23 to limit the limit push-pull block 23 from moving away from the partition plate 13. By moving and adjusting the length of the stroke adjustment structure 6 extending into the installation chamber 12, the maximum extended length of the piston rod 22 can be adjusted, that is, the maximum distance that the piston rod 22 drives the limit push-pull block 23 to move away from the partition plate 13 can be adjusted. Thus, the angle at which the limit push-pull block 23 pushes the two jaw structures 3 to rotate away from each other around the positioning member 323 can be adjusted, that is, the degree to which the two jaw structures 3 open.

[0046] Specifically, as shown in Figure 5 the stroke adjustment structure 6 includes an adjustment screw 61 and a buffer pad 62. A threaded hole 41 is provided on the upper end cover 4. The adjustment screw 61 is threadedly connected to the threaded hole 41 and can extend into the installation chamber 12. The buffer pad 62 is installed at one end of the adjustment screw 61 extending into the installation chamber 12. The upper end cover 4 is fixed to the top of the gripper body 1 by screws, bolts or other fasteners. A nut 63 can also be installed on the adjustment screw 61 to improve the stability of the adjustment screw 61. Open slots 42 are provided on both sides of the upper end cover 4. When the clamping portions 31 of the two jaw structures 3 are closest, the clamping portions 31 of the two jaw structures 3 can be received in the two open slots 42. When the stroke adjustment structure 6 is not installed on the upper end cover 4, the threaded hole 41 can be blocked by a plug or other blocking member 43.

[0047] The above are only several embodiments of the present utility model. Those skilled in the art can make various changes or modifications to the embodiments of the present utility model based on the content disclosed in the application documents without departing from the spirit and scope of the present utility model.

Claims

1. A pneumatic gripper, comprising a gripper body (1), a piston assembly (2) and two jaw structures (3). The gripper body (1) has a pneumatic chamber (11) and a mounting chamber (12). The gripper body (1) and the piston assembly (2) cooperate to form a cylinder structure. The upper end of the piston assembly (2) extends into the mounting chamber (12) and is connected to the two jaw structures (3) through a limit push-pull block (23). The two jaw structures (3) are rotatably arranged on the gripper body (1) relative to each other around their respective positioning members (323). The top of the gripper body (1) is provided with an upper mounting port communicating with the mounting chamber (12), and an upper end cover (4) is installed at the upper mounting port. The bottom of the gripper body (1) is provided with a lower mounting port communicating with the pneumatic chamber (11), and a lower end cover (5) is installed at the lower mounting port; It is characterized in that, The jaw structure (3) has a clamping portion (31) and a mounting portion (32). The mounting portion (32) of the jaw structure (3) is provided with a mounting groove (326) and a positioning hole (325). The positioning member (323) passes through the positioning hole (325) and is connected to the gripper body (1). The limit push-pull block (23) is located between the two jaw structures (3), and both ends of the limit push-pull block (23) are inserted into the mounting grooves (326) of the two jaw structures (3); Two guiding holes (324) are provided on the mounting portion (32). The two guiding holes (324) correspondingly communicate with both sides of the mounting groove (326). The limit push-pull block (23) is provided with two limit guiding grooves (231). A limit guiding member (322) parallel to the positioning member (323) is arranged in the limit guiding groove (231), and both ends of the limit guiding member (322) pass through the two guiding holes (324) of the mounting portion (32); The limit push-pull block (23) can drive the limit guiding members (322) in the two limit guiding grooves (231) to slide along their respective limit guiding grooves (231) under the drive of the piston assembly (2) and drive the two jaw structures (3) to rotate around their respective positioning members (323) to realize the clamping and opening of the clamping portions (31) of the two jaw structures (3).

2. The pneumatic gripper according to claim 1, characterized in that, The limit push-pull block (23) is integrally formed at the top end of the piston rod (22) of the piston assembly (2).

3. The pneumatic gripper according to claim 2, characterized in that, The distance between the two limit guiding grooves (231) is smaller than the diameter of the piston rod (22).

4. The pneumatic gripper according to claim 1, characterized in that, The limiting and guiding groove (231) has a connected horizontal groove (233) and inclined groove (232). The horizontal groove (233) extends from its first end towards the side close to the jaw structure (3) along the relative direction of the two jaw structures (3) to its second end. The first end of the inclined groove (232) is connected to the second end of the horizontal groove (233), and the second end of the inclined groove (232) extends obliquely towards the side close to the jaw structure (3) relative to the extending direction of the piston assembly (2).

5. The pneumatic gripper according to claim 1, wherein the mounting portion (32) has two mounting plates (321). The two mounting plates (321) are connected to the bottom end of the clamping portion (31). An installation groove (326) that cooperates with the limiting push-pull block (23) is formed between the two mounting plates (321), and a guiding hole (324) is respectively provided on each of the two mounting plates (321); the gripper body (1) has a front wall plate (16) and a rear wall plate (17) arranged oppositely. The front wall plate (16) and the rear wall plate (17) are connected by two side wall plates (18). Two slots (181) that communicate with the installation chamber (12) and the upper installation opening are provided on the side wall plates (18), and an installation hole (182) that penetrates through from front to back is provided on the side wall plates (18). The two mounting plates (321) of the jaw structure (3) are inserted into the two slots (181), and the positioning member (323) mounts the jaw structure (3) on the gripper body (1) by passing through the installation hole (182).

6. The pneumatic gripper according to claim 1, wherein a stroke adjustment structure (6) is installed on the upper end cover (4). The stroke adjustment structure (6) can axially move along the piston assembly (2) and extend into the installation chamber (12). The stroke adjustment structure (6) can abut against the limiting push-pull block (23) to limit the movement of the limiting push-pull block (23) in the extending direction of the piston assembly (2).

7. The pneumatic gripper according to claim 6, wherein the stroke adjustment structure (6) includes an adjustment screw rod (61) and a buffer pad (62). A threaded hole (41) is provided on the upper end cover (4). The adjustment screw rod (61) is threadedly connected to the threaded hole (41) and can extend into the installation chamber (12). The buffer pad (62) is installed at one end of the adjustment screw rod (61) that extends into the installation chamber (12).

8. The pneumatic gripper according to claim 7, wherein when the stroke adjustment structure (6) is in a disassembled state, a blocking member (43) blocks the threaded hole (41).

9. The pneumatic gripper according to claim 1, wherein The inner cavity of the gripper body (1) is separated by a partition plate (13) to form the pneumatic chamber (11) and the installation chamber (12), and the partition plate (13) is provided with through holes communicating with the pneumatic chamber (11) and the installation chamber (12); the piston assembly (2) further includes a piston rod (22) and a piston (21), the piston rod (22) is in sealed sliding fit with the through hole along the axial direction of the piston assembly (2), the piston (21) is arranged in the pneumatic chamber (11) in a sealed sliding manner along the axial direction of the piston assembly (2) and is connected to the piston rod (22), and the limit push-pull block (23) is located in the installation chamber (12) and is connected to the piston rod (22).

10. The pneumatic gripper according to claim 9, wherein The bottom end of the piston rod (22) sequentially passes through the installation chamber (12) and the through hole from the upper installation port and extends into the pneumatic chamber (11), and the installation part (32) of the jaw structure (3) and the limit push-pull block (23) both extend into the installation chamber (12) from the upper installation port; the piston (21) extends into the pneumatic chamber (11) from the lower installation port and is connected to the bottom end of the piston rod (22).

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