Sealing structure for rod and gripper oil cylinder

Abstract

The utility model relates to the technical field of oil cylinders, in particular to a sealing structure for a rod and a gripper oil cylinder, and the sealing structure is arranged between the oil cylinder and a piston rod and comprises a copper sleeve which is arranged between a cylinder body and the piston rod; the gland is provided with an inner hole, and the gland sleeves the piston rod through the inner hole; the V group is arranged between the copper sleeve and the gland; the adjusting piece is arranged between the gland and the cylinder body so as to adjust the compression amount of the V group; the lubricating assembly penetrates through the gland so as to provide lubricating oil for the piston rod. According to the sealing structure for the rod, the compression amount of the V group is adjusted through the adjusting piece, so that the sealing reliability is guaranteed, and the sealing effect is improved; lubricating oil is provided for the piston rod through the lubricating assembly, parts can be prevented from rusting, the piston rod is prevented from being damaged and corroded, and shaking generated when the piston rod of the gripper oil cylinder stretches out and retracts back can be lubricated and weakened.

Description

Technical Field

[0001] The utility model relates to the technical field of oil cylinders, in particular to a rod sealing structure and a support shoe oil cylinder. Background Art

[0002] During tunneling, an open-type TBM (Transport Bone Machine) utilizes its support mechanism to brace the tunnel walls to withstand the reaction force of the TBM's forward thrust and the reaction torque of the cutterhead. The support mechanism primarily consists of grippers and gripper cylinders. The gripper cylinders are hydraulic actuators, with piston rods at each end connected to the grippers by bolts. During tunneling, the rodless chamber of the gripper cylinders is pressurized, pushing out the piston rods and driving the grippers to brace the tunnel walls to withstand the reaction force of the TBM's forward thrust and the reaction torque of the cutterhead.

[0003] With the rapid development of TBM tunneling technology, tunnel excavation diameters are gradually increasing. The specifications of the gripper cylinders are closely related to the TBM excavation diameter. The larger the excavation diameter, the larger the gripper cylinders. Small gripper cylinders weigh several tons, while large ones can weigh dozens of tons. This, coupled with space constraints, makes disassembly and maintenance of the gripper cylinders extremely difficult, resulting in high downtime and maintenance costs. Gripper cylinders operate in extremely harsh conditions. During open TBM excavation, vibrations are significant and the working environment is harsh. While holding the tunnel wall together, the gripper cylinders must withstand both high vibrations and the radial loads generated by the counter-torque of the cutterhead. Furthermore, mud and impurities in the surrounding environment can adhere to the gripper cylinder piston rod surface, damaging the seals.

[0004] Therefore, it is necessary to design a safe and reliable sealing structure to overcome the above-mentioned defects. Utility Model Content

[0005] The technical problem to be solved by the utility model is: in order to solve the technical problems in the prior art, the utility model provides a rod sealing structure and a support shoe oil cylinder.

[0006] The technical solution adopted by the utility model to solve its technical problems is: a rod sealing structure, which is installed between the cylinder body and the piston rod, comprising: a copper sleeve, which is installed between the cylinder body and the piston rod; a gland, which has an inner hole and is sleeved on the piston rod through the inner hole; a V group, which is arranged between the copper sleeve and the gland; an adjusting member, which is arranged between the gland and the cylinder body to adjust the compression amount of the V group; and a lubricating assembly, which passes through the gland to provide lubricating oil to the piston rod.

[0007] The rod sealing structure of the utility model adjusts the compression amount of the V group through the adjusting part, thereby ensuring the reliability of the seal and improving the sealing effect; the lubrication component is used to provide lubricating oil to the piston rod, which can prevent the parts from rusting and avoid damage and corrosion to the piston rod, and can also lubricate and reduce the shaking of the piston rod of the shoe cylinder when extending and retracting.

[0008] Furthermore, the lubrication assembly includes a radial oil hole, an axial oil hole and an oil filling ring groove. The oil filling ring groove is arranged on the inner wall of the pressure cover. The radial oil hole is connected to the oil filling ring groove, and the axial oil hole is connected to the radial oil hole. The end of the axial oil hole away from the radial oil hole passes through the end face of the pressure cover so that the lubricating oil can be injected through the axial oil hole.

[0009] Furthermore, it also includes a guide sleeve, which is arranged between the cylinder body and the copper sleeve, and the adjusting piece is arranged between the pressure cover and the guide sleeve.

[0010] Furthermore, it also includes a sealing ring assembly, including: a Gly ring, which is arranged between the gland and the piston rod; a U-shaped ring, which is arranged between the gland and the piston rod; and an O-ring, which is arranged between the gland and the guide sleeve.

[0011] Furthermore, one end of the lubrication assembly is located between the U-shaped ring and the Glyer ring, and is used to inject lubricating oil between the U-shaped ring and the Glyer ring.

[0012] Furthermore, an oil cup hole connected to the axial oil hole is provided on the gland, and an oil cup is installed on the inner wall of the oil cup hole.

[0013] A shoe support cylinder comprises a cylinder body and a piston rod, wherein the cylinder body has an oil chamber, the piston rod is arranged in the cylinder body and can move along the axial direction thereof, and is characterized in that a rod sealing structure according to any one of claims 1 is installed between the cylinder body and the piston rod.

[0014] Furthermore, the piston rod has a rod head, a gripper shoe is connected to the rod head, and a mounting groove is provided on the gripper shoe for inserting the rod head; a support head is connected to the groove wall of the mounting groove, the support head is provided with a first spherical surface, and the rod head is provided with a spherical groove that cooperates with the first spherical surface; a limiting member is also connected to the gripper shoe, and the limiting member contacts the rod head to prevent the rod head from being disconnected from the gripper shoe.

[0015] Furthermore, the limiting member includes a limiting block connected to the support shoe, the end of the rod head away from the support shoe is provided with a second spherical surface, the limiting block is provided with a third spherical surface in contact with the first spherical surface, and the third spherical surface is adapted to the second spherical surface.

[0016] Furthermore, a cross pin mounting hole is provided on the cylinder body, or a mounting plate is connected to the side wall of the cylinder body, and the cross pin mounting hole is provided on the mounting plate.

[0017] The beneficial effects of the present invention are:

[0018] 1. The copper sleeve is used to support the guide. Compared with the guide ring, the copper sleeve has a longer guide length for the same guide distance. The copper sleeve has a stronger guide bearing capacity and side load resistance. At the same time, the clearance between the copper sleeve and the piston rod is small, which can reduce the risk of hard contact between the metal surface of the gland and the surface of the piston rod under radial load, and prevent the piston rod from being strained.

[0019] 2. The cooperation between the U-ring and the V-group can effectively prevent leakage at the gland. When changing steps during excavation, the lateral load acting on the support shoe cylinder suddenly disappears. If the V-group pressed to one side cannot rebound in time, it will cause through leakage at the V-group. However, the U-ring behind the V-group still has good sealing performance, which can effectively prevent leakage.

[0020] 3. The dust ring, grid ring and lubrication assembly work together. The dust ring serves as the first line of protection, scraping off some of the mud and hard objects attached to the surface of the piston rod. The grid ring serves as the second line of protection, further scraping off the mud and hard objects attached to the surface of the piston rod. The lubrication assembly is filled with lubricating oil, which can not only prevent the inner hole of the gland from rusting, avoid damaging the U-ring seal and corroding the piston rod, but also provide lubrication and reduce the vibration of the piston rod when the shoe cylinder extends and retracts.

[0021] 4. Setting the cross pin mounting hole on the side of the cylinder body can reduce the axial size of the support shoe cylinder and save installation space;

[0022] 5. The connection between the club head and the gripper shoe is achieved by cooperating the spherical groove with the first spherical surface, and the second spherical surface with the third spherical surface. This can improve the connection strength between the club head and the gripper shoe and reduce the possibility of failure of the connection between the club head and the gripper shoe. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 It is a structural schematic diagram of the entire rod sealing structure in the present invention.

[0025] Figure 2 It is a partially enlarged schematic diagram of the rod sealing structure in the present invention.

[0026] Figure 3 It is a schematic cross-sectional view of the overall structure of the support shoe cylinder in the present invention.

[0027] Figure 4 This is a schematic cross-sectional view of the gripper cylinder with the gripper removed in the present invention.

[0028] Figure 5It is a partially enlarged schematic diagram of the guide sleeve in the present invention.

[0029] Figure 6 It is a partially enlarged schematic diagram of the connection structure between the support shoe and the club head in the present invention.

[0030] Figure 7 It is a schematic diagram of the overall appearance and structure of the support shoe cylinder in the utility model.

[0031] Figure 8 It is a schematic diagram of the overall appearance and structure of another support shoe cylinder embodied in the utility model.

[0032] In the figure: 1. Cylinder body; 11. Oil chamber; 12. Limiting ring; 13. First oil port; 14. Second oil port; 2. Piston rod; 21. Driving part; 22. Movable part; 23. Rod head; 241. Spherical groove; 242. Second spherical surface; 31. Pressure cover; 32. V group; 33. Adjusting gasket; 41. Dust seal; 42. Gly ring; 43. U-shaped ring; 45. O-ring; 5. Support shoe; 51. Mounting groove; 52. Support head; 521. First spherical surface; 53. Limiting block; 531. Third spherical surface; 6. Lubrication assembly; 61. Radial oil hole; 62. Axial oil hole; 63. Oiling ring groove; 64. Oil cup; 7. Guide sleeve; 71. Copper sleeve; 711. Spiral groove; 8. Mounting plate; 81. Cross pin mounting hole. DETAILED DESCRIPTION

[0033] The present invention will now be described in further detail with reference to the accompanying drawings, which are simplified schematic diagrams that illustrate the basic structure of the present invention in a schematic manner.

[0034] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "transverse", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings. They 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. In addition, features defined as "first" or "second" may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "multiple" means two or more. In the description of this utility model, it should be noted that, unless otherwise expressly specified or limited, the terms "mounted," "connected," and "connected" should be understood in a broad sense. For example, they can refer to fixed connections, detachable connections, or integral connections; mechanical connections, electrical connections; direct connections, indirect connections through an intermediate medium, and internal communication between two components. Those skilled in the art will understand the specific meanings of the above terms in this utility model based on the specific circumstances.

[0035] The utility model discloses a sealing structure for a rod and a support shoe oil cylinder.

[0036] Example 1:

[0037] Reference Figure 1 and Figure 2 A rod sealing structure is installed between the cylinder body 1 and the piston rod 2, and includes a dynamic pressure cover 31, a V group 32, an adjusting part, a lubrication assembly 6 and a copper sleeve 71. The copper sleeve 71 is installed between the cylinder body 1 and the piston rod 2; the copper sleeve 71 is sleeved on the piston rod 2, and the inner wall of the copper sleeve 71 cooperates with the piston rod 2. The inner wall of the copper sleeve 71 is provided with a spiral groove 711, so that the oil can enter between the copper sleeve 71 and the piston rod 2 through the spiral groove 711, thereby increasing lubrication. This solution uses the copper sleeve 71 for support and guidance. Compared with the guide ring, the guide length of the copper sleeve 71 is longer for the same guide distance, and the guide bearing capacity and side load resistance of the copper sleeve 71 are stronger. At the same time, the clearance between the copper sleeve 71 and the piston rod 2 is small, which can reduce the risk of hard contact between the metal surface of the pressure cover 31 and the surface of the piston rod 2 under the action of radial load, and prevent the piston rod 2 from being strained.

[0038] The gland 31 has an inner hole through which it is sleeved onto the piston rod 2. The V-group 32 is disposed between the copper sleeve 71 and the gland 31. The gland 31 has a large end and a small end, with the small end of the gland 31 contacting the V-group 32, while the two ends of the V-group 32 abut against the copper sleeve 71 and the gland 31, respectively. An adjustment member is disposed between the large end of the gland 31 and the cylinder body 1 to adjust the distance between the gland 31 and the copper sleeve 71, thereby facilitating adjustment of the compression of the V-group 32. In a specific embodiment, the adjustment member can be an adjustment shim 33, and the distance between the gland 31 and the copper sleeve 71 can be adjusted by increasing or decreasing the number of adjustment shims 33.

[0039] Reference Figure 5 The rod sealing structure further includes a guide sleeve 7 , which is disposed between the cylinder body 1 and the copper sleeve 71 , and an adjusting member is disposed between the pressure cover 31 and the guide sleeve 7 .

[0040] Reference Figure 2 and Figure 5 , the rod sealing structure also includes a sealing ring assembly, which includes a grid ring 42, a U-ring 43 and an O-ring 45. The grid ring 42 is arranged between the gland 31 and the piston rod 2, the U-ring 43 is arranged between the gland 31 and the piston rod 2, and the O-ring 45 is arranged between the gland 31 and the guide sleeve 7. The rod sealing structure in this embodiment also includes a dust ring 41 arranged between the gland 31 and the piston rod 2. More specifically, four annular grooves are provided on the inner wall of the gland 31 for respectively installing the dust ring 41, the grid ring 42, the U-ring 43 and the O-ring 45. The dust ring 41, the grid ring 42 and the U-ring 43 are all in contact with the side wall of the piston rod 2, and the O-ring 45 is in contact with the inner wall of the guide sleeve 7 to prevent oil from leaking to the adjusting gasket 33.

[0041] The cooperation between the U-shaped ring 43 and the V group 32 in this solution can effectively prevent external leakage at the gland 31. When changing steps during excavation, the lateral load acting on the support shoe cylinder suddenly disappears. At this time, if the V group 32 pressed to one side cannot rebound in time, it will cause through leakage at the V group 32. However, the U-shaped ring 43 behind the V group 32 still has a good compression capacity, which can effectively prevent external leakage.

[0042] Furthermore, a lubrication assembly 6 is provided on the gland 31 and passes through the gland 31 to provide lubricating oil to the piston rod 2. The lubrication assembly 6 is in communication with the inner hole of the gland 31. The lubrication assembly 442 is located between the U-shaped ring 43 and the Gly ring 42. The lubrication assembly 442 is adapted to be injected with lubricating oil so that the lubricating oil enters between the U-shaped ring 43 and the Gly ring 42.

[0043] Specifically, refer to Figure 2The lubrication assembly 6 includes radial oil holes 61, axial oil holes 62, and an oiling ring groove 63. The oiling ring groove 63 is defined on the inner wall of the gland 31 and is located between the U-shaped ring 43 and the grid ring 42. The radial oil holes 61 communicate with the oiling ring groove 63, while the axial oil holes 62 communicate with the radial oil holes 61. The end of the axial oil hole 62, distal from the radial oil hole 61, penetrates the end surface of the gland 31 and communicates with an oil cup hole defined in the gland 31. An oil cup 64 is mounted within the oil cup hole. The oil cup 64 facilitates the injection of lubricating oil into the oiling ring groove 63 to enhance lubrication. The dust ring 41, grid ring 42 and lubrication assembly 6 cooperate with each other. The dust ring 41 serves as the first line of protection to scrape off some of the mud and hard objects attached to the surface of the piston rod 2. The grid ring 42 serves as the second line of protection to further scrape off the mud and hard objects attached to the surface of the piston rod 2. The lubrication assembly 6 is filled with lubricating oil, which can prevent the inner hole of the pressure cover 31 from rusting, avoid damaging the U-shaped ring 43 seal and corroding the piston rod 2, and can also lubricate and reduce the shaking of the piston rod 2 of the shoe cylinder when it is extended and retracted.

[0044] It should be noted that the radial oil hole 61, which is away from the oil ring groove 63, penetrates the side wall of the gland 31. When machining the radial oil hole 61, machining is performed from the outer wall of the gland 31. A screw plug is installed on the radial oil hole 61 to prevent leakage.

[0045] Example 2:

[0046] A shoe cylinder, refer to Figures 3 to 6 The cylinder body 1 comprises a cylinder body 1 and a piston rod 2. The cylinder body 1 defines an oil chamber 11. Two symmetrical piston rods 2 are positioned within the oil chamber 11. Both piston rods 2 are capable of axial movement relative to the cylinder body 1. The opposing ends of the two piston rods 2 extend through the oil chamber 11 and are each connected to a gripper. The dual-rod structure is more compact and space-saving. Compared to the symmetrical placement of two single-rod gripper cylinders, the dual-rod structure is simpler and more convenient to install. The aforementioned rod seal is installed between the cylinder body 1 and the piston rods 2.

[0047] Specifically, a guide sleeve 7 is fixedly connected to the cylinder body 1, and the guide sleeve 7 and the cylinder body 1 can be connected by bolts. The guide sleeve 7 is located between the cylinder body 1 and the copper sleeve 71, and the copper sleeve 71 is interference fit in the guide sleeve 7. The adjustment gasket 33 is located between the guide sleeve 7 and the large end of the gland 31. The large end of the gland 31 can be connected to the guide sleeve 7 by screws to achieve locking of the gland 31 and the guide sleeve 7, and can cooperate with the adjustment gasket 33 to adjust the distance between the gland 31 and the guide sleeve 7 by increasing or decreasing the number of adjustment gaskets 33. A step surface is provided on the inner wall of the guide sleeve 7, and a protrusion is provided on the copper sleeve 71 to cooperate with the step surface, so that the small end of the gland 31 can cooperate with the guide sleeve 7 to achieve axial positioning and fixation of the copper sleeve 71.

[0048] According to the gripper cylinder of this embodiment, refer to Figure 5 A limit ring 12 is fixedly connected to the side wall of the oil chamber 11. The limit ring 12 is provided with a first oil port 13 communicating with the oil chamber 11, allowing oil to be input into or output from the oil chamber 11 through the first oil port 13. The limit ring 12's two axial ends are adapted to contact the two piston rods 2, preventing the two piston rods 2 from contacting each other. This allows oil to enter between the two piston rods 2, driving the two piston rods 2 to move away from each other.

[0049] The piston rod 2 includes a connected drive portion 21 and a movable portion 22. The diameter of the drive portion 21 is larger than that of the movable portion 22. The drive portion 21 is adapted to contact the retaining ring 12, while the movable portion 22 contacts the sealing assembly 4. A return zone is formed between the movable portion 22 and the inner wall of the cylinder body 1. A second oil port 14 is defined on the sidewall of the oil chamber 11, communicating with the return zone. This allows oil to be fed into and out of the oil chamber 11 via the second oil port 14.

[0050] According to the gripper cylinder of this embodiment, refer to Figure 6 The piston rod 2 has a rod head 23, to which a gripper shoe 5 is connected. The gripper shoe 5 has a mounting groove 51 for inserting the rod head 23. A support head 52 is fixedly connected to the wall of the mounting groove 51. The support head 52 has a first spherical surface 521, and the rod head 23 has a spherical groove that mates with the first spherical surface 521. A limit member is also connected to the gripper shoe 5, which contacts the rod head 23 to prevent the rod head 23 from becoming disconnected from the gripper shoe 5.

[0051] Specifically, the stopper includes a stopper block 53 connected to the gripper shoe 5. The stopper block 53 can be bolted to the gripper shoe 5. A second spherical surface 242 is provided on the end of the club head 23 away from the gripper shoe 5. The stopper block 53 is provided with a third spherical surface 531 that contacts the first spherical surface 521. The third spherical surface 531 mates with the second spherical surface 242. The connection between the club head 23 and the gripper shoe 5 is achieved by coupling the spherical groove with the first spherical surface 521, and the second spherical surface 242 with the third spherical surface 531. This improves the connection strength between the club head 23 and the gripper shoe 5, reduces stress on the bolts connecting the stopper block 53 and the gripper shoe 5, and thereby reduces the possibility of failure of the connection between the club head 23 and the gripper shoe 5.

[0052] Example 3:

[0053] According to the gripper cylinder of this embodiment, refer to Figure 7The cylinder body 1 is provided with a cross pin mounting hole 81 for connecting the cylinder body 1 to the inner frame (not shown). The rotation axis of the cylinder body 1 is located in the middle of the cylinder body 1 and is perpendicular to the axial direction of the piston rod 2. The inner frame is connected to the cylinder body 1 via the cross pin mounting hole 81. When the gripper is free from the hole wall, the inner frame is suspended in the air by supporting the gripper cylinder via the cross pin. When the gripper cylinder piston rod is extended and the gripper is tightened against the hole wall, the inner frame can rotate about the cross pin to adjust the angle of the inner frame, and thus the direction of the mainframe structure.

[0054] Example 4:

[0055] According to the gripper cylinder of this embodiment, refer to Figure 8 The difference from Example 3 is that a mounting plate 8 is connected to the side wall of the cylinder body 1, and a cross pin mounting hole 81 is provided on the mounting plate 8. The cross pin mounting hole 81 is used to connect to the inner frame. Placing the cross pin mounting hole 81 on the side of the cylinder body 1 can reduce the axial dimension of the gripper cylinder, saving installation space.

[0056] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A rod sealing structure, installed between a cylinder body (1) and a piston rod (2), characterized in that: include: A copper sleeve (71), the copper sleeve (71) being installed between the cylinder body (1) and the piston rod (2); A gland (31), wherein the gland (31) has an inner hole, and the gland (31) is sleeved on the piston rod (2) through the inner hole; A V group (32), the V group (32) being arranged between the copper sleeve (71) and the gland (31); An adjusting member is provided between the gland (31) and the cylinder body (1) to adjust the compression amount of the V group (32); A lubricating assembly (6) is provided, wherein the lubricating assembly (6) passes through the gland (31) so as to provide lubricating oil to the piston rod (2).

2. The rod sealing structure according to claim 1, wherein: The lubricating assembly (6) includes a radial oil hole (61), an axial oil hole (62) and an oil filling ring groove (63). The oil filling ring groove (63) is provided on the inner wall of the pressure cover (31). The radial oil hole (61) is communicated with the oil filling ring groove (63). The axial oil hole (62) is communicated with the radial oil hole (61). The end of the axial oil hole (62) away from the radial oil hole (61) passes through the end surface of the pressure cover (31) so that lubricating oil is injected through the axial oil hole (62).

3. The rod sealing structure according to claim 1, wherein: It also includes a guide sleeve (7), which is arranged between the cylinder body (1) and the copper sleeve (71), and the adjusting member is arranged between the pressure cover (31) and the guide sleeve (7).

4. The rod sealing structure according to claim 3, wherein: Also included is a seal assembly, including: A grid ring (42), the grid ring (42) being arranged between the gland (31) and the piston rod (2); A U-shaped ring (43), the U-shaped ring (43) being arranged between the gland (31) and the piston rod (2); An O-ring (45) is provided between the gland (31) and the guide sleeve (7).

5. The rod sealing structure according to claim 4, wherein: One end of the lubricating assembly (6) is located between the U-shaped ring (43) and the Gly ring (42), and is used to inject lubricating oil between the U-shaped ring (43) and the Gly ring (42).

6. The rod sealing structure according to claim 2, wherein: The gland (31) is provided with an oil cup hole communicating with the axial oil hole (62), and an oil cup (64) is mounted on the inner wall of the oil cup hole.

7. A gripper oil cylinder, comprising a cylinder body (1) and a piston rod (2), wherein the cylinder body (1) has an oil chamber (11), and the piston rod (2) is arranged in the cylinder body (1) and can move along the axial direction thereof, characterized in that: A rod sealing structure according to any one of claims 1 to 6 is installed between the cylinder body (1) and the piston rod (2).

8. The gripper cylinder according to claim 7, wherein: The piston rod (2) has a rod head (23), the rod head (23) is connected to a support shoe (5), and the support shoe (5) is provided with a mounting groove (51) for inserting the rod head (23); A support head (52) is connected to the groove wall of the installation groove (51), the support head (52) is provided with a first spherical surface (521), and the rod head (23) is provided with a spherical groove that matches the first spherical surface (521); The support shoe (5) is also connected to a limiting member, and the limiting member contacts the rod head (23) to prevent the rod head (23) from being disconnected from the support shoe (5).

9. The gripper cylinder according to claim 8, wherein: The limiting member comprises a limiting block (53) connected to the support shoe (5); a second spherical surface (242) is provided at one end of the rod head (23) away from the support shoe (5); a third spherical surface (531) in contact with the first spherical surface (521) is provided on the limiting block (53); and the third spherical surface (531) is adapted to the second spherical surface (242).

10. The gripper cylinder according to claim 7, wherein: A cross pin mounting hole (81) is provided on the cylinder body (1), or a mounting plate (8) is connected to the side wall of the cylinder body (1), and the mounting plate (8) is provided with the cross pin mounting hole (81).

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