Truss manipulator rotating structure for insufficient space in machine tool

Abstract

The utility model provides a truss manipulator rotating structure for insufficient space in a machine tool, which takes the vertical movement direction of a truss manipulator as the Y direction, and comprises a truss connecting component and a moving component detachably connected with a Y axis of the truss manipulator, the rotating mechanism is hoisted by a truss connecting assembly, the mounting position of the rotating mechanism relative to the Y axis can be adjusted in the X direction and the Z direction through the truss connecting assembly, a space-variable mounting plate and the tail end gripper are driven by a rotating air cylinder to rotate around the central axis of a rotating shaft of the rotating air cylinder, and the cross section of the rotating shaft forms an included angle of 45 degrees with the XZ plane and the XY plane and is perpendicular to the YZ plane; the pair of tail end claws serve as a discharging claw and a feeding claw correspondingly, at the beginning, the central axis of the feeding claw is arranged in the Y direction, and the central axis of the discharging claw is arranged in the Z direction; a pressing elastic pad arranged on the feeding paw can assist in discharging by means of elastic force. The feeding and discharging device can adapt to internal rotation of a machine tool in a narrow area, and feeding and discharging are more stable and reliable.

Description

TECHNICAL FIELD

[0001] The utility model relates to a truss manipulator more specifically, a truss manipulator rotating structure for insufficient space in machine tool. BACKGROUND

[0002] The space in part numerical control machine tool of traditional truss manipulator production line is limited, especially in vertical direction, the chain plate and chip removal vehicle with tailstock under the spindle chuck of machine tool will cause the interference condition when the traditional truss manipulator completes the material taking action and turns over in the machine tool, the common solution is to lift the material out of the machine tool range first, complete the turning over outside the machine, and then carry out the feeding again, which will increase the complexity of manipulator action, prolong the working beat of manipulator, affect the production line efficiency, and is not conducive to capacity optimization. UTILITY MODEL CONTENTS

[0003] To solve the above technical problems, the utility model provides a truss manipulator rotating structure for insufficient space in machine tool, which can adapt to the rotation of the machine tool with small area, simplify the action of the truss manipulator in this process, shorten the working beat, and make the feeding and discharging more stable and reliable.

[0004] To achieve the above purpose, the utility model adopts the following technical scheme:

[0005] A truss manipulator rotating structure for insufficient space in machine tool, which is characterized in that the vertical movement direction of the truss manipulator is Y direction, the truss manipulator rotating structure is assembled on the moving part of the Y axis of the truss manipulator as an end effector, and comprises:

[0006] A truss connecting assembly for detachably connecting the moving part of the Y axis of the truss manipulator;

[0007] A rotating mechanism detachably hoisted by the truss connecting assembly, which is adjustable along X direction and Z direction through the truss connecting assembly relative to the installation position of the Y axis, and is rotatable around the central axis of the rotating shaft of the rotating cylinder through the driving of the rotating cylinder, the transverse section of the rotating shaft is at an angle of 45° with the XZ plane and the XY plane, and is perpendicular to the YZ plane;

[0008] The variable space mounting plate is used for detachably mounting a pair of end grippers as a feeding gripper and a feeding gripper, and the central axis of the feeding gripper is arranged along the Y direction at the beginning, the grabbing surface faces downward, and the central axis of the discharging gripper is arranged along the Z direction, and the grabbing surface faces away from the rotating mechanism;

[0009] The end gripper is in contact with the material to be grabbed by pressing the elastic pad, and the elastic pad can assist the end gripper in discharging by relying on the elastic force parallel to the central axis of the gripper.

[0010] The utility model discloses a structure feature also lies in:

[0011] Still include at least one group of air blowing assembly, install the position department of material loading hand claw and / or material unloading hand claw on the space installation plate, the air blowing assembly includes air blowing base and air pipe, the spherical air cavity is formed in the air blowing base, the spherical air cavity is connected with the air inlet pipe with spherical valve through air inlet, is connected to the external gas source through the air inlet pipe, receives the compressed air from the external gas source, is connected with the air pipe through the air outlet, and the free end of air pipe is connected with the flat gas nozzle, and the blowing direction of gas nozzle can be adjusted, is used for the blowing of the area of material loading hand claw and / or material unloading hand claw.

[0012] The air pipe is copper pipe with 6mm diameter.

[0013] The truss connecting assembly comprises:

[0014] The upper positioning boss is formed in the shape of a boss structure corresponding to the inner cavity of the moving part of the truss manipulator Y-axis, is inserted into the inner cavity of the moving part from the bottom of the moving part of the truss manipulator Y-axis through the boss structure, and is fastened by bolts, and the bottom end of the boss structure forms a boss base with a reserved screw hole.

[0015] The lower mounting plate is used for assembling with the boss base of the upper positioning boss, and a plurality of mounting screw holes are formed according to the hole diameter and position distribution of the reserved screw hole, and the mounting screw holes are spaced apart along the X direction and the Z direction, respectively.

[0016] The upper positioning boss and the lower mounting plate jointly form a hollow structure for pipeline wiring.

[0017] The rotating mechanism comprises:

[0018] The rotating cylinder is hung on the truss connecting assembly through the triangular fixed block, the triangular fixed block forms a hollow structure for pipeline wiring, the rotating cylinder is installed through the mounting surface with a 45° angle with the XZ plane and the XY plane and perpendicular to the YZ plane, the mounting surface of the triangular fixed block is provided with assembly screw holes and positioning pin holes, and the fixed end of the rotating cylinder is connected with the assembly screw holes and the positioning pin holes through bolts and positioning pins, and the rotating shaft of the rotating cylinder is provided with a flange connecting disc, and the variable space mounting plate is installed through the flange connecting disc.

[0019] The variable space mounting plate is bolted to the rotating shaft of the rotary cylinder via a main mounting surface perpendicular to the rotating shaft of the rotary cylinder. The loading gripper is hoisted via a loading gripper mounting surface perpendicular to the Y direction of the gantry manipulator, and the unloading gripper is installed via a unloading gripper mounting surface perpendicular to the Z direction of the gantry manipulator. The loading gripper mounting surface, the unloading gripper mounting surface and the main mounting surface are each at a 135° angle.

[0020] The feeding gripper is a pneumatic finger;

[0021] The feeding gripper is a pneumatic finger equipped with the pressing spring pad. Each gripper of the pneumatic finger is driven by a cylinder to open or close around the central axis of the pneumatic finger. The pressing spring pad is located on the gripping surface of the pneumatic finger and is centrally positioned between the grippers. It can contact the material to be gripped by one side facing the material to be gripped, and connect the other side to the feeding gripper with several springs that are equidistantly distributed around the central axis of the pneumatic finger. The deformation direction of the springs is set along the central axis of the pneumatic finger. Initially, they are in a natural state and are compressed when the feeding gripper grips the material.

[0022] The pneumatic finger is a three-finger gripper.

[0023] The pressing pad has a centrally radial plate structure, and several pressing arms are formed radially around the central axis of the pneumatic finger, with each pressing arm and each gripper being staggered.

[0024] Compared with existing technologies, the beneficial effects of this utility model are reflected in:

[0025] 1. It can adapt to the narrow internal rotation of machine tools, while simplifying the movement of the gantry robot and shortening its working cycle, which is beneficial to the efficiency of the gantry robot production line and the optimization of production capacity;

[0026] By using triangular fixing blocks, the cross-section of the rotating shaft of the rotary cylinder forms a 45° angle with both the XZ and XY planes and is perpendicular to the YZ plane. A variable space mounting plate with a specific structure is connected to the output end of the rotary cylinder. The central axis of the loading gripper on the variable space mounting plate is set along the Y direction with the gripping surface facing down, and the central axis of the unloading gripper on the variable space mounting plate is set along the Z direction with the gripping surface facing away from the rotating mechanism. Through the relative positional relationship between the variable space mounting plate and the rotary cylinder, and between the rotating shaft of the rotary cylinder and the Y-axis of the gantry robot, the loading and unloading along the Y direction can be changed to the horizontal plane (XZ plane). After rotation, the original positions of the unloading gripper and the loading gripper remain unchanged, but the rotation radius along the Y direction can be reduced by 50%. This improves the production status of traditional gantry robot production lines where the flipping action of the gantry robot is interfered with due to the limited space inside the machine tool.

[0027] 2. The end gripper provides better stability during loading and unloading;

[0028] By equipping the end gripper with a pressing spring pad, the pressing spring pad contacts the material to be gripped during loading, compressing the spring. The spring force provides pre-pressure, improving the stability of loading and unloading, and allowing the material to adhere more naturally to the machine tool chuck or downstream conveyor belt when unloading.

[0029] 3. It has a cleaning function;

[0030] By configuring an air blowing assembly at the loading and / or unloading gripper on the variable space mounting plate, the flat air nozzle of the air blowing assembly blows a linear airflow, which can clean the iron filings remaining at the machine tool chuck during loading and / or unloading. The position of the air nozzle and the blowing direction are flexibly adjustable through the copper air pipe.

[0031] 4. The installation between the robot and the gantry robot is stable, reliable, convenient, and adjustable;

[0032] By setting up a truss connection assembly, the upper positioning boss ensures a stable and reliable connection between the moving parts of the truss robot and the Y-axis, and the lower mounting plate accommodates adjustment functions along the X and Z directions within a certain range, thereby further improving the adaptability of the rotating structure to the confined space inside the machine tool. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0034] Figure 2 This is an exploded structural diagram of the truss connection assembly;

[0035] Figure 3 This is a schematic diagram of the rotating mechanism;

[0036] Figure 4 This is a schematic diagram of the assembly structure of the variable space mounting plate and the end effector.

[0037] Figure 5 This is a structural schematic diagram of the variable space mounting plate;

[0038] Figure 6 This is a schematic diagram of the end effector's structure;

[0039] Figure 7 This is a structural schematic diagram of the air blowing assembly;

[0040] Figure 8 This is a cross-sectional view of the internal structure of the air blowing assembly.

[0041] In the picture:

[0042] Moving parts along the Y-axis;

[0043] 2 Truss connection assembly; 211 Boss structure; 212 Boss base; 213 Reserved screw holes; 22 Lower mounting plate; 221 Mounting screw holes;

[0044] 3. Rotating mechanism; 31. Triangular fixing block; 32. Rotary cylinder;

[0045] 4. Variable space mounting plate; 41. Main mounting surface; 42. Loading gripper mounting surface; 43. Unloading gripper mounting surface;

[0046] 5. End gripper; 51. Pneumatic finger; 52. Pressing pad; 521. Pressing arm; 53. Spring; 54. Unloading gripper; 55. Loading gripper;

[0047] 6. Air blowing assembly; 61. Air blowing base; 611. Spherical air chamber; 612. Air inlet; 613. Air outlet; 62. Air pipe; 63. Air nozzle. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of the embodiments of this utility model clearer, the technical solutions of the embodiments of this utility model will be clearly and completely described below in conjunction with the embodiments of this utility model. Obviously, the described embodiments are only some embodiments of this utility model, not all embodiments. Based on the embodiments of this utility model, all other embodiments obtained by those skilled in the art without creative effort are within the protection scope of this utility model.

[0049] Please refer to Figures 1 to 8 With the vertical movement direction of the gantry manipulator as the Y-axis, the rotating structure of the gantry manipulator in this embodiment, used for cases with insufficient space inside the machine tool, is mounted as an end effector on the moving part 1 of the gantry manipulator along the Y-axis, including:

[0050] Truss connection assembly 2, for detachably connecting the moving part 1 of the Y-axis of the truss robot;

[0051] The rotating mechanism 3 is detachably hoisted by the truss connecting assembly 2. Its installation position relative to the Y-axis is adjustable along the X and Z directions via the truss connecting assembly 2. The variable space mounting plate 4 and the end gripper 5 are driven by the rotating cylinder 32 to rotate around the central axis of the rotating cylinder 32. The cross-section of the rotating shaft forms a 45° angle with both the XZ plane and the XY plane, and is perpendicular to the YZ plane.

[0052] The variable space mounting plate 4 is used to detachably mount a pair of end grippers 5, which serve as unloading gripper 54 and loading gripper 55 respectively. Initially, the central axis of the loading gripper 55 is set along the Y direction with the gripping surface facing down, and the central axis of the unloading gripper 54 is set along the Z direction with the gripping surface facing away from the rotating mechanism 3.

[0053] The end gripper 5 contacts the material to be gripped by pressing the spring pad 52. The pressing spring pad 52 can assist the end gripper 5 in unloading the material by relying on the elastic force parallel to the central axis of the gripper.

[0054] In practical implementation, the corresponding structural settings of the truss manipulator rotation structure also include:

[0055] It also includes an air blowing assembly 6, installed on the variable space mounting plate 4 at the location of the loading gripper 55 and / or unloading gripper 54. The air blowing assembly 6 includes an air blowing base 61 and an air pipe 62. The air blowing base 61 forms a spherical air chamber 611. The spherical air chamber 611 is connected to an air inlet pipe 62 with a ball valve through an air inlet 612. The air inlet pipe 62 is connected to an external air source to receive compressed air from the external air source. The air outlet 613 is connected to the air pipe 62. The free end of the air pipe 62 is detachably connected to a flat air nozzle 63, so that the blown airflow is linear. The blowing direction of the air nozzle 63 is adjustable and used to blow air into the area where the loading gripper 55 and / or unloading gripper 54 are located. When the loading gripper 55 completes the loading action of the gantry robot onto the machine tool chuck, the linear airflow blown by the air blowing assembly 6 is beneficial for cleaning the residual iron filings at the machine tool chuck from the previous operation.

[0056] The air tube 62 is a 6mm diameter copper tube that is deformable, thereby adjusting the position and blowing direction of the air nozzle 63. The air nozzle 63 can be made of nylon plastic.

[0057] In truss connection assembly 2:

[0058] The upper positioning boss is formed according to the outer dimensions of the inner cavity of the moving part 1 of the Y-axis of the gantry robot. The boss structure 211 is inserted into the inner cavity of the moving part 1 of the Y-axis of the gantry robot through the bottom of the boss structure 211 and fastened with bolts. The bottom end of the boss structure 211 forms a boss base 212 with a reserved screw hole 213. In this embodiment, the moving part 1 of the Y-axis of the gantry robot is a vertically arranged aluminum profile with a through cavity structure. The outer contour of the boss structure 211 is designed according to the outer dimensions of the cavity of the aluminum profile, so that the boss structure 211 can be inserted into the aluminum profile through the bottom of the aluminum profile. If the moving part 1 of the Y-axis of the gantry robot has other shapes, the boss structure 211 can be adapted to be assembled with it without interfering with the movement trajectory of the Y-axis moving part.

[0059] The lower mounting plate 22 is used to assemble with the boss base 212 of the upper positioning boss. A number of mounting screw holes 221 are opened according to the diameter and position distribution of the reserved screw holes 213. The mounting screw holes 221 are distributed at intervals along the X and Z directions respectively. The upper positioning boss can be aligned with the mounting screw holes 221 at different positions through the reserved screw holes 213, so as to adjust the installation position of the rotating mechanism 3 suspended by the lower mounting plate 22 along the X and Z directions.

[0060] The upper positioning boss and the lower mounting plate 22 together form a hollow structure for pipeline routing.

[0061] In rotating mechanism 3:

[0062] The rotary cylinder 32 is suspended on the truss connecting assembly 2 via a triangular fixing block 31. The triangular fixing block 31 has a hollow structure for pipe routing. The rotary cylinder 32 is mounted on a mounting surface that forms a 45° angle with both the XZ and XY planes and is perpendicular to the YZ plane. The mounting surface of the triangular fixing block 31 has mounting screw holes and locating pin holes. The fixed end of the rotary cylinder 32 is connected to the mounting screw holes and locating pin holes with bolts and locating pins. The rotating shaft of the rotary cylinder 32 has a flange plate, and the variable space mounting plate 4 is mounted on the flange plate via bolts. The locating pin is used to ensure the rotational accuracy of the rotary cylinder 32. The rotary cylinder 32 can drive the variable space mounting plate 4 and the end gripper 5 to rotate around the central axis of the rotating shaft within a 180° range. The specific positions of the mounting screw holes and locating pin holes are distributed according to the external structure of the fixed end of the rotary cylinder 32.

[0063] The variable space mounting plate 4 is bolted to the rotating shaft of the rotary cylinder 32 via the main mounting surface 41, which is perpendicular to the rotating shaft of the rotary cylinder 32. The loading gripper 55 is hoisted via the loading gripper mounting surface 42, which is perpendicular to the Y-axis of the gantry manipulator, and the unloading gripper 54 is installed via the unloading gripper mounting surface 43, which is perpendicular to the Z-axis of the gantry manipulator. The loading gripper mounting surface 42 and the unloading gripper mounting surface 43 are at 135° angles to the main mounting surface 41. The variable space mounting plate 4 has reserved holes and slots to facilitate the fixing of the constraint air pipe 62 and the matching cylinder sensor wiring harness of the end gripper 5. Corresponding mounting holes are also reserved for the installation of the air blowing assembly 6. By designing the variable space mounting plate 4 as a three-section plate structure, and considering the relative positional relationship between the variable space mounting plate 4 and the rotary cylinder 32, and between the rotary cylinder 32's rotation axis and the Y-axis of the gantry robot, the original loading and unloading along the Y-direction can be transformed into the horizontal plane (XZ plane) direction. This ensures that the original positions of the unloading gripper 54 and the loading gripper 55 remain unchanged after rotation, but the rotation radius along the Y-direction can be reduced by 50%. This allows the gantry robot rotation structure of this embodiment to be better suited for rotation within a small area of ​​a machine tool.

[0064] The feeding gripper 54 is a pneumatic finger 51;

[0065] The feeding gripper 55 is a pneumatic finger 51 equipped with a pressing spring pad 52. Each gripper of the pneumatic finger 51 is driven by a cylinder to open or close around the central axis of the pneumatic finger 51. The pressing spring pad 52 is located on the gripping surface of the pneumatic finger 51 and is centrally positioned between the grippers. It can contact the material to be gripped by one side facing the material to be gripped, and connect the other side to the feeding gripper 55 with several springs 53 that are equidistantly distributed around the central axis of the pneumatic finger 51. The deformation direction of the springs 53 is set along the central axis of the pneumatic finger 51. Initially, they are in a natural state and are compressed when the feeding gripper 55 grips the material.

[0066] The aforementioned pneumatic finger 51 is a three-finger gripper.

[0067] The pressing pad 52 has a centrally radial plate structure, with several pressing arms 521 radially arranged around the central axis of the pneumatic finger 51. Each pressing arm 521 is staggered with each gripper. In this embodiment, the pressing pad 52 has three pressing arms 521. The three pressing arms 521 and the three grippers of the three-finger gripper are staggered and equidistantly spaced around the central axis of the pneumatic finger 51 in a circumferential direction. Each pressing arm 521 is elastically connected to the feeding gripper 55 through a spring 53. By setting the pressing pad 52 with spring 53, when the gantry robot is loading, the pressing pad 52 comes into contact with the material to be gripped. The contact compresses the spring 53. The spring 53 remains compressed during the process of the pneumatic finger 51 clamping the material until the loading action is completed. When the pneumatic finger 51 of the loading gripper 55 opens to unload the material into the machine tool chuck, the elasticity of the spring 53 enables the pressing pad 52 to provide pre-pressure to the material, so that the material can fit more naturally onto the machine tool chuck.

[0068] Although embodiments of the present invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the present invention, the scope of which is defined by the claims and their equivalents.

Claims

1. A rotating structure for a gantry robot with limited space inside a machine tool, characterized in that, With the vertical movement direction of the gantry manipulator defined as the Y-axis, the rotating structure of the gantry manipulator, as an end effector, is mounted on the moving part of the gantry manipulator along the Y-axis, and includes: Truss connection assembly for detachably connecting the moving parts of the Y-axis of a truss robot; The rotating mechanism is detachably hoisted by a truss connection assembly. Its installation position relative to the Y-axis is adjustable along the X and Z directions via the truss connection assembly. The variable space mounting plate and the end gripper are driven by a rotary cylinder to rotate around the central axis of the rotary cylinder's rotating shaft. The cross-section of the rotating shaft forms a 45° angle with both the XZ and XY planes and is perpendicular to the YZ plane. The variable space mounting plate is used to detachably mount a pair of end grippers, which serve as a feeding gripper and a loading gripper respectively. Initially, the central axis of the loading gripper is set along the Y direction with the gripping surface facing down, and the central axis of the feeding gripper is set along the Z direction with the gripping surface facing away from the rotating mechanism. The feeding gripper contacts the material to be gripped by pressing the spring pad. The pressing spring pad can assist the feeding gripper in unloading the material by relying on the elastic force parallel to the central axis of the gripper.

2. The gantry robot rotating structure for machine tool with insufficient internal space according to claim 1, characterized in that: It also includes at least one air blowing assembly, installed at the location of the loading gripper and / or unloading gripper on the variable space mounting plate. The air blowing assembly includes an air blowing base and an air pipe. A spherical air chamber is formed inside the air blowing base. The spherical air chamber is connected to an air inlet pipe with a ball valve through an air inlet. The air inlet pipe is connected to an external air source to receive compressed air from the external air source. The air outlet is connected to the air pipe. The free end of the air pipe is connected to a flat air nozzle. The blowing direction of the air nozzle is adjustable and used to blow air onto the area where the loading gripper and / or unloading gripper is located.

3. The gantry robot rotating structure for machine tool with insufficient internal space according to claim 2, characterized in that: The trachea is a copper tube with a diameter of 6 mm.

4. The gantry robot rotating structure for machine tool with insufficient internal space according to claim 1, characterized in that, In the truss connection assembly: The upper positioning boss is formed according to the outer dimensions of the inner cavity of the moving part of the Y-axis of the gantry manipulator. The boss structure is adapted to be inserted into the inner cavity of the moving part of the Y-axis of the gantry manipulator and fastened with bolts. The bottom end of the boss structure forms a boss base with reserved screw holes. The lower mounting plate is used to assemble with the boss base of the upper positioning boss. A number of mounting screw holes are opened according to the diameter and position distribution of the reserved screw holes. The mounting screw holes are spaced apart along the X and Z directions. The upper positioning boss can be aligned with the mounting screw holes at different positions through the reserved screw holes to adjust the installation position of the rotating mechanism hoisted by the lower mounting plate along the X and Z directions. The upper positioning boss and the lower mounting plate together form a hollow structure for pipeline routing.

5. The gantry robot rotating structure for machine tool with insufficient internal space according to claim 1, characterized in that, In the rotating mechanism: The rotary cylinder is suspended on the truss connection assembly by a triangular fixing block. The triangular fixing block has a hollow structure for pipeline routing. The rotary cylinder is installed on a mounting surface that forms a 45° angle with both the XZ and XY planes and is perpendicular to the YZ plane. The mounting surface of the triangular fixing block has mounting screw holes and locating pin holes. The fixed end of the rotary cylinder is connected to the mounting screw holes and locating pin holes by bolts and locating pins. The rotating shaft of the rotary cylinder has a flange plate, and the variable space mounting plate is installed on the flange plate by bolts.

6. The gantry robot rotating structure for machine tool with insufficient space according to claim 1 or 5, characterized in that: The variable space mounting plate is bolted to the rotating shaft of the rotary cylinder via a main mounting surface perpendicular to the rotating shaft of the rotary cylinder. The loading gripper is hoisted via a loading gripper mounting surface perpendicular to the Y direction of the gantry manipulator, and the unloading gripper is installed via a unloading gripper mounting surface perpendicular to the Z direction of the gantry manipulator. The loading gripper mounting surface, the unloading gripper mounting surface and the main mounting surface are each at a 135° angle.

7. The gantry robot rotating structure for machine tool with insufficient internal space according to claim 1, characterized in that: The feeding gripper is a pneumatic finger; The feeding gripper is a pneumatic finger equipped with the pressing spring pad. Each gripper of the pneumatic finger is driven by a cylinder to open or close around the central axis of the pneumatic finger. The pressing spring pad is located on the gripping surface of the pneumatic finger and is centrally positioned between the grippers. It can contact the material to be gripped by one side facing the material to be gripped, and connect the other side to the feeding gripper with several springs that are equidistantly distributed around the central axis of the pneumatic finger. The deformation direction of the springs is set along the central axis of the pneumatic finger. Initially, they are in a natural state and are compressed when the feeding gripper grips the material.

8. The gantry robot rotating structure for machine tool with insufficient space according to claim 7, characterized in that: The pneumatic finger is a three-finger gripper.

9. The gantry robot rotating structure for machine tool with insufficient space according to claim 7, characterized in that: The pressing pad has a centrally radial plate structure, and several pressing arms are formed radially around the central axis of the pneumatic finger, with each pressing arm and each gripper being staggered.

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