Pneumatic clamping jaw
By installing sensors in the pneumatic gripper to monitor the wear of the gripper fingers in real time, the problem of the inability to automatically monitor gripper finger wear in existing technologies is solved, thus realizing automated maintenance and improved safety of the gripper.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- GUANGZHOU FUWEI INTELLIGENT TECH CO LTD
- Filing Date
- 2025-04-24
- Publication Date
- 2026-04-21
AI Technical Summary
Existing pneumatic grippers cannot automatically monitor the wear of the gripping fingers, resulting in worn fingers that cannot grip tightly, making it easy for products to fall off.
Sensors are installed in pneumatic grippers to detect changes in the distance between the piston rod and the sensor, which determines the wear level of the gripper fingers and displays an abnormality prompt on the control platform to indicate replacement.
It enables automatic monitoring of gripper wear, preventing products from falling due to gripper wear, improving the efficiency and safety of gripper use. The sensor is not easily affected by the environment and does not affect the gripping rigidity.
Smart Images
Figure CN224144660U_ABST
Abstract
Description
Technical Field
[0001] This utility model relates to the field of gripping equipment technology, and in particular to a pneumatic gripper. Background Technology
[0002] A pneumatic gripper is an actuator that uses compressed air as a power source to grip or grasp workpieces. Its core function is to replace manual gripping, improving production efficiency and safety, and it is widely used in automated production lines, machining, warehousing and logistics, and other fields.
[0003] Currently, in areas where pneumatic grippers operate frequently, the two gripping fingers at the end of the pneumatic gripper need to open and close back and forth. However, because the gripping fingers need to constantly contact the product, the gripping surfaces of the gripping fingers are constantly worn, which leads to an increase in the clamping gap between the gripping fingers and the product. This can result in the gripping fingers not being able to hold the product tightly, causing the product to fall and be damaged.
[0004] In summary, existing pneumatic grippers cannot automatically monitor the wear level of the gripping fingers. Utility Model Content
[0005] In view of the shortcomings of the existing technology, one of the objectives of this utility model is to provide a pneumatic gripper that solves the technical problem that existing pneumatic grippers cannot automatically monitor the wear of their gripping fingers.
[0006] To achieve the above objectives, the present invention adopts the following technical solution:
[0007] A pneumatic gripper includes a cylinder body, a piston rod, a piston, and two gripping fingers. A piston chamber is formed axially within the cylinder body, and an isolation seat is circumferentially sealed within the piston chamber. A first end of the piston rod slides axially through the isolation seat, and a second end slides axially out of the cylinder body. The piston is fixed to the piston rod and slidably disposed within the piston chamber, positioned between the isolation seat and the bottom of the piston chamber. An air intake chamber is formed between the piston and the isolation seat. An air outlet chamber is formed between the parts, and an air inlet communicating with the air inlet chamber and an air outlet communicating with the air outlet chamber are provided on the cylinder body; the second end of the piston rod is driven to be connected to the two gripping fingers that are slidably disposed on the cylinder body, so as to drive the opening and closing of the two gripping fingers; a sealing cavity is provided at the top of the piston cavity and is sealed to communicate with the piston cavity, and a sensor is installed in the sealing cavity. The sensor is electrically connected to a control platform disposed outside the pneumatic gripper, and the sensor determines the degree of wear of the gripping fingers by detecting the distance between the piston rod and the sensor.
[0008] The beneficial effects of this utility model are:
[0009] 1. When the pneumatic gripper of this utility model is in use, when compressed air enters the air inlet chamber from the air inlet, the compressed air pushes the piston and drives the piston rod to move downward, causing the two gripping fingers to move in opposite directions to open; when compressed air enters the air outlet chamber from the air outlet, the compressed air pushes the piston and drives the piston rod to move upward, causing the two gripping fingers to move towards each other to close and clamp the product. Since the piston, which is fixed to the piston rod, is located between the isolation seat and the bottom of the piston chamber, the piston's upward stroke can be limited by the isolation seat, and the piston's downward stroke can be limited by the bottom wall of the piston chamber. Because the sensor is located in the sealed cavity above the piston rod, when the gripper fingers are clamping the product and the gripping surface of the gripper fingers is not worn, the distance between the top of the piston rod and the sensor is set to H1. When the gripper fingers are clamping the product and the gripping surface of the product is worn, the distance between the top of the piston rod and the sensor is set to H2. The wear amount of the gripping surface of the product held by the gripper fingers is ΔH, where ΔH = H1 - H2. When the wear amount of the gripping surface of the product held by the gripper fingers exceeds a preset threshold, the ΔH value will be displayed abnormally on the control platform. At this time, the control platform will remind the operator to replace the gripper fingers to fully utilize their usage rate and avoid the product falling due to the gripper fingers not clamping the product tightly.
[0010] 2. Since the sensor is located in a sealed cavity that communicates with the top of the piston chamber, the sensor is not fixed on the gripper fingers, thus avoiding fatigue failure caused by frequent opening and closing of the gripper fingers. In addition, since the sensor is in a sealed cavity, it is not easily affected by environmental factors (such as dust and oil). Even if the pneumatic gripper operates in a humid or high-temperature environment, the sensor is not easily damaged.
[0011] 3. Since the sensor is not fixed to the finger clamp, it will not affect the clamping stiffness of the finger clamp.
[0012] Furthermore, the pneumatic gripper of this utility model also includes a linkage mechanism and two gripper finger mounting seats. A guide rail is provided at the bottom of the cylinder body. The slide rail extends along an axial direction perpendicular to the cylinder body. The gripper finger mounting seats are slidably mounted on the slide rail along the extension direction of the slide rail. The piston rod is driven to be connected to the two gripper finger mounting seats through the linkage mechanism. The piston rod drives the linkage mechanism to drive the two gripper finger mounting seats to slide towards or away from each other along the extension direction of the slide rail. The two grippers are respectively mounted on the two gripper finger mounting seats.
[0013] Beneficial effect: It helps with the opening and closing of the two fingers.
[0014] Furthermore, a buffer pad is provided at the bottom of the air outlet chamber to prevent the piston from making hard contact with the bottom wall of the air outlet chamber.
[0015] Beneficial effect: Prevents the piston from making hard contact with the bottom wall of the exhaust chamber during its downward movement.
[0016] Furthermore, the linkage mechanism includes a first rotating shaft, a second rotating shaft, a first connecting rod, and a second connecting rod. A groove communicating with the piston chamber is formed on the bottom of the cylinder body along the extension direction of the slide rail. The first rotating shaft and the second rotating shaft are respectively horizontally rotatably disposed at both ends in the groove. The extension directions of the first rotating shaft and the second rotating shaft are perpendicular to the extension direction of the slide rail. The first connecting rod and the second connecting rod are respectively sleeved on the first rotating shaft and the second rotating shaft. The two ends of the first connecting rod are respectively connected to one of the finger clamping mounting seats and the second end of the piston rod. The two ends of the second connecting rod are respectively connected to another finger clamping mounting seat and the second end of the piston rod.
[0017] Beneficial effects: The linkage mechanism amplifies the driving force through the lever principle, which allows the finger gripper to withstand a larger load.
[0018] Furthermore, a groove is provided at the bottom of the slide rail along the extension direction of the slide rail, and the two finger clamps are slidably connected to the groove. Two waist-shaped grooves are provided on the top surface of the slide rail, and the waist-shaped grooves extend along the extension direction of the slide rail. The two waist-shaped grooves are respectively used to avoid the first connecting rod and the second connecting rod.
[0019] Beneficial effects: The groove is located at the bottom of the slide rail, which can prevent the groove from being exposed to the outside to a certain extent, effectively avoiding the influence of dust and providing better dustproof performance.
[0020] Furthermore, the slide groove is in a rolling connection with the finger clamp mounting seat.
[0021] Beneficial effect: Reduces friction between the slide and the finger mounting base.
[0022] Furthermore, a first arc-shaped guide groove is formed on the opposite side walls of the slide groove along the extension direction of the slide groove, and a second arc-shaped guide groove is formed on the opposite side walls of the finger clamp mounting seat along the extension direction of the slide groove. Each first arc-shaped guide groove corresponds to each second arc-shaped guide groove. A ball is connected between the first arc-shaped guide groove and the second arc-shaped guide groove, and the ball is in spherical contact with the first arc-shaped guide groove and the second arc-shaped guide groove.
[0023] Beneficial effect: Reduces friction between the slide and the finger mounting base.
[0024] Furthermore, the finger clamp mounting base is provided with baffle plates at opposite ends, which are used to prevent the balls between the first arc-shaped guide groove and the second arc-shaped guide groove from falling out.
[0025] Beneficial effect: It can prevent the balls between the first arc-shaped guide groove and the second arc-shaped guide groove from falling off.
[0026] Furthermore, a connecting hole is provided on the upper surface of the finger clamp mounting base, the first connecting rod is connected to the ball head of the connecting hole on one of the finger clamp mounting bases, and the second connecting rod is connected to the ball head of the connecting hole on another finger clamp mounting base.
[0027] Beneficial effects: Under vibration or dynamic load, the ball joint can absorb deviations through its own movement, avoiding stress concentration or structural damage caused by the rigid connection between the first or second link and the finger mounting seat; in addition, the ball joint transmits force through the contact surface, resulting in uniform force distribution and reducing local stress concentration. When the force is unbalanced, the ball joint can automatically adjust its angle to maintain stability, avoiding structural jamming or failure.
[0028] Furthermore, a disk is provided at the top of the piston rod, the outer diameter of the disk being larger than the outer diameter of the top of the piston rod, and a cylindrical groove is formed on the upper surface of the isolation seat, the cylindrical groove being coaxial with the disk, and the inner diameter of the cylindrical groove being larger than the outer diameter of the disk.
[0029] Beneficial effects: It can increase the detection area of the sensor probe on the top of the piston rod, while avoiding the disk occupying space in the sealed cavity to a certain extent. Attached Figure Description
[0030] Figure 1 This is a three-dimensional structural diagram of the pneumatic gripper of this utility model;
[0031] Figure 2 for Figure 1 Top view;
[0032] Figure 3 for Figure 2 Sectional view at point AA;
[0033] Figure 4 for Figure 3 Enlarged structural diagram at point B;
[0034] Figure 5 for Figure 1 A bottom view;
[0035] Figure 6 for Figure 1 The main view;
[0036] Figure 7 This is a schematic diagram of the cylinder block involved in this embodiment;
[0037] Figure 8 for Figure 7 A bottom view;
[0038] Figure 9 This is a schematic diagram of the connection between the piston assembly, clamping assembly and linkage mechanism involved in this embodiment;
[0039] Figure 10 This is a schematic diagram of the guide rail structure involved in this embodiment;
[0040] Figure 11 This is a top view of the guide rail involved in this embodiment;
[0041] Figure 12 This is a schematic diagram of the structure of the finger clamp mounting base involved in this embodiment;
[0042] Figure 13 This is a left view of the finger clamp mounting base involved in this embodiment.
[0043] Numbering in each attached figure:
[0044] 1. Cylinder body; 10. Piston chamber; 11. Inlet; 12. Outlet; 13. Groove; 14. Perforation; 140. First annular groove; 141. First sealing ring; 15. Isolator; 150. Second annular groove; 151. Second sealing ring; 152. Cylindrical groove; 153. Third annular groove; 154. Third sealing ring; 16. Slide rail; 160. Slide groove; 161. First arc-shaped guide groove; 162. Waist-shaped groove; 2. Piston assembly; 20. Piston rod; 201. Disc; 21. [Unclear - possibly a type of piston assembly] 210. Inlet chamber; 211. Outlet chamber; 212. Buffer pad; 213. Fourth annular groove; 214. Fourth sealing ring; 3. Clamping assembly; 30. Finger clamping mounting seat; 301. Second arc-shaped guide groove; 302. Baffle plate; 303. Connecting hole; 31. Finger clamping; 32. Ball bearing; 4. Linkage mechanism; 40. First rotating shaft; 41. Second rotating shaft; 42. First connecting rod; 43. Second connecting rod; 5. Sealing cover; 50. Sealing cavity; 501. Sensor; 51. Fifth sealing ring. Detailed Implementation
[0045] It should be understood that the specific embodiments described herein are merely illustrative of the present invention and are not intended to limit the present invention.
[0046] In the description of this utility model, it should be understood that the terms "width," "upper," "lower," "front," "rear," "top," and "bottom," etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the accompanying drawings and are only for the convenience of describing this utility model and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this utility model. Furthermore, unless otherwise expressly specified and limited, the terms "installation," "connection," "linking," and "setting" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection, a direct connection, or an indirect connection through an intermediate medium; they can refer to the internal communication of two elements or the interaction relationship between two elements. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.
[0047] In this invention, unless otherwise expressly specified and limited, the first feature being "above" or "below" the second feature may include direct contact between the first and second features, or contact between the first and second features not being in direct contact but through another feature between them.
[0048] Example 1
[0049] Please refer to Figure 1 - Figure 13 This utility model provides a pneumatic gripper, including a cylinder body 1, a piston assembly 2, a clamping assembly 3, a connecting rod mechanism 4, and a sealing cover 5.
[0050] In this embodiment, refer to Figure 1 , Figure 3 , Figure 4 and Figure 6 - Figure 8A piston chamber 10 is provided axially within the cylinder body 1. An air inlet 11 and an air outlet 12 are provided on one side wall of the cylinder body 1, both communicating with the piston chamber 10. A groove 13 communicating with the piston chamber 10 is formed on the bottom of the cylinder body 1 along an axial direction perpendicular to the cylinder body 1. The piston chamber 10 and the groove 13 are connected by a through hole 14 on the cylinder body 1, coaxially arranged with the piston chamber 10. A first annular groove 140 is formed circumferentially within the through hole 14, and a first sealing ring 141 is installed and fixed within the first annular groove 140. Furthermore, an isolation seat 15 is fixed circumferentially within the piston chamber 10, and the isolation seat 15 is sealed to the piston chamber 10 by a second sealing ring 151. A second annular groove 150 is formed circumferentially on the outer wall of the isolation seat 15, and the second sealing ring 151 is installed within the second annular groove 150. In addition, a cylindrical groove 152 is provided on the top surface of the isolation seat 15, and the cylindrical groove 152 is coaxially arranged with the piston chamber 10; a third annular groove 153 is provided on the bottom of the isolation seat 15 along its own circumference, and a third sealing ring 154 is installed and fixed in the third annular groove 153.
[0051] In this embodiment, refer to Figure 3 , Figure 6 , Figure 10 and Figure 11 A slide rail 16 is fixed to the bottom of the cylinder body 1. The slide rail 16 extends along an axial direction perpendicular to the cylinder body 1, and the extension direction of the slide rail 16 is the same as the extension direction of the groove 13. Furthermore, a groove 160 is formed on the bottom of the slide rail 16 along its extension direction, penetrating both ends of the slide rail 16. First arc-shaped guide grooves 161 are formed on the opposite side walls of the groove 160 along its extension direction. Additionally, two waist-shaped grooves 162 are formed on the top surface of the slide rail 16, extending along the extension direction of the slide rail 16.
[0052] In this embodiment, refer to Figure 3 , Figure 4 , Figure 7 and Figure 9The piston assembly 2 includes a piston rod 20 and a piston 21, which are integrally connected. The piston 21 is fixed on the piston rod 20 and is coaxially arranged with the piston rod 20. The outer diameter of the piston rod 20 is smaller than the outer diameter of the piston 21. The first end of the piston rod 20 slides along the axial direction of the cylinder body 1 through the aforementioned isolation seat 15, and the first end of the piston rod 20 is sealed to the isolation seat 15 by the aforementioned third sealing ring 154. The second end of the piston rod 20 slides along the axial direction of the cylinder body 1 through the through hole 14 out of the piston chamber 10 and into the groove 13 to connect with the connecting rod mechanism 4. The second end of the piston rod 20 is sealed to the cylinder body 1 by the aforementioned first sealing ring 141. In addition, a disc 201 is threadedly connected to the top of the piston rod 20. The outer diameter of the disc 201 is larger than the outer diameter of the top of the piston rod 20. A cylindrical groove 152 is provided on the upper surface of the isolation seat 15. The cylindrical groove 152 is coaxially arranged with the disc 201. The inner diameter of the cylindrical groove 152 is larger than the outer diameter of the disc 201. The cylindrical groove 152 is mainly used to accommodate the disc 201.
[0053] Reference Figure 3 , Figure 4 and Figure 9 The piston 21 is slidably disposed within the piston chamber 10, and is located between the isolation seat 15 and the bottom of the piston chamber 10. The piston 21 and the piston chamber 10 are sealed by a fourth sealing ring 214. A fourth annular groove 213 is formed on the outer peripheral wall of the piston 21, and the fourth sealing ring 214 is fixedly installed within the fourth annular groove 213. An air inlet chamber 210 is formed between the piston 21 and the isolation seat 15, communicating with the air inlet 11. An air outlet chamber 211 is formed between the piston 21 and the bottom of the piston chamber 10, communicating with the air outlet 12. When compressed air enters the air inlet chamber 210 from the air inlet 11, the compressed air pushes the piston 21, causing the piston rod 20 to move downwards. When compressed air enters the air outlet chamber 211 from the air outlet 12, the compressed air pushes the piston 21, causing the piston rod 20 to move upwards. To prevent the piston 21 from making hard contact with the bottom wall of the exhaust chamber 211, a buffer pad 212 is provided at the bottom of the exhaust chamber 211 to protect the piston 21.
[0054] In this embodiment, refer to Figure 1 , Figure 3 - Figure 5 and Figure 10 - Figure 13The clamping assembly 3 includes two finger mounting seats 30 and two fingers 31. Each finger 31 corresponds one-to-one with a finger mounting seat 30. The two fingers 31 are respectively mounted on the two finger mounting seats 30, and the fingers 31 and the finger mounting seats 30 are detachably connected by screws, which facilitates the replacement of the fingers 31. The finger mounting seats 30 are slidably mounted on the slide rail 16 along the extension direction of the slide rail 16, so that both finger mounting seats 30 are slidably connected to the slide groove 160. Thus, the two fingers 31 slidably mounted on the guide rail of the cylinder body 1 are driven to the second end of the piston rod 20 through the two finger mounting seats 30. In this way, driving the two finger mounting seats 30 to move towards or away from each other can drive the opening and closing of the two fingers 31.
[0055] In this embodiment, refer to Figure 3 , Figure 5 , Figure 9 - Figure 11 The finger-clamping mounting base 30 is rolled to the slide groove 160 of the slide rail 16, which reduces the friction between the slide groove 160 and the finger-clamping mounting base 30, making the sliding process of the finger-clamping mounting base 30 along the slide groove 160 smoother. Specifically, second arc-shaped guide grooves 301 are formed on the opposite side walls of the finger-clamping mounting base 30 along the extension direction of the slide groove 160. Each first arc-shaped guide groove 161 corresponds to each second arc-shaped guide groove 301. A ball bearing 32 is connected between the first arc-shaped guide groove 161 and the second arc-shaped guide groove 301. The ball bearing 32 makes spherical contact with the first arc-shaped guide groove 161 and the second arc-shaped guide groove 301, which greatly reduces the friction between the finger-clamping mounting base 30 and the slide rail 16, making the opening and closing action of the two finger-clamping mounting bases 30 respond quickly, and thus making the opening and closing action of the two fingers 31 respond quickly.
[0056] In this embodiment, refer to Figure 3 and Figure 9 Each finger-clamping mounting base 30 has a baffle plate 302 fixed at both ends. The baffle plate 302 is mainly used to prevent the balls 32 between the first arc-shaped guide groove 161 and the second arc-shaped guide groove 301 from falling out. In addition, a connecting hole 303 is provided on the upper surface of the finger-clamping mounting base 30. The connecting hole 303 on each finger-clamping mounting base 30 is connected to each waist-shaped groove 162. The connecting hole 303 is mainly used for the connection of the linkage mechanism 4.
[0057] In this embodiment, refer to Figure 3 and Figure 9The linkage mechanism 4 is used to connect the two finger clamping mounting seats 30 and the piston rod 20. That is, the piston rod 20 is driven to be connected to the two finger clamping mounting seats 30 through the linkage mechanism 4. The piston rod 20 drives the two finger clamping mounting seats 30 to slide towards or away from each other along the extension direction of the slide rail 16 by driving the linkage mechanism 4. Specifically, the linkage mechanism 4 includes a first rotating shaft 40, a second rotating shaft 41, a first connecting rod 42, and a second connecting rod 43. A groove 13 communicating with the piston chamber 10 is provided on the bottom of the cylinder body 1 along the extension direction of the slide rail 16. The first rotating shaft 40 and the second rotating shaft 41 are respectively horizontally rotatably disposed at both ends in the groove 13. The extension direction of the first rotating shaft 40 and the second rotating shaft 41 is perpendicular to the extension direction of the slide rail 16. The first connecting rod 42 and the second connecting rod 43 are respectively sleeved on the first rotating shaft 40 and the second rotating shaft 41. One end of the first connecting rod 42 is connected to the second end of the piston rod 20, and the other end of the first connecting rod 42 passes through a waist-shaped groove 162 and is connected to the ball head of the connecting hole 303 on a finger clamping mounting seat 30. One end of the second connecting rod 43 is connected to the second end of the piston rod 20, and the other end of the second connecting rod 43 passes through another waist-shaped groove 162 and is connected to the ball head of the connecting hole 303 on another finger clamping mounting seat 30. Therefore, the two oblong grooves 162 on the slide rail 16 are mainly used to avoid the first link 42 and the second link 43 of the linkage mechanism 4, respectively, so as to prevent the slide rail 16 from interfering with the connection between the first link 42 and the second link 43 and the two finger-clamping mounting seats 30. Since the first link 42 is connected to the ball joint of the connection hole 303 on one of the finger-clamping mounting seats 30, and the second link 43 is connected to the ball joint of the connection hole 303 on the other finger-clamping mounting seat 30, under vibration or dynamic load, the ball joint connection can absorb the deviation through its own movement, avoiding stress concentration or structural damage caused by the rigid connection between the first link 42 or the second link 43 and the finger-clamping mounting seat 30; in addition, the ball joint transmits force through the contact surface, and the force is evenly distributed, reducing local stress concentration. When the force is unbalanced, the ball joint can automatically adjust the angle to maintain stability, avoiding jamming or failure of the connection structure between the first link 42 or the second link 43 and the finger-clamping mounting seat 30.
[0058] In this embodiment, refer to Figure 3 The sealing cover 5 is fixed to the top of the cylinder body 1. The inner cavity of the sealing cover 5 is a sealing cavity 50 that communicates with the piston cavity 10. The sealing cover 5 and the cylinder body 1 are sealed by a fifth sealing ring 51, thereby sealing the communication between the sealing cavity 50 and the piston cavity 10. A sensor 501 is installed in the sealing cavity 50. The sensor 501 is electrically connected to a control platform (not shown) located outside the pneumatic gripper. The control platform is used to display the detection data of the sensor 501. The sensor 501 determines the wear degree of the gripper finger 31 by detecting the distance between the piston rod 20 and the sensor 501.
[0059] The working principle of this utility model:
[0060] When the pneumatic gripper of this utility model is in use, when compressed air enters the air inlet chamber 210 from the air inlet 11, the compressed air pushes the piston 21 to move the piston rod 20 downward, thereby driving the linkage mechanism 4 to drive the two gripper mounting seats 30 to move in opposite directions and open, thus opening the two gripper fingers 31; when compressed air enters the air outlet chamber 211 from the air outlet 12, the compressed air pushes the piston 21 to move the piston rod 20 upward, thereby driving the linkage mechanism 4 to drive the two gripper mounting seats 30 to move in opposite directions and close, thus closing the two gripper fingers 31 and clamping the product. Since the piston 21, which is fixed to the piston rod 20, is located between the bottom of the isolation seat 15 and the piston chamber 10, the upward stroke of the piston 21 can be limited by the isolation seat 15, and the downward stroke of the piston 21 can be limited by the bottom wall of the piston chamber 10. Because the sensor 501 is located in the sealed cavity 50 above the piston rod 20, the distance between the top disk 201 of the piston rod 20 and the sensor 501 is set to H1 when the gripper 31 clamps the product and the gripping surface of the gripper 31 is not worn. When wear occurs, the distance between the top disc 201 of the piston rod 20 and the sensor 501 is set to H2, and the wear amount of the clamping surface of the gripper 31 holding the product is ΔH, where ΔH = H1 - H2. The value of ΔH can be displayed on the control platform. When the wear amount of the clamping surface of the gripper 31 holding the product exceeds a preset threshold (set on the control platform), the ΔH value will be displayed as abnormal on the control platform. At this time, the control platform will remind the operator to replace the gripper 31, making full use of its usage rate and preventing the product from falling due to insufficient gripping. In other words, the pneumatic gripper of this invention converts the change in distance (ΔH) between the top disc 201 of the piston rod 20 and the sensor 501 into the wear amount of the gripper 31.
[0061] It should be noted that since the sensor 501 is located within the sealed cavity 50, which communicates with the top of the piston chamber 10, the sensor 501 is not fixed to the gripper finger 31, thus preventing fatigue failure due to frequent opening and closing of the gripper finger 31. Furthermore, because the sensor 501 is within the sealed cavity 50, it is less susceptible to environmental factors (such as dust and oil), and even if the pneumatic gripper operates in humid or high-temperature environments, the sensor 501 is less likely to be damaged. Additionally, since the sensor 501 is not fixed to the gripper finger 31, the clamping rigidity of the gripper finger 31 is not affected.
[0062] In this embodiment, exemplarily, it is assumed that the preset threshold for the wear amount of the clamping surface of the gripper 31 is 5mm. The sensor 501 in this embodiment is a laser displacement sensor 501. When the gripper 31 clamps the product and the clamping surface of the gripper 31 is not worn, the laser displacement sensor 501 detects that the distance H1 between the top disk 201 of the piston rod 20 and the laser displacement sensor 501 is 10mm. When the gripper 31 clamps the product and the clamping surface of the gripper 31 is worn, the laser displacement sensor 501 detects that the distance H2 between the top disk 201 of the piston rod 20 and the sensor 501 is 8mm. At this time, the wear amount ΔH = 2mm of the clamping surface of the gripper 31 is displayed on the control platform. Since ΔH = 2mm is less than the preset threshold of 5mm, the control platform will not prompt the operator to replace the gripper 31. When the product is clamped by the gripper 31 and the gripping surface of the gripper 31 is not worn, the laser displacement sensor 501 detects that the distance H1 between the top disk 201 of the piston rod 20 and the laser displacement sensor 501 is 10mm. When the product is clamped by the gripper 31 and the gripping surface of the gripper 31 is worn, the laser displacement sensor 501 detects that the distance H2 between the top disk 201 of the piston rod 20 and the sensor 501 is 4mm. At this time, the wear amount ΔH = 6mm of the gripping surface of the gripper 31 is displayed on the control platform. Since ΔH = 6mm is greater than the preset threshold of 5mm, the ΔH value will be displayed abnormally on the control platform. At this time, the control platform will remind the operator to replace the gripper 31. Therefore, it can be seen that the laser displacement sensor 501 in this embodiment uses the principle of laser triangulation or time-of-flight to measure the distance between the top of the piston rod 20 and the laser displacement sensor 501 in real time. When the clamping surface of the gripper finger 31 is worn, it will cause the movement stroke of the piston rod 20 to change, thereby affecting the position of the top of the piston rod 20. By monitoring the change in the distance between the laser displacement sensor 501 and the disk 201 at the top of the piston rod 20, the degree of wear of the gripper finger 31 can be calculated.
[0063] Example 2
[0064] The difference between this embodiment and Embodiment 1 lies in the type of sensor 501. Sensor 501 is a TOF sensor, which uses TOF (Time of Flight) ranging to detect the wear degree of the gripper finger 31. It measures the time it takes for a light signal emitted from the TOF sensor to reach the target object (disc 201 at the top of piston 21) and reflect back, and calculates the distance between the TOF sensor and the target object using the speed of light. Based on this principle, the wear degree of the gripper finger 31 can be indirectly determined by monitoring changes in the distance between the TOF sensor and the top of piston 21. It should be noted that the working principle of the TOF sensor is prior art and will not be described here.
[0065] Example 3
[0066] The difference between this embodiment and the previous embodiment lies in the type of sensor 501. Sensor 501 is a light intensity attenuation sensor, which uses photoelectric method to detect the wear degree of the finger clip 31. By measuring the characteristics of the light signal (such as light intensity, spot size, beam offset, etc.), the distance between the light intensity attenuation sensor and the target object (such as the disk 201 at the top of the piston 21) is calculated. Using this principle, the wear amount of the finger clip 31 can be indirectly determined by monitoring the change in the distance between the light intensity attenuation sensor and the top of the piston 21. It should be noted that the working principle of the light intensity attenuation sensor is prior art and will not be described here.
[0067] Example 4
[0068] The difference between this embodiment and the previous embodiment lies in the type of sensor 501. Sensor 501 is a pressure sensor, meaning it uses a pressure method to transmit force and convert the wear degree of the gripper finger 31 into a pressure value. This pressure value is then converted into an electrical signal for sampling and determination of the wear degree of the gripper finger 31. Specifically, the wear amount of the gripper finger 31 is indirectly determined by monitoring the pressure change between the pressure sensor and the top disc 201 of the piston 21. The core principle is that when the gripping surface of the gripper finger 31 wears down, causing an increase in the gap between the gripper finger 31 and the product, the contact pressure between the pressure sensor and the top of the piston 21 changes. By measuring this pressure change, the wear amount of the gripper finger 31 can be calculated. It should be noted that the working principle of the pressure sensor is prior art and will not be described here.
[0069] Example 5
[0070] The difference between this embodiment and the previous embodiment lies in the type of sensor 501. Sensor 501 is an inductive proximity switch, a type of position sensor. In this embodiment, the wear of the gripper finger 31 is indirectly determined by monitoring the change in the sensing distance between the inductive proximity switch and the top disc 201 of the piston 21 using the inductive proximity switch method. The core principle is that when wear on the gripper finger 31 increases the gap between the gripper finger 31 and the product, the sensing distance of the inductive proximity switch changes accordingly. By measuring this change in distance, the wear of the gripper finger 31 can be calculated. It should be noted that the working principle of the inductive proximity switch is prior art and will not be described here.
[0071] Example 6
[0072] The difference between this embodiment and the previous embodiment lies in the type of sensor 501. Sensor 501 is an ultrasonic sensor. It utilizes the principle of ultrasonic ranging, where ultrasonic waves, when propagating through materials, encounter different medium interfaces (such as wear on the gripper finger 31 causing changes in the gap between the piston rod 20 tip and the ultrasonic sensor), resulting in reflection. The distance is calculated by analyzing the time difference or amplitude change of the reflected waves, thereby estimating the wear amount of the gripper finger 31. It should be noted that the working principle of the ultrasonic sensor 501 is prior art and will not be described here.
[0073] The above description is only a preferred embodiment of the present utility model and does not limit the patent scope of the present utility model. Any equivalent structural or procedural transformations made based on the contents of the present utility model specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present utility model.
Claims
1. A pneumatic gripper, comprising a cylinder body, a piston rod, a piston, and two gripping fingers, wherein a piston chamber is provided axially within the cylinder body, and an isolation seat is sealed circumferentially within the piston chamber; a first end of the piston rod slides axially through the isolation seat, and a second end of the piston rod slides axially through the piston chamber; the piston is fixed to the piston rod and slidably disposed within the piston chamber, with the piston located between the isolation seat and the bottom of the piston chamber; an air inlet chamber is formed between the piston and the isolation seat, and an air outlet chamber is formed between the piston and the bottom of the piston chamber; the cylinder body is provided with an air inlet communicating with the air inlet chamber and an air outlet communicating with the air outlet chamber; the second end of the piston rod is drivenly connected to the two gripping fingers slidably disposed on the cylinder body for driving the opening and closing of the two gripping fingers; characterized in that... The top of the piston chamber is provided with a sealing cavity that is in sealed communication with the piston chamber. A sensor is installed in the sealing cavity. The sensor is electrically connected to a control platform located outside the pneumatic gripper. The sensor determines the degree of wear of the gripper finger by detecting the distance between the piston rod and the sensor.
2. A pneumatic gripper according to claim 1, characterized in that It also includes a linkage mechanism and two finger clamping mounting seats. A slide rail is fixed to the bottom of the cylinder body. The slide rail extends along an axial direction perpendicular to the cylinder body. The finger clamping mounting seats are slidably mounted on the slide rail along the extension direction of the slide rail. The piston rod is driven to be connected to the two finger clamping mounting seats through the linkage mechanism. The piston rod drives the two finger clamping mounting seats to slide towards or away from each other along the extension direction of the slide rail by driving the linkage mechanism. The two fingers are respectively mounted on the two finger clamping mounting seats.
3. The pneumatic gripper of claim 1, wherein, A buffer pad is provided at the bottom of the air outlet chamber to prevent the piston from making hard contact with the bottom wall of the air outlet chamber.
4. The pneumatic gripper of claim 2, wherein, The linkage mechanism includes a first rotating shaft, a second rotating shaft, a first connecting rod, and a second connecting rod. A groove communicating with the piston chamber is formed on the bottom of the cylinder body along the extension direction of the slide rail. The first rotating shaft and the second rotating shaft are respectively horizontally rotatably disposed at both ends in the groove. The extension direction of the first rotating shaft and the second rotating shaft is perpendicular to the extension direction of the slide rail. The first connecting rod and the second connecting rod are respectively sleeved on the first rotating shaft and the second rotating shaft. The two ends of the first connecting rod are respectively connected to a finger clamping mounting seat and the second end of the piston rod. The two ends of the second connecting rod are respectively connected to another finger clamping mounting seat and the second end of the piston rod.
5. A pneumatic gripper according to claim 4, wherein The bottom of the slide rail is provided with a groove along the extension direction of the slide rail, and the two finger mounting seats are slidably connected to the groove. Two waist-shaped grooves are provided on the top surface of the slide rail, and the waist-shaped grooves extend along the extension direction of the slide rail. The two waist-shaped grooves are respectively used to avoid the first connecting rod and the second connecting rod.
6. A pneumatic gripper according to claim 5, wherein The slide is rolled together with the finger clamp mounting base.
7. A pneumatic gripper according to claim 6, wherein The sliding groove has a first arc-shaped guide groove on each of its opposite side walls along the extension direction of the sliding groove, and the finger clamp mounting base has a second arc-shaped guide groove on each of its opposite side walls along the extension direction of the sliding groove. Each first arc-shaped guide groove corresponds to each second arc-shaped guide groove. A ball is connected between the first arc-shaped guide groove and the second arc-shaped guide groove, and the ball is in spherical contact with the first arc-shaped guide groove and the second arc-shaped guide groove.
8. A pneumatic gripper according to claim 7, characterized in that The finger clamp mounting base is provided with baffle plates at both ends, which are used to prevent the balls between the first arc-shaped guide groove and the second arc-shaped guide groove from falling out.
9. The pneumatic gripper of claim 4, wherein, A connecting hole is provided on the upper surface of the finger clamp mounting base. The first connecting rod is connected to the ball head of the connecting hole on one of the finger clamp mounting bases, and the second connecting rod is connected to the ball head of the connecting hole on another finger clamp mounting base.
10. The pneumatic gripper of claim 1, wherein, The piston rod has a disk at its top end, the outer diameter of which is larger than the outer diameter of the piston rod top end. A cylindrical groove is formed on the upper surface of the isolation seat, the cylindrical groove is coaxial with the disk, and the inner diameter of the cylindrical groove is larger than the outer diameter of the disk.