A thin pneumatic gripper with double the output

Abstract

This utility model relates to the field of robotic arm technology, specifically to a double-output thin pneumatic gripper. The double-output thin pneumatic gripper includes a cylinder barrel, comprising a first cylinder and a second cylinder arranged in parallel, with a first piston and a second piston respectively passing through them. A synchronous gear meshes between the first piston and the second piston. It also includes a slide rail, which is bolted to the cylinder barrel and slidably connects to a first clamp and a second clamp. A first connecting member and a second connecting member are also included. The first connecting member is connected to the side of the first clamp, and the first connecting member engages with a groove on the side of the first piston. The second connecting member is connected to the side of the second clamp, and the second connecting member engages with a groove on the side of the second piston. This utility model can further reduce the thickness of the pneumatic gripper, adapting to more application scenarios.

Description

Technical Field

[0001] This utility model relates to the field of robotic arm technology, specifically to a thin pneumatic gripper with double the output force. Background Technology

[0002] Thin-walled pneumatic grippers are widely used in automation fields, such as automated production lines, robotic arms, and machining. They have advantages such as small footprint and the ability to withstand large lateral loads.

[0003] For example, Chinese patent CN216328379U discloses a thin pneumatic gripper with an integrated piston rod. The piston rod has an integrated structure, and magnets are mounted on the side wall of the piston rod, resulting in greater magnetic flux, more sensitive sensing, and improved installation efficiency. However, the drawback is that the clamping block in this invention is connected to the piston rod via a fixed seat, requiring a certain space between the clamping block and the piston rod to accommodate the fixed seat, which is not conducive to optimizing the thickness of the pneumatic gripper. Utility Model Content

[0004] To address the technical problem in existing thin pneumatic grippers where the connecting piece between the gripper block and the piston rod needs to be placed between the two, which is not conducive to optimizing the thickness of the pneumatic gripper, this utility model proposes a double-output thin pneumatic gripper by placing the connecting piece between the gripper block and the piston rod on the side of the gripper block, which can further reduce the thickness of the pneumatic gripper.

[0005] To achieve the above-mentioned technical effects, this utility model proposes: A double-output thin pneumatic gripper includes a cylinder barrel, which comprises a first cylinder and a second cylinder arranged in parallel, and a first piston and a second piston respectively passing through the cylinder barrel. A synchronous gear meshes between the first piston and the second piston. The gripper also includes: A slide rail is connected to the cylinder barrel by bolts, and the slide rail slidably connects the first clamp and the second clamp; A first connector and a second connector are connected to the side of the first clamp, and the first connector is engaged with the side groove of the first piston. The second connector is connected to the side of the second clamp, and the second connector is engaged with the side groove of the second piston.

[0006] This solution places the transmission connection between the clamp and the piston on the side of the clamp, which can further reduce the thickness of the pneumatic gripper.

[0007] Both the first connector and the second connector are L-shaped. Taking the first connecting plate as an example, one L-shaped end of the first connecting plate is used to connect to the first clamp, and the other L-shaped end faces the first piston and engages with the side groove of the first piston.

[0008] Both the first clamp and the second clamp have positioning grooves on their sides, and the positioning grooves are provided with positioning holes and screw holes; the first connector and the second connector are respectively provided with positioning holes and through holes corresponding to the positioning grooves on their sides.

[0009] The first clamp and the second clamp are respectively provided with support grooves on their sides, and the support grooves are provided with positioning holes and through holes corresponding to the positioning grooves.

[0010] The first clamp and the second clamp are respectively provided with ball bearings between them and the slide rail. The first clamp is provided with baffles at both ends, and the second clamp is provided with baffles at both ends.

[0011] Both the first piston and the second piston have magnet fixing grooves on their sides, and magnets are fixed in the magnet fixing grooves by rubber fixing seats; the rubber fixing seat includes a fixing seat body, the fixing seat has a magnet snap-fit ​​groove, and a snap-fit ​​end is provided at each end of the fixing seat body, and the snap-fit ​​end has a clamping groove on each side; the cross-section of the magnet fixing groove is capsule-shaped.

[0012] The fixing base body includes a flat end face with the magnet snap-fit ​​groove, a cylindrical bottom face opposite to the flat end face and corresponding to the bottom shape of the magnet fixing groove, the width of the fixing base body is corresponding to the width of the magnet fixing groove; the end of the snap-fit ​​end is an arc surface and abuts against the end of the magnet snap-fit ​​groove, and the clamping groove is an arc surface.

[0013] The cylinder barrel is connected to a first cylinder head and a second cylinder head at both ends, respectively. The cylinder barrel contains a first series air passage and a second series air passage. The first cylinder head has a first intake air passage and a first connecting air passage, and the second cylinder head has a second intake air passage and a second connecting air passage. The first intake air passage connects to the first series air passage and the second connecting air passage, and the second intake air passage connects to the second series air passage and the first connecting air passage. The first intake air passage, the first series air passage, and the second connecting air passage form the clamping circuit of the fixture, and the second intake air passage, the second series air passage, and the first connecting air passage form the opening circuit of the fixture. By using the air passages built into the cylinder barrel and cylinder head, the two pistons move together, realizing the opening and closing motion of the grippers, doubling the force and ensuring uniform torque.

[0014] The first intake air passage and the second intake air passage are respectively provided with air inlets and connected to an external air source; the first intake air passage is connected to the piston chamber formed by the first cylinder and the first cylinder head, and the second connecting air passage is connected to the piston chamber formed by the second cylinder and the second cylinder head; the second intake air passage is connected to the piston chamber formed by the first cylinder and the second cylinder head, and the first connecting air passage is connected to the piston chamber formed by the second cylinder and the first cylinder head.

[0015] The first series gas path is provided with sealing rings at both ends, and the second series gas path is provided with sealing rings at both ends.

[0016] The cylinder barrel is provided with a gear groove, and the synchronous gear is disposed therein. The gear groove is connected to both the first cylinder and the second cylinder. The opposite sides of the first piston rod and the second piston rod are provided with meshing teeth, and both mesh with the synchronous gear.

[0017] The beneficial effects of this utility model are: 1. By placing the transmission connector between the clamp and the piston on the side of the clamp, the thickness of the pneumatic gripper is further reduced, making it suitable for more application scenarios; 2. Placing the connector on the side of the clamp facilitates the assembly of the pneumatic gripper; 3. The connector has a simple structure and fewer openings, improving assembly efficiency, reducing the number of fasteners, and lowering costs. Attached Figure Description

[0018] Figure 1 This is a schematic diagram of the overall structure of the double-output thin pneumatic gripper in Example 1.

[0019] Figure 2 This is a schematic diagram of the internal structure of the double-output thin pneumatic gripper in Example 1.

[0020] Figure 3 This is a schematic diagram of the back structure of the double-output thin pneumatic gripper in Example 1.

[0021] Figure 4 This is a schematic diagram of the structure of the first connector in Embodiment 1.

[0022] Figure 5 A top view of the groove for securing the magnet.

[0023] Figure 6 This is a structural diagram of the rubber mounting base.

[0024] Figure 7 This is a left view of the first cylinder head and a cross-sectional view at point AA.

[0025] Figure 8 This is a left view of the second cylinder head and a cross-sectional view at point BB.

[0026] Figure 9 The image shows the left view and cross-sectional view at CC of the double-output thin pneumatic gripper in Example 1.

[0027] Figure 10 The image shows a right view and a cross-sectional view at DD- in Example 1 of the double-output thin pneumatic gripper.

[0028] Figure 11 This is a schematic diagram of the internal structure of the double-output thin pneumatic gripper in Example 2.

[0029] Figure 12 This is a schematic diagram of the structure of the first connector in Embodiment 2.

[0030] Icon labels: 1. Cylinder barrel; 2. Slide rail; 3. First cylinder head; 4. Second cylinder head; 5. Rubber mounting bracket; 6. Magnet; 7. Magnet fixing groove; 101. First cylinder; 102. Second cylinder; 103. First piston; 104. Second piston; 105. First series air passage; 106. Second series air passage; 107. Gear groove; 108. Synchronizing gear; 201. First clamp; 202. Second clamp; 203. First connector; 204. Second connector; 205. Ball bearing; 206. Baffle; 207. Positioning groove; 208. Support groove; 209. Positioning hole; 210. Screw hole; 301. First intake air passage; 302. First connecting air passage; 401. Second intake air passage; 402. Second connecting air passage; 501. Fixing base body; 502. Snap-fit ​​end; 503. Clamping slot; 504. Magnet snap-fit ​​slot. Detailed Implementation

[0031] The following specific embodiments illustrate the implementation of this utility model. Those skilled in the art can easily understand other advantages and effects of this utility model from the content disclosed in this specification.

[0032] This utility model provides a double-output thin pneumatic gripper, and the preferred embodiment of the double-output thin pneumatic gripper is described below.

[0033] Example 1 Reference Appendix Figures 1 to 10 The double-output thin pneumatic gripper in this embodiment includes a cylinder 1, which comprises a first cylinder 101 and a second cylinder 102 arranged in parallel. A first piston 103 passes through the first cylinder 101, and a second piston 104 passes through the second cylinder 102. The first cylinder 101 and the second cylinder 102 are adjacent to each other and have the same length. The first piston 103 reciprocates in the first cylinder 101, and the second piston 104 reciprocates in the second cylinder 102. Sealing rings and O-rings are respectively fitted at both ends of the first piston 103 and the second piston 104 to ensure airtightness between them and the first cylinder 101 or the second cylinder 102. Two sliding grooves are formed on the upper surface of the cylinder 1, which communicate with the first cylinder 101 and the second cylinder 102 respectively. The two sliding grooves are arranged along the length direction of the first cylinder 101 and the second cylinder 102. Threaded holes are provided at both ends of the cylinder 1 for connecting to the cylinder head by bolts.

[0034] The cylinder barrel 1 is bolted to the slide rail 2. The cylinder barrel 1 has a groove that matches the width of the slide rail 2, and the slide rail 2 is disposed within this groove. A first clamp 202 and a second clamp 203 are slidably connected to the slide rail 2. The side of the first clamp 202 is connected to the first connecting member 203 via a locating pin and bolts, and the side of the second clamp 203 is connected to the second connecting member 204 via a locating pin and bolts. (See attached diagram) Figure 4 Both the first connecting member 203 and the second connecting member 204 are L-shaped. One end of the L-shape is used to connect to the first connecting member 202 or the second connecting member 203, and the other end is used to engage with the side groove of the first piston 103 or the second piston 104. The piston movement of the first piston 103 and the second piston 104 in the cylinder 1 drives the first clamp 201 and the second clamp 202 to move, respectively. The connection method of the first connecting member 203 and the second connecting member 204 to the first clamp 201 and the second clamp 202, respectively, and the L-shaped structure of the first connecting member 203 and the second connecting member 204, in this embodiment, allows the first clamp 201 and the second clamp 202 to be made thinner, without affecting the overall transmission effect of the first piston 103 and the second piston 104 on the two clamps. Compared with the connection structure between the piston and the clamp in the prior art, the connection structure and structural features of the connecting members in this embodiment leave room for optimizing the thickness of the thin pneumatic gripper.

[0035] At the opposite ends of the two clamps, positioning grooves 207 are provided on both sides. The first connecting member 203 is disposed in one of the positioning grooves 207, and the second connecting member 204 is disposed similarly. The L-shaped bend of the first connecting member 203 extends out of the end face of the first connecting member 203, and the same applies to the second connecting member 204. When the two clamps are closed, the L-shaped bend of the first connecting member 203 extends into the positioning groove 207 of the second clamp 202 opposite to the second connecting member 204, and the same applies to the second connecting member 204. The baffles 206 at the opposite ends of the two clamps are respectively disposed between the two positioning grooves 207 of the clamps.

[0036] Both the first piston 103 and the second piston 104 have magnet fixing grooves located at the middle of their sides. Taking the first piston 103 as an example, refer to the attached diagram. Figure 5 and 6 In this embodiment, the magnet fixing groove 7 has a capsule-shaped cross-section, with its bottom surface being a cylindrical surface joined to a quarter-sphere, i.e., a half-capsule shape. A rubber fixing seat 5 is snapped into the groove, and a magnet 6 is snapped into the rubber fixing seat 5. The magnet is sheet-shaped, and the rubber fixing seat 5 has a magnet engaging groove 504, the shape of which corresponds to the shape of the magnet 6. It should be noted that the depth of the magnet engaging groove 504 is less than the height of the magnet 6 to ensure that part of the magnet 6 is exposed, facilitating its removal from the magnet engaging groove 504.

[0037] The rubber fixing base 5 includes a fixing base body 501, with a snap-fit ​​end 502 at each end. The width of the fixing base body 501 is slightly larger than the width of the magnet fixing groove 7, ensuring that the side of the body can closely contact the side of the magnet fixing groove 7 and generate a certain friction force. The end face of the fixing base body 501 with the magnet snap-fit ​​groove 504 is machined flat, and the mating surface opposite to this end face is shaped according to the capsule-shaped bottom face of the magnet fixing groove 7.

[0038] A snap-fit ​​end 502 is provided at each end of the main body 501 of the fixing base. The two snap-fit ​​ends 502 abut against the two ends of the magnet fixing groove 7 to form a positioning in the length direction. The end of the snap-fit ​​end 502 is a cylindrical surface with a semi-circular cross-section. Its two sides are respectively set as symmetrical arc surfaces, which form a gap between the arc surface and the inner surface of the magnet fixing groove 7, namely the clamping groove 503. The ends of the two snap-fit ​​ends 502 abut against the inner surfaces of the two ends of the magnet fixing groove, forming a positioning while providing a certain friction force. When installing the rubber fixing base 5 and the piston rod, it can be directly inserted into the magnet fixing groove 7. Due to the unique material properties of rubber, it can automatically position itself in the groove. When disassembling the rubber fixing base 5, tweezers or other tools can be used to reach into the two clamping grooves 503 that are obliquely opposite each other along the length direction of the rubber fixing base 5 to clamp it out.

[0039] The cylinder barrel 1 is equipped with a slide rail 2, which slidably connects to a first clamp 201 and a second clamp 202. The first clamp 201 is connected to a first piston 103, and the second clamp 202 is connected to a second piston 104. A first cylinder head 3 and a second cylinder head 4 are connected to both ends of the cylinder barrel 1, respectively. Several through holes are provided between the first cylinder 101 and the second cylinder 102 for bolts to pass through and connect to the slide rail 2. The slide rail 2 is positioned between two sliding grooves. Ball grooves are provided along the length of the slide rail 2. Balls 205 are provided between the first clamp 201 and the second clamp 202 and the slide rail 2, respectively. Baffles 206 are provided at both ends of the first clamp 201 and the second clamp 202. Ball grooves are provided on the inner surfaces of the first clamp 201 and the second clamp 202 to accommodate the balls 205 and enable sliding between them and the slide rail 2. Baffles 206 are provided on the sides of the first clamp 201 and the second clamp 202 along their respective length directions to prevent the balls 205 from slipping off. The first cylinder head 3 and the second cylinder head 4 seal the two ends of the first cylinder 101 and the second cylinder 102. The two ends of the first piston 103 form two independent piston chambers with the first cylinder head 3 and the second cylinder head 4, and the second piston 104 is similarly sealed.

[0040] The cylinder barrel 1 is provided with a gear groove 107, and a synchronizing gear 108 is provided therein. The gear groove 107 is connected to both the first cylinder 101 and the second cylinder 102. The opposite sides of the first piston 103 rod and the second piston 104 rod are provided with meshing teeth, which mesh with the synchronizing gear 108. The first piston 103 and the second piston 104 are driven by the meshing of a rack and pinion gear to realize the synchronous movement of the first piston 103 and the second piston 104, thereby realizing the synchronous approach and departure of the first clamp 201 and the second clamp 202.

[0041] Reference Appendix Figures 7 to 10 The cylinder barrel 1 has a first series air passage 105 and a second series air passage 106 inside. The first cylinder head 3 has a first intake air passage 301 and a first connecting air passage 302. The second cylinder head 4 has a second intake air passage 401 and a second connecting air passage 402. The first series air passage 105 and the second series air passage 106 are provided on both sides along the length of the cylinder barrel 1, penetrating the cylinder barrel 1. The first intake air passage 301 connects the first series air passage 105 and the second connecting air passage 402, and the second intake air passage 401 connects the second series air passage 106 and the first connecting air passage 302. The first intake air passage 301 and the second intake air passage 401 are respectively provided with air inlets and connected to an external air source.

[0042] In this embodiment, the first cylinder head 3 has a first connecting air passage 302 and a first intake air passage 301 arranged vertically in parallel inside; the second cylinder head 4 has a second intake air passage 401 and a second connecting air passage 402 arranged vertically in parallel inside. After the first cylinder head 3 and the second cylinder head 4 are respectively connected to the cylinder barrel 1, the first intake air passage 301 is connected to the first series air passage 105, and the first series air passage 105 is connected to the second connecting air passage 402, connecting the piston chamber formed by the first piston 103 and the first cylinder head 3, and the piston chamber formed by the second piston 104 and the second cylinder head 4. The second intake air passage 401 is connected to the second series air passage 106, and the second series air passage 106 is connected to the first connecting air passage 302, connecting the piston chamber formed by the first piston 103 and the second cylinder head 4, and the piston chamber formed by the second piston 104 and the first cylinder head 3. Two separate gas circuits are formed, and each is connected to an external air source through an air inlet provided on the first cylinder head 3 and the second cylinder head 4. The external air source injects compressed air into the two gas circuits separately to achieve the clamping and releasing functions of the first clamp 201 and the second clamp 202, while having a double output effect and better synchronization.

[0043] The first series air passage 105 and the second series air passage 106 are both equipped with sealing rings at their ends. The first cylinder head 3 and the second cylinder head 4 are connected to the cylinder barrel 1 by bolts, thus connecting the first series air passage 105 to the first intake air passage 301 and the second connecting air passage 402, and the second series air passage 106 to the second intake air passage 401 and the first connecting air passage 302. Sealing rings are required at both ends of the first series air passage 105 and the second series air passage 106 to ensure their sealing performance.

[0044] Example 2 Reference Appendix Figures 5 to 12 In this embodiment, the double-output thin pneumatic gripper includes a cylinder 1, which includes a first cylinder 101 and a second cylinder 102 arranged in parallel. A first piston 103 passes through the first cylinder 101, and a second piston 104 passes through the second cylinder 102. The first cylinder 101 and the second cylinder 102 are adjacent to each other and have the same length. The first piston 103 reciprocates in the first cylinder 101, and the second piston 104 reciprocates in the second cylinder 102.

[0045] The cylinder barrel 1 is bolted to the slide rail 2. The cylinder barrel 1 has a groove that matches the width of the slide rail 2, and the slide rail 2 is disposed in this groove. The slide rail 2 is slidably connected to the first clamp 201 and the second clamp 202. The first clamp 201 is connected to the first piston 103, and the second clamp 202 is connected to the second piston 104. The cylinder barrel 1 is connected to the first cylinder head 3 and the second cylinder head 4 at both ends, respectively. The cylinder barrel 1 has several through holes between the first cylinder 101 and the second cylinder 102 for bolting the slide rail 2. The slide rail 2 has ball grooves along its length on its side. Balls 205 are provided between the first clamp 201 and the second clamp 202 and the slide rail 2, respectively. The first clamp 201 and the second clamp 202 have baffles 206 at both ends.

[0046] Reference Appendix Figure 12 In this embodiment, the first clamp 202 and the second clamp 203 are respectively provided with positioning grooves 207 on their sides, and the first connector 203 and the second connector 204 are respectively bolted to them. The first connector 203 is engaged with the side groove of the first piston 103, and the second connector 204 is engaged with the side groove of the second piston 104. Both the first connector 203 and the second connector 204 are L-shaped. Compared with the first embodiment, the first connector 203 and the second connector 204 in this embodiment are different in that both the first connector 203 and the second connector 204 are provided with support grooves 208.

[0047] In this embodiment, the first clamp 201 and the second clamp 202 each have only one reserved slot at their opposite ends. The first connector 203 does not extend beyond the end of the first clamp 201, and its baffle 206 covers the L-shaped bend of the first connector 203. The second connector 204 is similar to the second clamp 202. When the clamps close during the clamping action, the baffles 206 of the two clamps are in contact. Taking the first clamp 201 and the first connector 203 as an example, the support groove 208 is formed on the connecting surface of the first connector 203 and the first clamp 201. The support groove 208 has a side surface for contacting the bottom surface of the first clamp 201. After the first connector 203 and the first clamp 201 are connected, this side surface is in contact with the bottom surface of the first clamp 201, providing a certain support for the first clamp. The second clamp 202 is similar to the second connector 204.

[0048] The rubber fixing seat 5 and the magnet fixing groove 7 in this embodiment are set in accordance with Embodiment 1.

[0049] The cylinder barrel 1 is provided with a gear groove 107, and a synchronizing gear 108 is provided therein. The gear groove 107 is connected to both the first cylinder 101 and the second cylinder 102. The first piston rod 103 and the second piston rod 104 are provided with meshing teeth on opposite sides, and both mesh with the synchronizing gear 108.

[0050] In this embodiment, the first cylinder head 3 has a first connecting air passage 302 and a first intake air passage 301 arranged vertically in parallel inside; the second cylinder head 4 has a second intake air passage 401 and a second connecting air passage 402 arranged vertically in parallel inside. After the first cylinder head 3 and the second cylinder head 4 are respectively connected to the cylinder barrel 1, the first intake air passage 301 is connected to the first series air passage 105, and the first series air passage 105 is connected to the second connecting air passage 402, connecting the piston chamber formed by the first piston 103 and the first cylinder head 3, and the piston chamber formed by the second piston 104 and the second cylinder head 4. The second intake air passage 401 is connected to the second series air passage 106, and the second series air passage 106 is connected to the first connecting air passage 302, connecting the piston chamber formed by the first piston 103 and the second cylinder head 4, and the piston chamber formed by the second piston 104 and the first cylinder head 3. Two separate gas circuits are formed, and each is connected to an external air source through an air inlet provided on the first cylinder head 3 and the second cylinder head 4. The external air source injects compressed air into the two gas circuits separately to achieve the clamping and releasing functions of the first clamp 201 and the second clamp 202, while having a double output effect and better synchronization.

[0051] The first series air passage 105 and the second series air passage 106 are both equipped with sealing rings at their ends. The first cylinder head 3 and the second cylinder head 4 are connected to the cylinder barrel 1 by bolts, thus connecting the first series air passage 105 to the first intake air passage 301 and the second connecting air passage 402, and the second series air passage 106 to the second intake air passage 401 and the first connecting air passage 302. Sealing rings are required at both ends of the first series air passage 105 and the second series air passage 106 to ensure their sealing performance.

[0052] The above description is a preferred embodiment of the present utility model, used to illustrate the present utility model and its effects. It should be noted that, for those skilled in the art, for the purpose of making foreseeable improvements and modifications without departing from the principles of the present utility model, such improvements and modifications are also within the protection scope of the present utility model.

Claims

1. A double-output thin pneumatic gripper, comprising a cylinder barrel, wherein the cylinder barrel includes a first cylinder and a second cylinder arranged in parallel, and a first piston and a second piston respectively pass through the cylinder barrel, and a synchronous gear meshes between the first piston and the second piston, characterized in that, Also includes: A slide rail is connected to the cylinder barrel by bolts, and the slide rail slidably connects the first clamp and the second clamp; A first connector and a second connector are connected to the side of the first clamp, and the first connector is engaged with the side groove of the first piston. The second connector is connected to the side of the second clamp, and the second connector is engaged with the side groove of the second piston.

2. The double output thin pneumatic claw according to claim 1, wherein Both the first connector and the second connector are L-shaped.

3. The double output thin pneumatic claw according to claim 2, wherein Both the first clamp and the second clamp have positioning grooves on their sides, and the positioning grooves are provided with positioning holes and screw holes; the first connector and the second connector are respectively provided with positioning holes and through holes corresponding to the positioning grooves on their sides.

4. The double output thin pneumatic claw according to claim 3, wherein The first clamp and the second clamp are respectively provided with support grooves on their sides, and the support grooves are provided with positioning holes and through holes corresponding to the positioning grooves.

5. The double output thin pneumatic claw according to any one of claims 1 to 4, wherein The first clamp and the second clamp are respectively provided with ball bearings between them and the slide rail. The first clamp is provided with baffles at both ends, and the second clamp is provided with baffles at both ends.

6. The double output thin pneumatic claw according to claim 1, wherein Both the first piston and the second piston have magnet fixing grooves on their sides, and magnets are fixed in the magnet fixing grooves by rubber fixing seats; the rubber fixing seat includes a fixing seat body, the fixing seat has a magnet snap-fit ​​groove, and a snap-fit ​​end is provided at each end of the fixing seat body, and the snap-fit ​​end has a clamping groove on each side; the cross-section of the magnet fixing groove is capsule-shaped.

7. The double output thin pneumatic claw according to claim 6, wherein The fixing base body includes a flat end face with the magnet snap-fit ​​groove, a cylindrical bottom face opposite to the flat end face and corresponding to the bottom shape of the magnet fixing groove, the width of the fixing base body is corresponding to the width of the magnet fixing groove; the end of the snap-fit ​​end is an arc surface and abuts against the end of the magnet snap-fit ​​groove, and the clamping groove is an arc surface.

8. The double output thin pneumatic claw according to claim 1, wherein The cylinder barrel is connected to a first cylinder head and a second cylinder head at both ends, and the cylinder barrel is provided with a first series air passage and a second series air passage inside. The first cylinder head is provided with a first intake air passage and a first connecting air passage, and the second cylinder head is provided with a second intake air passage and a second connecting air passage. The first intake air passage connects the first series air passage and the second connecting air passage, and the second intake air passage connects the second series air passage and the first connecting air passage.

9. A double-output thin pneumatic gripper according to claim 8, characterized in that, The first intake air passage and the second intake air passage are respectively provided with air inlets and connected to an external air source; the first intake air passage is connected to the piston chamber formed by the first cylinder and the first cylinder head, and the second connecting air passage is connected to the piston chamber formed by the second cylinder and the second cylinder head; the second intake air passage is connected to the piston chamber formed by the first cylinder and the second cylinder head, and the first connecting air passage is connected to the piston chamber formed by the second cylinder and the first cylinder head.

10. The double output thin pneumatic claw according to claim 1, wherein The cylinder barrel is provided with a gear groove, and the synchronous gear is disposed therein. The gear groove is connected to both the first cylinder and the second cylinder. The opposite sides of the first piston rod and the second piston rod are provided with meshing teeth, and both mesh with the synchronous gear.

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