串联气缸驱动的工业机械手外夹持装置

External Clamping Device of Industry Manipulator Based on Tandem Cylinder-driven

介绍一种基于串联气缸驱动的工业机械手外夹持装置的设计思路,介绍其工作原理和技术性能,给出夹持力计算公式。所介绍的这种夹持装置,以串联气缸替代普通气缸,增大了输出力;又采用杠杆-肘杆增力机构,使得整个装置完全可以替换同等条件下液压缸装置。通过改变杠杆的形状和角度,可以满足不同尺寸的加工要求。

A new design idea of pneumatic external clamping device of industry manipulator based on tandem cylinder-driven was described. Based on the idea, a series of clamping devices were designed. The formulas of output force were given. In the introduced external clamping device, tandem cylinder was used to replace ordinary double-acting cylinder, lever-toggle force amplifier was adopt-ed, so the device could replace hydraulic cylinder under same conditions. Through transforming the shape and angle of the lever, the processing requirements of different sizes could be met.