RECONFIGURABLE PNEUMATIC CLAMPING DEVICE OF INDUSTRY MANIPULATOR BASED ON TOGGLE-LEVER FORCE AMPLIFIER IN SERIES

The clamping mechanism plays critical roles in industry manipulator. At present, the clamping mechanism of industry manipulator is most pneumatic drive, which action is rapid. However, for clamping the geometrically rough similar or similar, even complete same work piece, different designers tend to use different design schemes of pneumatic clamping device. Even the same designer may also frequent changing his clamping schemes, such as using different cylinder with different structure, different force amplifier, different clamping mechanism and clamping elements, and so on. The traditional design methods mentioned above are out-of-order and non instructive. The problem is especially critical for today's manufacturing industry, which features short term, large quantity and individual demand design. This article describes a new innovation design idea of reconfigurable pneumatic clamping mechanism based on toggle-lever force amplifier in series and rod-less piston cylinder. Based on the idea, we designed a series of clamping devices featuring clear logic idea. The graphic example, corresponding formula of output force and mechanics characteristics curve are given which of important reference value and the guide meaning for engineering fields. The rcconfigurable pneumatic clamping device of industry manipulator based on toggle-lever force amplifier in series and rod-less piston cylinder present in this paper has the following advantages: (1) Then using the same clamping device, we can realize the changing from external clamping to internal clamping expediently. What we should do is just changing the direction of compressed air in and out the rod-less piston cylinder utilizing its symmetry. (2) The elements of force amplifier and clamping device are all geometrically simple bars, but they have various functions. (3) The elements of force-transferring mechanism based on rolling higher pair and the elements for clamping the work piece both are geometrically simple rolling wheels or its deformation after cutting. They have resembled manufacturing technology but distinct functions. (4) Though the changes of shape, dimension or location of the basic components, the corresponding clamping device can be quickly designed to meet the needs of internal or external clamping to the work piece for different dimension, different shape and different clamping force. (5) Using the two-step or three-step force-amplifier, the device solved the shortcoming of lower press result in the smaller force of pneumatic drive system, and thus can be instead of the hydraulic clamping device in certain extent which easily leads to environmental pollution.