clamping mechanism of heavy workpiece Model 3D

purpose and action

when clamping heavy-duty workpieces, the claw clamping mechanism is used instead of the large inner diameter cylinder.

environment and operability

the device acts as a manipulator connected to the front end of the manipulator.

the air supplied by the arm drives the cylinder to open and close the manipulator.

object artifact

workpiece

dimensions: w573 x d150 x h15mm

weight: 5.4kg

workpiece rack

dimensions: w153 x d600 x h102mm

weight: 15.3kg

characteristic

specification and size

unit as a whole

maximum dimension: w695 (with manipulator open) x d137 x h149mm

profile size: w560 x d137 x h102mm

cylinder

reference side: cylinder diameter φ 50mm, stroke 30mm

attached side: cylinder diameter φ 40mm, stroke 30mm

workpiece action

horizontal jump acceleration fixed: 0.2g

instantaneous maximum horizontal jump acceleration: 1g

accuracy and load

the inertia force at the maximum acceleration of horizontal runout is less than the retraction side thrust of cylinder.

selection basis of main parts

safe cylinder capacity for handling.

key points of design

calculation process of main parts

φ 40mm cylinder output (when horizontal runout is 1g)

inertia force of cylinder: f = ma = (m1 + m2) a

total weight of workpiece: m1 = 6 × 5.4 + 15.3 = 47.7kg

overall weight of manipulator: m2 = 2.11kg

→ f=(47.7+2.11)×9.8=488n

retraction thrust: f2 = η xa2xp

load rate: η = 1 (according to product catalogue)

retracted pressure area: a2 = 1056 mm 2 (according to product catalogue)

service pressure: p = 0.5mpa

f2=1 ｘ 1056 ｘ 0.5 = 528n

safety factor: f2 / f = 528 / 488 = 1.08 times

key points of structure making and design

using two guide shafts on one side, the reaction force borne by the manipulator is offset by the shear force between the guide shaft and the fixed seat, and the torque will not be transmitted to the cylinder structure.

there is a through-hole on the sliding surface of the guide shaft, so oil-free bushing is used. Gotowy do wydruku: Nie