Clamping Device Study of the Approximate Constant Force Output Forging Manipulator

To allow full clamping capability of the forging manipulator and effectively analyze the structural features of the clamping device, by studying the typical application conditions of manipulator clamping the cylinder, flan and ring parts, analyzing the influence of jaw's shaft center distance to the manipulator's clamping force and discussing the conditions of manipulator's clamping device, the necessity of manipulator's clamping device's approximate constant force output is determined. By comprehensively considering the clamping device's influence to other parts of the manipulator, the integral structure of the clamping device is determined. Based on the structural features of the clamping device, the force ratio of the device is studied, the key parameter and determination method of the device is analyzed and the design method of the approximate constant force output clamping device is elaborated. Following the study idea of the approximate constant force output clamping device, by theoretically calculating the 300 k N and 600 k N manipulator's clamping device and comparatively analyzing the original and the approximate constant force output clamping structure, the feasibility of research result is determined and the conditions of structure design and theoretical study of forging manipulator's clamping device is provided.