EP1849559A1 - Appareil de positionnement et/ou de serrage, avec une position d'ouverture ajustable du bras mécanique - Google Patents

Appareil de positionnement et/ou de serrage, avec une position d'ouverture ajustable du bras mécanique Download PDF

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Publication number
EP1849559A1
EP1849559A1 EP07008203A EP07008203A EP1849559A1 EP 1849559 A1 EP1849559 A1 EP 1849559A1 EP 07008203 A EP07008203 A EP 07008203A EP 07008203 A EP07008203 A EP 07008203A EP 1849559 A1 EP1849559 A1 EP 1849559A1
Authority
EP
European Patent Office
Prior art keywords
piston
working arm
actuator
rod
threaded element
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
EP07008203A
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German (de)
English (en)
Other versions
EP1849559B1 (fr
Inventor
Luciano Migliori
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Univer SpA
Original Assignee
Univer SpA
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Publication date
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Application filed by Univer SpA filed Critical Univer SpA
Publication of EP1849559A1 publication Critical patent/EP1849559A1/fr
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/12—Arrangements for positively actuating jaws using toggle links
    • B25B5/122—Arrangements for positively actuating jaws using toggle links with fluid drive
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/16—Details, e.g. jaws, jaw attachments

Definitions

  • This invention refers to a drive apparatus having a rotatable working arm, used for example in the motor vehicle manufacturing field for assembling parts of the bodywork; in particular the invention refers to an apparatus for clamping work pieces, or for positioning a work piece or a tool, for example for arc welding or for other similar applications, by means of which it is possible to continuously adjust the opening angle of the working arm.
  • the pneumatic actuator comprises two pistons movable with respect to each other, disposed in such a way as to vary the working stroke by appropriately regulating their distance, in relation to the required opening angle.
  • a first working piston having a non-extensible rod of a preestablished length, connected to the working arm by a toggle-lever device, in a per se known way;
  • the actuator comprises a second stop and brake piston whose position may be changed to vary the stroke of the working piston, and consequently to vary the angle of rotation upon the opening of the working arm by acting on an adjusting screw.
  • WO-A-2005/044517 in turn proposes a drive apparatus again comprising two jointly movable pistons connected to the working arm by means of a non-extensible rod and a toggle-lever device; the reciprocal distance between the two pistons may be varied also by acting on an adjusting screw connecting the pistons. Also in this case the adjustment of the opening angle of the working arm is obtained by simply varying the working stroke of the actuator, by adjusting the reciprocal position of the pistons.
  • US-A-6,416,045 and US-A-6,616,133 illustrate two clamping apparatuses of the aforementioned kind, in which the adjustment of the opening angle of the working arm is carried out by steps, by adjusting the axial length of the rod of the actuator.
  • the rod comprises two coaxial rods, sliding one inside the other, in which the internal rod is provided with a plurality of cross holes which can be aligned with corresponding cross holes in the external rod, for the insertion of a locking pin, thereby enabling the step-by-step adjustment of the length of the rod of the actuator, and consequently the discontinuous variation of the angle of rotation of the working arm, a fine or continuous adjustment being not obtainable.
  • US-A-6, 616, 133 suggests the use of an actuator again comprising a step-by-step extensible rod, in which the internal rod has a plurality of circular slots, and in which use is made of a cam device selectively engageable in the slots in the internal rod to adjust the length of the rod step by step.
  • EP-A-0908272 illustrates a clamping apparatus of the aforementioned kind, in which the pneumatic actuator comprises an axially extensible rod, substantially composed of a first threaded element rigidly connected to the rod of the piston, which engages by screwing with a second threaded element connected to the working arm by means of a toggle-lever device.
  • the main object of the invention is to provide a drive apparatus of the aforementioned kind, which is structurally simple, highly reliable and which at the same time enables the adjustment of the opening angle of the working arm within a wide range of values, without having to open or remove the apparatus itself, once installed along a processing line, also when operated with compressed air; conversely, the operator should manually position the working arm in the required position.
  • a still further object of the invention is to provide a drive apparatus, as mentioned previously, which is practically an universal apparatus in that it offers the possibility of continuously adjusting the opening angle of the working arm, within a field of values ranging for example from 0° to 135°, making use of a normal ISO cylinder, without requiring special actuators.
  • a still further object is to provide a drive apparatus for the aforementioned uses, provided with an automatic system for sensing the angular positions of the working arm, capable of allowing the self-learning of any chosen position, for example as described in EP-A-1,623,795 , incorporated herein for reference.
  • a drive apparatus for clamping a work piece and/or positioning a work piece or a tool comprising:
  • the drive apparatus comprises a working arm 10 connected to a shaft 11 rotatably supported by a box-shaped body 12 having a longitudinal axis; the apparatus also comprises a toggle-lever drive device or system 13 inside the box shaped body 12 and a linear pneumatic actuator 14, operatively connected to the working arm 10 by means of the same toggle-lever device 13 to transform the linear movement of the piston of the actuator 14, into a rotating movement of the working arm 10 between a first suitably adjustable opening position A and a second closing position B in which the working arm B positions a work piece, or a tool, not shown, against a work piece, or clamps the latter against a supporting surface, along a processing line.
  • the toggle-lever device 13 comprises a crank 15, connected to the work-arm shaft 11, and an intermediate connecting link 16, which in turn is hingedly connected to a rod 18 of the actuator 14 by a hinge pin 17' provided between the same link 16 and a connecting element 17 arranged at a front end of the rod 18.
  • the reference number 19 in figure 1 has been used to indicate one of the two guide rollers coaxially arranged onto the hinge pin 17' between the connecting link 16 and the connecting element 17; the roller 19 is movable along a raceway parallel to the rod of the actuator 14, the raceway extending with a cam 20 having a linear, or appropriately arched, profile to provide the reaction necessary to generate the force for closing the arm 10 in the position B.
  • Fig. 1 the reference number 21 has been used to indicate a work-arm stop element for stopping the crank 15, defining the exact closing position B of the working arm 10.
  • the reference number 22 has been used to indicate an elastic pad secured to a second stop element 23 axially aligned with the actuator 14, whose absence or presence makes the system reversible or irreversible, under the action of external forces, according to need.
  • the linear pneumatic actuator 14 is of the double-acting type; it comprises a cylinder 24 having an oval-shaped chamber 25, in which reciprocates a single piston member 26; compressed air can be fed and, respectively, discharged on the two sides of the chamber 25 of the cylinder 24, through inlet/discharge apertures 27, 28 made in the two heads 29 and 30 which close the cylinder 24 at the two ends.
  • the pneumatic actuator 14 comprises a rod 18 which extends axially into the box-shaped body 12 for an operative connection with the toggle-lever drive device 13.
  • a rod 18 made in such a way as to be axially extensible simply by screwing, so as to allow it to be adjusted in length acting from the outside without having to open or remove the actuator.
  • the rod 18 comprises a first threaded element 18A which threadingly engages with a second threaded element 18B in order to selectively change the axial space between the piston 26 and the hinge pin 17'; both the elements 18A and 18B are provided with a screw thread having a pitch capable of allowing a fine adjustment of the axial length of the rod 18, and an irreversible coupling between the screw threads under the action of axial thrusts of the piston 26 and of external forces.
  • first threaded element 18A is secured to the piston 26 in such a way as to be able to rotate around its own longitudinal axis, by acting from the outside of the actuator, as explained further on with reference to Fig. 4.
  • the second threaded element 18B has a front end hingedly connected to the toggle-lever system 13; furthermore, the same element 18B tightly extends from the box-shaped body 12 into the piston chamber 25 with a rear end axially spaced apart from the piston 26.
  • first threaded element 18A and the second threaded element 18B are threadingly engaged with each others, since the threaded element 18A is screwed into an internally threaded hole in the second threaded element 18B.
  • a suitable friction means for example consisting of a cylindrical plug 31, made of plastic material or other suitable material, housed in a cross hole 32 near to the front end of the threaded element 18A; the plug 31 has an axial length slightly greater than the diameter of the internal threaded element 18A so as to frictionally interfere with the screw thread of the threaded element 18B.
  • the invention is directed to a drive apparatus comprising a toggle-lever device and a linear pneumatic actuator provided with means capable of allowing the continuous adjustment of the opening angle of the working arm 10, within a wide range of values, for positioning and/or clamping work pieces, for welding operations and/or for other applications in the motor vehicle manufacturing field, or in other fields.
  • the apparatus is provided with sensing means 33 capable of continuously detecting, both the closed angular position of the working arm 10, indicated by reference B in Fig. 1, and all the angularly spaced-apart opening positions possible for the working arm 10, one of which has been indicated by reference A.
  • the sensing means for detecting the angular positions of the working arm 10 comprise, for example, a plurality of optical sensors 33' or of any other type, disposed side by side inside the box-shaped body 12, parallely to the longitudinal axis of the same body 12; the sensors 33' are selectively activated or actuated by a lug 34 laterally secured to the part 18B of the piston rod 18.
  • the sensors 33' are secured and connected to an electronic circuit card 35 programmed to allow a self-learning of the desired angular opening position, when the working arm 10 remains stationary for a few instants, as described in EP-A-1,623,795 , introduced herein for reference.
  • the apparatus also comprises means for adjusting the opening angle of rotation of the working arm 10, which can be operated from the outside; according to the invention, the adjustment of the opening angle is obtained by simply screwing, to change and adjust the length of the rod 18 of the piston, in relation to the desired opening position of the working arm 10.
  • the means for adjusting the opening angle comprise a drive member 36 which can be manually operated to rotate the threaded element 18A by acting from the bottom of the actuator, with respect to the piston 26 and the threaded element 18B; the threaded element 18A can be screwed or unscrewed to change the axial extension of the entire rod 18.
  • the drive member 36 comprises a piston 36' rotatably supported in a hole 37 of the head 30 at the bottom end of the actuator 14; a shank 38 of the piston 36' ends with a hexagonal head 39 selectively engageable with and disengageable from a hexagonal hole 40 made in a rear-end extension 41 of the rod element 18A, onto which is secured a bush 42.
  • the hole 37 is of such dimensions as to allow the rotation and brief axial displacement of the drive member 36, so as to engage the hexagonal head 39 in the hexagonal hole 40; in this way the rod 18 of the actuator 14 can be lengthened and shortened, and its length finely and continuously adjusted, to make the working arm 10 rotate to the desired opening position.
  • an operator simply inserts a key into the hexagonal hole 36A of the piston 36', through a hole in the head 30, then pushes the piston 36' upwards to engage the hexagonal head 39 in the hole 40; subsequently, by means of the same key he rotates the piston 36' and consequently the threaded element 18A to adjust the length of the rod 18, changing the distance between the piston 26 and the hinge pin 17'.
  • the box-shaped body 12 in correspondence with the axis 11 of rotation of the working arm 10, is provided with a graduated indication of the opening angle set by adjusting the length of the rod 18 of the actuator.
  • the apparatus further comprises a pneumatic damping and braking device for the piston 26, as illustrated hereunder with reference to Fig. 4; the pneumatic damping and braking device are provided for damping and braking the piston 26 on the final portion of its return stroke, during the opening movement of the working arm 10.
  • the damping device comprises the bush 42 integral with the piston 26; the bush 42 has a slightly conical outer surface, of a diameter smaller than the internal diameter of an axial extension of the hole 37, to form an annular chamber 43 in communication with the compressed air inlet/discharge aperture 28.
  • the bush 42 passes through an annular airtight seal 44 capable of performing a brief axial movement; in this way the compressed air that remains between the piston 26 and the head 30 is forced out along the branched off path or duct 45, comprising an adjustable throttling valve 46.
  • the path 45 is branched off between the chamber 25 of the cylinder 24 and the annular chamber 43 of the damper. It should be pointed out that the seal 44 is able to shift slightly in an axial direction against a stop washer 47 to allow a passage of compressed air at the beginning of the working stroke, until the bush 42 has slipped off completely.
  • a drive apparatus for operating a working arm, by means of which it is possible to substantially continuously vary and adjust the angular opening position of the arm itself, within a wide range of values, by means of a mechanically simple, extremely reliable solution, capable of enabling the reduction of the overall dimensions of the apparatus itself.
  • Fig. 1 shows a second possible solution of the means for stopping the arm 10 in the working position B, in place of or in combination with the stopping means 21; in fact, it is possible to provide a stop member 48, at the lower end of the rod element 18B, or otherwise secured, which penetrates completely into a seat 49 in the front head 29. In both cases the stroke of the piston 26 and the length of the cylinder 24 remain substantially unchanged and are not critical in that the arm 10 stops in the working position B anyway, regardless of the length of the rod 18.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Spinning Or Twisting Of Yarns (AREA)
  • Actuator (AREA)
  • Jigs For Machine Tools (AREA)
  • Casings For Electric Apparatus (AREA)
  • Forklifts And Lifting Vehicles (AREA)
EP07008203A 2006-04-27 2007-04-23 Appareil de positionnement et/ou de serrage, avec une position d'ouverture ajustable du bras mécanique Not-in-force EP1849559B1 (fr)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT000834A ITMI20060834A1 (it) 2006-04-27 2006-04-27 Apparecchiatura di posizionamento e bloccaggio,con copertura regolabile del braccio di lavoro.

Publications (2)

Publication Number Publication Date
EP1849559A1 true EP1849559A1 (fr) 2007-10-31
EP1849559B1 EP1849559B1 (fr) 2009-08-05

Family

ID=38134814

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07008203A Not-in-force EP1849559B1 (fr) 2006-04-27 2007-04-23 Appareil de positionnement et/ou de serrage, avec une position d'ouverture ajustable du bras mécanique

Country Status (4)

Country Link
EP (1) EP1849559B1 (fr)
AT (1) ATE438483T1 (fr)
DE (1) DE602007001824D1 (fr)
IT (1) ITMI20060834A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2548700A1 (fr) 2011-07-20 2013-01-23 UNIVER S.p.A. Outil pneumatique
EP3078453A1 (fr) * 2015-04-09 2016-10-12 Pneumax S.p.A. Dispositif d'actionnement de levier articulé ou type de came pour le positionnement précis d'un bras pivotant
WO2016162074A1 (fr) * 2015-04-09 2016-10-13 Pneumax S.P.A. Dispositif d'actionnement du type à levier articulé ou à cames pour le positionnement précis d'un bras pivotant
EP3130809A1 (fr) 2015-08-13 2017-02-15 Pneumax S.p.A. Unité d'actionnement d'efficacité optimisée du type de levier articulé
WO2025082251A1 (fr) * 2023-10-17 2025-04-24 迪斯泰克(上海)自动化工程有限公司 Cylindre de serrage puissant ayant une fonction de réglage de l'angle d'ouverture

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0908272A1 (fr) * 1997-10-08 1999-04-14 Genus Technologies Dispositif de maintien, de positionnement, ou de serrage
EP0938952A2 (fr) * 1998-02-28 1999-09-01 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
EP1262285A2 (fr) * 2001-04-30 2002-12-04 Btm Corporation Dispositif de serrage avec course ajustable
WO2005044517A2 (fr) * 2003-11-04 2005-05-19 Tünkers Maschinenbau Gmbh Dispositif de serrage a genouillere et outil de serrage, tel qu'un dispositif de soudage par points pourvu d'un ensemble articulation de genouillere, ou outil a river pourvu d'un ensemble articulation de genouillere ou analogue, a utiliser dans la construction de carrosseries automobiles
EP1623795A2 (fr) * 2004-08-02 2006-02-08 UNIVER S.p.A. Système de détection pour détecter la position opérative d'un dispositif pour tenir des pièces à travailler

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0908272A1 (fr) * 1997-10-08 1999-04-14 Genus Technologies Dispositif de maintien, de positionnement, ou de serrage
EP0938952A2 (fr) * 1998-02-28 1999-09-01 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
EP1262285A2 (fr) * 2001-04-30 2002-12-04 Btm Corporation Dispositif de serrage avec course ajustable
WO2005044517A2 (fr) * 2003-11-04 2005-05-19 Tünkers Maschinenbau Gmbh Dispositif de serrage a genouillere et outil de serrage, tel qu'un dispositif de soudage par points pourvu d'un ensemble articulation de genouillere, ou outil a river pourvu d'un ensemble articulation de genouillere ou analogue, a utiliser dans la construction de carrosseries automobiles
EP1623795A2 (fr) * 2004-08-02 2006-02-08 UNIVER S.p.A. Système de détection pour détecter la position opérative d'un dispositif pour tenir des pièces à travailler

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP2548700A1 (fr) 2011-07-20 2013-01-23 UNIVER S.p.A. Outil pneumatique
EP3078453A1 (fr) * 2015-04-09 2016-10-12 Pneumax S.p.A. Dispositif d'actionnement de levier articulé ou type de came pour le positionnement précis d'un bras pivotant
WO2016162074A1 (fr) * 2015-04-09 2016-10-13 Pneumax S.P.A. Dispositif d'actionnement du type à levier articulé ou à cames pour le positionnement précis d'un bras pivotant
EP3130809A1 (fr) 2015-08-13 2017-02-15 Pneumax S.p.A. Unité d'actionnement d'efficacité optimisée du type de levier articulé
WO2025082251A1 (fr) * 2023-10-17 2025-04-24 迪斯泰克(上海)自动化工程有限公司 Cylindre de serrage puissant ayant une fonction de réglage de l'angle d'ouverture

Also Published As

Publication number Publication date
DE602007001824D1 (de) 2009-09-17
ITMI20060834A1 (it) 2007-10-28
EP1849559B1 (fr) 2009-08-05
ATE438483T1 (de) 2009-08-15

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