EP0938952B1 - Spannvorrichtung - Google Patents

Spannvorrichtung Download PDF

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Publication number
EP0938952B1
EP0938952B1 EP99102505A EP99102505A EP0938952B1 EP 0938952 B1 EP0938952 B1 EP 0938952B1 EP 99102505 A EP99102505 A EP 99102505A EP 99102505 A EP99102505 A EP 99102505A EP 0938952 B1 EP0938952 B1 EP 0938952B1
Authority
EP
European Patent Office
Prior art keywords
coil
assembly according
clamping assembly
position indicator
header
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.)
Expired - Lifetime
Application number
EP99102505A
Other languages
German (de)
English (en)
French (fr)
Other versions
EP0938952A3 (de
EP0938952A2 (de
Inventor
Detlev Ulle
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.)
DESTACO Europe GmbH
Original Assignee
DE STA CO Metallerzeugnisse GmbH
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by DE STA CO Metallerzeugnisse GmbH filed Critical DE STA CO Metallerzeugnisse GmbH
Publication of EP0938952A2 publication Critical patent/EP0938952A2/de
Publication of EP0938952A3 publication Critical patent/EP0938952A3/de
Application granted granted Critical
Publication of EP0938952B1 publication Critical patent/EP0938952B1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

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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

  • the invention relates to a tensioning device for tensioning or Gripping workpieces according to the preamble of the claim 1.
  • clamping devices are so-called in particular Power clamps known for example from DE-U-90 16 781.3.
  • clamping devices used in the manufacture of bodies is usually knowledge of the actual Position of the tension arm required, whereby, if known, with the help of so-called limit switch the two extreme positions (open and closed position) be determined.
  • limit switch the two extreme positions (open and closed position) be determined.
  • the tensioning device according to this DE-U-90 16781 is a small, on the drive link (pneumatic cylinder) separate housing with two limit switches arranged, which engages from above into the housing and actuator rod connected to the actuator mechanism can be operated as a so-called position transmitter.
  • Such clamping devices are also known, for example EP-A-0 595 074, the subject matter of which is, however is not a one-armed power clamp, but one Gripper with two gripper arms, at least one of which is actuated by a drive element of an actuating mechanism and through this is pivotable.
  • Such gripping devices are used especially in robotics as so-called Handpieces on robot arms. Even when operating such gripping devices is the knowledge of the respective position here the gripper arms are usually also of interest. For that be also what is not particularly in said EP-A-0 595 074 is explained, end position query elements in the area the actuating mechanism arranged.
  • the invention is accordingly based on the object of clamping devices of the type mentioned at the beginning with regard to their position query to improve that each position of the minimum a clamping arm can be easily queried at any time is.
  • Each coil powered by an AC voltage source is generated as is known, a magnetic field surrounding it.
  • This magnetic field is usually the coil with an iron-containing one Provide core that forms the coil carrier.
  • the metallic encoder is brought into the magnetic field, so there is an influence or disturbance of the Magnetic field, which in turn is in the form of a retroactive effect Changes in current at the connections of the coil depending on where the donor is located the magnetic field disturbs.
  • the conversion or measuring electronics is aware of the energization values of the undisturbed The location of the fault can be determined and thus also the coil Position of the clamping arm of the clamping device.
  • “Gradient-oriented effective range” means that the at least one coil due to their training, causes a clear from the position of the encoder to the coil Position signal for the conversion electronics and thus a clear display provides the position of the tension arm of the device, i.e. for the closed and open position and all positions in between.
  • a clear display provides the position of the tension arm of the device, i.e. for the closed and open position and all positions in between.
  • Embodiments is also advantageous in purpose optimal detection of the magnetic field surrounding the coil the position transmitter in the form of a simple sheet metal blank formed of a passage opening for the Has actuator and a passage opening for the coil, which is also advantageous with a thin, the coil before contact with the encoder and protecting against damage, the magnetic field formation but is not surrounded by a hindering sleeve.
  • the coil with its power connections, the Position transmitter with its holder and a cable connection in one in a receiving recess of the head piece as a structural unit insertable carrier arranged together.
  • the clamping device is a gripper
  • Figs. 1, 3 and 4 and those shown in Figs. 5 to 7 Devices are indeed for different purposes (clamping / gripping) determined, but exist essentially and after as before from the functionally identical components, namely from a head piece 1 with at least one pivotally mounted thereon Tension arm 2, which is arranged in a head piece 1
  • Actuating mechanism 3 with a drive element 4 here pneumatic cylinder
  • the actuating mechanism 3 a has position transmitter 5 adjustable along a travel path SW, this also moves and in the area of the actuating mechanism 3 Elements for interrogating the position of the clamping arm are arranged.
  • the adjusting mechanism designated 3 comprises in the illustrated Embodiment overall, the linear actuator 3 'of the drive member 4, an intermediate link 3 "and the articulation lever 3 '' 'for the tension arm 2.
  • FIGS. 1, 4, which exemplary embodiments Clamping device with a preferably linearly movable Show actuator 3 '(piston rod of drive element 4), to which the position transmitter 5 is attached, which when actuated moved along the coil 7 arranged parallel thereto becomes.
  • FIGS. 1A to 1C Regarding the "gradient orientation" of the coil or the magnetic field reference is made to FIGS. 1A to 1C.
  • the coil 7 is, for example, on the upper end a second, essential in its axial extent shorter coil 7 'assigned as a so-called reference coil, the the conversion electronics E conveys the gradient orientation. The same is done with a coil formation according to FIG. 1C reached, the winding decreasing downward, for example Has slopes. Such an orientation is the broadest Sense can also be achieved by an embodiment according to FIG. 1B, in which the coil 7 consists of several small individual coils 7 ". A" magnetic field continuum “in the sense of the two other embodiments are not available here Conversion electronics E is designed and programmed here, however, that the interference in the area of a coil 7 " can recognize which of the coils is faulty. With A is one position indicator element connected to the conversion electronics E. designated and with B a connection for the overall control of a "tensioning system" consisting of several clamping devices For example, for clamping bodies.
  • the metallic position transmitter 5 here in the form of a ring, by means of a Plastic holder 5 'on the linearly moved Actuator 3 'attached. Since the coil 7 in a plastic existing, half-shell-shaped carrier 10 (see Fig. 2) is arranged, wherein this carrier 10 fits snugly into an am Head piece 1 arranged recess 9 designed to be insertable the holder 5 'is advantageous, as shown in FIG. 3, formed on the actuator 3 'snap and fixable.
  • a such embodiment allows that as a complete Unit BE trained coil 7 including the metallic Positioner 5 depending on the installation requirements of Clamping device on site slightly from one side of the clamping device removable and in an advantageous also on the other side of the head piece 1 arranged and accordingly trained recess 9 'can be used.
  • a thin sleeve 21 made of plastic which at of the embodiment according to FIG. 1 formed in the form of a ring metallic position transmitter 5 is included.
  • the Gap between position transmitter 5 and sleeve 21 is so dimensioned as small as possible.
  • FIG. 4 is one of the embodiment shown in FIG. 1 somewhat different encoder-coil arrangement (unit BE) shown, which is preferred.
  • unit BE encoder-coil arrangement
  • this embodiment is only in the lower area of the head piece 1 of the clamping device a recess 9 '' is provided, through which only one on one side on a plastic base-like Carrier 10 'freely projecting coil 7 in the clamping device is introduced.
  • This embodiment is advantageous in that as the position transmitter 5 also when removing the coil 7 can remain on the actuator 3 ', since the coil 7 at the highest position it encoder 5, as shown, with its free end easily pulled out of the position transmitter 5 or in this can be introduced.
  • the position transmitter 5 is 4A around a simple sheet metal blank 20 from 3 to 4 mm thickness with a passage opening 21 for the actuator 3 'and a passage opening 22 for the coil 7.
  • This Sheet metal blank is fixed in a suitable manner on the actuator 3 ', i.e., similar to the embodiment of Fig. 1 integrated between an actuator lower and upper part.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)
  • Surgical Instruments (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)
  • Reciprocating, Oscillating Or Vibrating Motors (AREA)
EP99102505A 1998-02-28 1999-02-10 Spannvorrichtung Expired - Lifetime EP0938952B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE19808631A DE19808631A1 (de) 1998-02-28 1998-02-28 Spannvorrichtung
DE19808631 1998-02-28

Publications (3)

Publication Number Publication Date
EP0938952A2 EP0938952A2 (de) 1999-09-01
EP0938952A3 EP0938952A3 (de) 2001-02-07
EP0938952B1 true EP0938952B1 (de) 2003-05-14

Family

ID=7859312

Family Applications (1)

Application Number Title Priority Date Filing Date
EP99102505A Expired - Lifetime EP0938952B1 (de) 1998-02-28 1999-02-10 Spannvorrichtung

Country Status (3)

Country Link
EP (1) EP0938952B1 (es)
DE (2) DE19808631A1 (es)
ES (1) ES2193611T3 (es)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE10052857A1 (de) * 2000-10-24 2002-05-02 Sta Co Mettallerzeugnisse Gmbh Elektromotorisch betätigbare Werkstückspannvorrichtung
ITMI20041584A1 (it) * 2004-08-02 2004-11-02 Univer Spa Sistema per la rilevazione di posizioni operative per un dispositivo di ritegno per pezzi da lavorare
ITMI20060834A1 (it) * 2006-04-27 2007-10-28 Univer Spa Apparecchiatura di posizionamento e bloccaggio,con copertura regolabile del braccio di lavoro.
ITMI20061226A1 (it) * 2006-06-26 2007-12-27 Univer Spa Dispositivo per il bloccaggio e-o la centragtuira di pezzi da lavorare con posizioni operative settabili manualmente
DE102010016333B4 (de) * 2010-04-06 2018-02-08 Turck Holding Gmbh Kniehebelspannvorrichtung mit einer Winkelerfassungseinrichtung durch einen Schwingkreis
JP5688602B2 (ja) 2011-09-02 2015-03-25 Smc株式会社 クランプ装置
DE202014103575U1 (de) * 2014-08-01 2014-09-02 Pepperl + Fuchs Gmbh Abfrageeinheit für Kniehebelspanner
JP7366386B2 (ja) * 2018-08-02 2023-10-23 株式会社コスメック ワーク挙動検出機能を備えたクランプシステム
DE102018009534B4 (de) 2018-12-07 2024-04-04 Pepperl+Fuchs Se Spannvorrichtung mit induktiver Abfrageeinheit

Family Cites Families (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE2222686B2 (de) * 1972-05-09 1980-06-12 Tuenkers Maschinenbau Gmbh, 4030 Ratingen Druckmittelbetatigte Kniehebelspannvorrichtung, insbesondere für Karosserieteile
DE2846668C2 (de) * 1978-10-26 1986-01-02 Kraftwerk Union AG, 4330 Mülheim Meßeinrichtung für Dehnschrauben-Spannvorrichtungen
FR2444828A1 (fr) * 1978-12-18 1980-07-18 Heurtey Metallurgie Perfectionnements apportes aux verins
DE3245501A1 (de) * 1982-12-09 1984-06-14 Battelle-Institut E.V., 6000 Frankfurt Wegaufnehmer
JPS6013405U (ja) * 1983-07-05 1985-01-29 株式会社　東京衡機製造所 アクチユエ−タ
DE3403961A1 (de) * 1984-02-04 1985-08-14 Josef-Gerhard 4030 Ratingen Tünkers Pneumatisch oder hydraulisch betaetigbare kniehebelspannvorrichtung zum spannen von karosserieteilen
DE4019057C1 (es) * 1990-06-15 1991-10-02 Robert Bosch Gmbh, 7000 Stuttgart, De
DE9016781U1 (de) * 1990-12-12 1992-04-09 De-Sta-Co Metallerzeugnisse Gmbh, 6000 Frankfurt Spannvorrichtung
DE9105755U1 (de) * 1991-05-08 1991-06-27 De-Sta-Co Metallerzeugnisse Gmbh, 6000 Frankfurt Spannvorrichtung
WO1993014371A1 (en) * 1992-01-13 1993-07-22 Caterpillar Inc. Cylinder piston position detection apparatus
DE4201464C2 (de) * 1992-01-21 1995-08-24 Festo Kg Vorrichtung zur Dämpfung eines in einem Zylinder verschiebbaren Kolbens in wenigstens einem seiner Endlagenbereiche
DE4236670A1 (de) * 1992-10-30 1994-05-05 Sta Co Mettallerzeugnisse Gmbh Klemmspannvorrichtung
DE9311132U1 (de) * 1993-07-26 1993-09-09 Tünkers Maschinenbau GmbH, 40880 Ratingen Kniehebelspannvorrichtung für den Karosseriebau
CH689460A5 (de) * 1995-01-26 1999-04-30 Rotovolumetric Ag Einrichtung mit einem Zylinder, einem in diesem verschiebbaren Kolben und einem im Zylinder angeordneten, induktiven Messwandler.
DE19511436A1 (de) * 1995-03-29 1996-10-02 Oelsch Fernsteuergeraete Steuersignalgeber zur Erzeugung mehrerer Steuersignale mittels eines einzigen Steuerhebels
DE29513586U1 (de) * 1995-08-24 1995-12-07 Tünkers Maschinenbau GmbH, 40880 Ratingen Kniehebelspannvorrichtung für den Karosseriebau
DE19616441C1 (de) * 1996-04-25 1997-06-26 Tuenkers Maschinenbau Gmbh Kniehebelspannvorrichtung für den Karosseriebau
US5875417A (en) * 1996-11-18 1999-02-23 Isi Norgren Inc. Clamp arm position sensing apparatus

Also Published As

Publication number Publication date
EP0938952A3 (de) 2001-02-07
DE19808631A1 (de) 1999-09-02
EP0938952A2 (de) 1999-09-01
DE59905521D1 (de) 2003-06-18
ES2193611T3 (es) 2003-11-01

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