EP1878539B1 - Clamping and/or centering device for work pieces, with manually settable operative positions - Google Patents

Clamping and/or centering device for work pieces, with manually settable operative positions Download PDF

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Publication number
EP1878539B1
EP1878539B1 EP07012169A EP07012169A EP1878539B1 EP 1878539 B1 EP1878539 B1 EP 1878539B1 EP 07012169 A EP07012169 A EP 07012169A EP 07012169 A EP07012169 A EP 07012169A EP 1878539 B1 EP1878539 B1 EP 1878539B1
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EP
European Patent Office
Prior art keywords
box
shaped body
clamping
optical sensors
optical
Prior art date
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Application number
EP07012169A
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German (de)
English (en)
French (fr)
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EP1878539A1 (en
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
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Univer SpA
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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 clamping and/or centering devices for sheet metal or work pieces, used in the automotive manufacturing field for clamping and/or centering different parts or pieces along an assembly line for assembling the bodywork of a motor vehicle, and for other similar uses.
  • Such a device is known from EP 152 408 , which discloses the preamble of claim 1.
  • the invention concerns a clamping and/or centering device of the aforementioned kind, provided with a set of optical sensors for scanning and sensing the various operative positions of a movable member along a working stroke, which can be selectively activated in a programmable way by an operator, without having to remove or adjust the set of sensors of the clamping device.
  • a clamping device for work pieces of the aforementioned kind generally comprises a box-shaped body for supporting an angularly movable clamping member, which is operatively connected to a linearly movable member of an actuator by a toggle-lever mechanism; the actuator is controlled to cause the clamping member to angularly rotate between a work position, in which it clamps the work piece or work pieces, and a rest or disengaged position which is selectively set from among a plurality of operative positions.
  • a centering device likewise comprises a box-shaped body for supporting a linearly movable member, operatively connected to an actuator to be moved between a backward or rest position, in which it disengages the work piece, and a forward or working position, in which the movable member engages in a hole of a work piece which must be maintained in a pre-established position.
  • Clamping devices of this kind are known for example from DE-U-29719644 , EP-A-1426143 and EP-A-1524081 , while centering devices are known for example from DE-U-20303751 and EP-A-1123779 .
  • DE-U-29718644 describes a conventional clamping device, in which use is made of a set of sensors, comprising a support consisting of a T-shaped section bar having a longitudinal rail onto which the sensors are adjustably secured, in relation to the operative positions to be sensed.
  • the support for the sensors is in the form of cartridge which is freely insertable and removable through a narrow side slit in the box-shaped body, without having to disassemble the device; the slit is closed by the same section bar support and by a flange provided with a connector for connection to an external electric circuit.
  • the cartridge support must be extracted and, after its extraction, an operator must carry out a repositioning of the sensors.
  • the time required for such an operation is considered to be comparatively long, in that it is necessary to stop the processing line; moreover, a solution of this kind does not offer sufficient protection against tampering or operations by unqualified operators.
  • EP-A-1 426 143 ed EP-A-1 524 081 in turn provide two different solutions in which the whole set of sensors with the respective support, or the part for connection to an external electric circuit, can be inserted and removed through a side opening in the box-shaped body of the device.
  • the airtight seal against the penetration of water and/or foreign matter in the device is by no means guaranteed; moreover, the sensing of the clamping member in intermediate operative positions of its working stroke, is either not possible at all, or is only possible in certain pre-established positions by a complex solution which requires disassembling and opening of the entire device, without any possibility of selection and/or integration of the intermediate positions.
  • the main object of this invention is to provide a clamping and/or centering device for work pieces, as mentioned previously, which allows to overcome the drawbacks of the hitherto known devices.
  • an object of this invention is to provide a clamping and/or centering device for work pieces, in which use is made of a particular set of sensors for selectively sensing the operative positions of a clamping and/or centering member, and in which the sensors are totally incorporated and protected in the box-shaped body of the device, without any possibility of removing them, except by partially disassembling the device itself.
  • Another object of the invention is to provide a clamping and/or centering device, as mentioned, which enables a selective actuation and setting of the sensors in the desired operative positions, by simply acting from the outside without having to remove or replace the entire set of sensors, or operate directly on the sensors themselves.
  • a still further object of the invention is to provide a clamping and/or centering device, as mentioned, which allows to carry out a substantially continuous scanning of the operative positions along an entire working stroke, with different degrees of resolution; in this way it is possible to identify and/or distinguish any errors in the position of the clamping member, caused for example by differences in the work piece thicknesses which could occur due to non-conformity with the predetermined thickness standards.
  • the device also comprises a manually settable electronic control and sensing unit for selectively activating the sensing means in at least one of the operative positions along the working stroke.
  • a description is given hereunder of a clamping device comprising position sensing means and a control circuit according to the invention; however the position sensing means for sensing the operative positions of the clamping member, and the control circuit may likewise be suitable for a similar application also on a conventional centering device.
  • the various figures show an example of a clamping device for sheet metal and/or work pieces, which is particularly suitable for the automotive manufacturing field.
  • the device as a whole indicated by reference number 10, comprises a clamping arm 11 secured to the ends of a shaft 12 rotatably supported by a box-shaped body 13 composed of two half-shells 13A, 13B, having peripheral walls extending according to a longitudinal axis.
  • the clamping arm 11 is operatively connected to a linearly movable drive member 14 by a toggle-lever connecting mechanism; in this case the linearly movable drive member consists of the rod 14 of the piston 15 of a double-acting pneumatic cylinder 16 which is connected at a rearward end side of the box-shaped body 13.
  • the toggle-lever mechanism comprises an intermediate connecting link 17, articulated in 18 to a crank lever 19 integral with the shaft 12 of the arm 11, as well as articulated in 20 to a fork-shaped element 21 secured to the forward end of the rod 14 of the pneumatic actuator 16.
  • the clamping arm 11 must be moved and made to rotate along a working stroke, between a first angular clamping position, represented by continuous lines in figure 2 , in which it clamps a work piece (not shown) against a shoulder surface, and an angular unclamped position, shown by broken lines, which can be selectively chosen and pre-established within a wide angular range, for example from 0 to 135°, in relation to particular requirements and specific needs.
  • position sensing means preferably comprising a set of optical sensors, indicated as a whole by reference number 22; the set 22 of optical sensors is incorporated in the box-shaped body 13 in such a way that the optical sensors are totally protected, without any possibility of being removed, except by partially or totally removing the actuator 16, as explained further on.
  • the set 22 of optical sensors comprises an elongated box-shaped support element 23, which extends from a fastening base portion 24 for fixing the same support element to the box-shaped body 13 of the device.
  • an electronic card 25 constituting part of an electric control circuit for controlling the device; in a position beneath the electronic card 25, that is to say, on the open side of the box-shaped element 23 facing towards the rod 14 of the actuator, a plurality of optical sensors is secured, which are aligned along a scanning area, parallely on one side of the rod 14 of the actuator, as shown in figure 2 .
  • Each optical sensor comprises an optical transmitter T and an optical receiver R facing each other in spaced apart positions. More precisely, starting from the base 24, the set of optical sensors comprises a transmitter TS and a receiver RS for selecting and programming the operative positions of the arm 11, and also comprises a plurality of transmitters T1, Tn and a plurality of receivers R1, Rn, disposed close to one another, which extend along the two sides of the box-shaped element 23. On the box-shaped element 23, at the end opposite the base 24, is provided an optical transmitter TL and an optical receiver RL constituting part of the set of optical sensors.
  • the optical sensor TS, RS is used for setting the operative position or positions selected for the clamping arm 11; the plurality of optical sensors T1, R1/Tn, Rn serves the purpose of selecting any operative position of the arm 11 in a condition of disengagement of the work piece, which may be defined and selected each time by an operator, while the optical sensor TL, RL defines the final working or clamping position of the arm 11.
  • the setting sensor TS, RS is activated by a qualified operator, by manually pressing a button 26 subject to the action of a return spring 27; the button 26 has a shank 26A which in the forward position intercepts the ray of light emitted by the optical transmitter TS towards the optical receiver RS, thereby transmitting an operative setting signal to the electric control circuit.
  • optical sensors T1, R1/Tn, Rn and TL, RL are activated sequentially by a protrusion or a shutter 28, figures 2 and 3 , directly or indirectly connected to the rod 14 of the actuator, or to any other linearly movable drive member.
  • Figures from 4 to 6 show a further feature of the clamping device 10 and the assembling procedures for the set 22 of optical sensors in the box-shaped body 13.
  • the box-shaped body 13, on the peripheral side opposite to that on which the clamping arm 11 is pivoted, in correspondence with the actuator 16, is provided with a seat 30 for housing the fastening base 24 of the set 22 of optical sensors.
  • the seat 30 opens out both on the same peripheral side of the box-shaped body 13, and towards the actuator 16 on the rearward end side of the box-shaped body 13; in this way, the set 22 of optical sensors can be simply inserted and removed from the same rearward end side, by axially sliding the box-shaped support element 23 containing and protecting the optical sensors, into and along an internal housing groove 31, see figures 2 and 3 , defined inside the box-shaped body 13 by opposite longitudinal edges of the two half-shells 13A, 13B, in correspondence with a peripheral wall 13', figure 3 ; the groove 31 extends within the box-shaped body 13 from the seat 30, parallel to the rod 14.
  • the box-shaped element 23 containing the optical sensors, at its free end, opposite the base 24, is provided with a slit 32 for the passage of the shutter 28, and two side pins 33 which slidingly engage, in respective guides, not shown, to hold the set 22 of optical sensors in position during the sliding movement along the groove 31.
  • the base 24 of the set of optical sensors after the box-shaped element 23 has been inserted as illustrated in figure 5 , is tightly locked in its seat 30 by means of a suitable screw.
  • the actuator 16 which previously had been partially disassembled and rotated by 90° as shown in figure 4 , with respect to the condition of figure 1 , is once again rotated by 90° and realigned with the box-shaped body 13, securing it to the latter by means of the tie rods 34, as shown in figure 6 .
  • the sensors T, R of the set of optical sensors 22 are totally incorporated and protected in the box-shaped body 13 of the device, without any possibility of being removed, except by removing and rotating the actuator 16 again to the position of figure 5 ; however, this operation, except whenever it becomes necessary due to a breakdown or faulty functioning of the set of optical sensors, once the set 22 of optical sensors has been assembled, is no longer necessary in that the set of sensors and the relevant control circuit are preset to detect any angular position of the arm 11, and for setting the working positions at any time during the useful life of the device, as explained further on.
  • the set 22 of optical sensors and its control circuit shown in figure 14 are connected to an external electric circuit of a central unit which normally controls a plurality of clamping devices belonging to the same processing line; consequently the set 22 of optical sensors comprises an electrical connector 35 of the plug-in type, designed to be connected to the external circuit by means of a suitable wire.
  • a further object of the invention is consequently to provide a clamping and/or centering device, as mentioned initially, provided with un set of optical sensors designed to allow a different orientation of the electric connector, either at the time of assembly, or subsequently, without having to replace or remove the set of optical sensors itself.
  • the electric connector 35 is secured in an angularly orientable way to the fastening base 24 of the box-shaped element 23 housing the electronic control circuit 23 and the set of sensors.
  • the electric connector 35 has a shaped base 36 connected to the base 24 of the set of optical sensors by means of a hollow pin 37, figure 8 , whose rotational axis is orthogonal to the longitudinal axis of the box-shaped element 23, corresponding to the alignment direction of the optical sensors.
  • the electric connector 35 can be angularly orientated between the position of figures 8 and 9 , in which the connector is disposed in an orthogonal direction with respect to the longitudinal axis of the box-shaped body 23, and the position of figure 11 , in which the connector is parallel to the aforesaid longitudinal axis.
  • the base 36 of the connector 35 can be locked in both the angular positions of figure 9 and of figure 11 , by a locking element 38 suitably shaped to fit against shoulder surfaces and/or elements provided on the two bases 24 and 36.
  • the locking element 38 has a flat bottom surface 39 which fits against flat shoulder surfaces 40 and 41 on the base 24, respectively on the base 36, in the condition of figure 9 in which the connector 35 is orthogonally directed to the direction of the axis of the box-shaped element 23.
  • the locking element 38, on the rear side of the flat bottom surface 39 is also provided with a cross slot 42 in which a cross tooth 43 provided on the base 36 of the electric connector 35 engages, in the condition of figure 11 in which the electric connector 35 is parallely oriented to the longitudinal axis of the box-shaped support element 23;
  • the base 36 of the electric connector is also provided on a rear side with an arched surface 44 having a centre of curvature on the axis of the pin 37 of figure 8 ; the surface 44 corresponds with a similar arched surface 45 on the rear side of the fastening base 24.
  • the rotation of the base 36 in order to position the electric connector 35, as shown in figure 10 can be achieved by first loosening the screw 46, lifting and slightly rotating the locking element 38, and then by rotating the base 36 with the electric connector 35 oriented in one of the two positions shown in figure 9 and figure 11 ; the locking element 38 can then be repositioned and the screw 46 tightened again.
  • reference number 50 has been used to schematically indicate the plurality of transmitters T of the set of optical sensors 22, while reference number 51 has been used to indicate the plurality of corresponding receivers R.
  • Figure 14 represents both a two wires self-powered version of the optical sensors T, R, and a three wires version having an auxiliary power supply, as explained further on.
  • the optical sensors may be, indifferently, either of the single-signal type, in which each transmitter T sends an optical signal exclusively towards the only receiver R which is in front of it, or of the double-signal type in which each transmitter T sends signals simultaneously to several receivers R which are in front of it, as shown schematically.
  • each optical sensor composed of the transmitter T and the receiver R, makes use of a sensing system with an extremely low consumption, of approximately 3 mW, under standby condition, compared to the version with an auxiliary power supply; conversely, the use of double-signal optical sensors permits selective discrimination at different levels, of the sensed positions.
  • the control circuit of the sensors T, R which are schematically represented by the blocks 50 and 51 in figure 14 , comprises an AC/DC rectifier unit, indicated by the block 52, having a first power supply inlet I1, whose outlet is connected to a current generator or current limiting device 53 which limits the maximum current required to charge the capacitor of a power accumulator 54.
  • the power accumulator 54 in turn is connected to the set 50 of optical transmitters, by means of an electronic switch 55 controlled by a CPU 56, which enables the power supply of the optical transmitters 50 by pulse mode (PWM) for the purpose of reducing the consumption of power necessary for sensing the operative positions of the clamping and/or centering device according to the invention.
  • PWM pulse mode
  • the signal picked up by the receivers R of the set of optical sensors is transmitted to a microprocessor control unit 56, which is programmed to manage the control of the entire sensing cycle; in particular, the control unit 56 selectively enables a second electronic switch 57 and a third electronic switch 58; the electronic switch 57 emits at the outlet U1 a signal relating to the working position, while the electronic switch 58 emits at the outlet U2 a signal relating to one of the several operative or rest positions previously selected by manually operating a switch device 59 connected to an inlet of the control unit 56, which in fact represents the optical sensor TS, RS of the set 22 of optical sensors, operated by the right-hand button 26.
  • the broken line has been used to indicate a second power supply I2, for the rectifier unit, and a connection between the latter and the electronic switch 55; in this case, the current generator 53 and the power accumulator 54 are eliminated.
  • the sensing system along the working stroke of the device can either be of the direct interpolation type, for low resolution systems, or of the crossed interpolation type, depending upon the type of optical sensor used, as explained previously.
  • the setting of the device and the selection of the rest and/or desired working position or positions takes place as follows: once the required position for the clamping arm 11, or corresponding member, for which the automatic sensing is required, has been identified and set, it is sufficient to press the button 26 of figure 12 , corresponding to the switch 59 in figure 14 , to univocally memorise the respective condition in the electronic control unit 56.
  • the proposed solution owing to the particular configuration and disposition of the set of optical sensors, allows to achieve the previously mentioned advantages and objects; furthermore, thanks to the high resolution resulting from the digital transduction of the analogue signal relating to the position sensed of the shutter 28, during its movement along the working stroke of the device, when it is positioned on or crosses the scanning area, it allows to identify and/or discriminate position errors, caused for example by thickness differences of the metal sheet or the work pieces not complied with the preset standards programmed each time for the clamping and/or centering device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Jigs For Machine Tools (AREA)
  • Turning (AREA)
  • Machine Tool Sensing Apparatuses (AREA)
  • Transplanting Machines (AREA)
  • Soil Working Implements (AREA)
EP07012169A 2006-06-26 2007-06-21 Clamping and/or centering device for work pieces, with manually settable operative positions Active EP1878539B1 (en)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
IT001226A ITMI20061226A1 (it) 2006-06-26 2006-06-26 Dispositivo per il bloccaggio e-o la centragtuira di pezzi da lavorare con posizioni operative settabili manualmente

Publications (2)

Publication Number Publication Date
EP1878539A1 EP1878539A1 (en) 2008-01-16
EP1878539B1 true EP1878539B1 (en) 2009-04-15

Family

ID=38510393

Family Applications (1)

Application Number Title Priority Date Filing Date
EP07012169A Active EP1878539B1 (en) 2006-06-26 2007-06-21 Clamping and/or centering device for work pieces, with manually settable operative positions

Country Status (4)

Country Link
EP (1) EP1878539B1 (it)
AT (1) ATE428539T1 (it)
DE (1) DE602007000897D1 (it)
IT (1) ITMI20061226A1 (it)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3130809A1 (en) 2015-08-13 2017-02-15 Pneumax S.p.A. Optimized efficiency actuating unit of the articulated lever type

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014107267B4 (de) * 2014-05-22 2019-06-13 Pepperl + Fuchs Gmbh Kniehebelspannvorrichtung mit Abfrageeinheit sowie Abfrageeinheit für eine vereinfachte Montage
EP3575035B1 (de) 2018-05-29 2022-05-11 UNIVER S.p.A. Pneumatisch betreibbares arbeitsgerät

Family Cites Families (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE29718644U1 (de) * 1997-10-21 1997-12-11 Tünkers Maschinenbau GmbH, 40880 Ratingen Abfragekassette
DE19808631A1 (de) * 1998-02-28 1999-09-02 Sta Co Mettallerzeugnisse Gmbh Spannvorrichtung
FR2804929B1 (fr) * 2000-02-11 2002-05-31 Genus Technologies Dispositif de centrage et de serrage, notamment de pieces pour carrosserie automobile
DE20004977U1 (de) * 2000-03-17 2000-07-13 Festo Ag & Co Kopfstück einer Spannvorrichtung
DE10256385B3 (de) * 2002-12-02 2004-02-26 De-Sta-Co Metallerzeugnisse Gmbh Spannvorrichtung, insbesondere Kniehebelspannvorrichtung
DE20303751U1 (de) * 2003-03-10 2003-05-22 Tuenkers Maschinenbau Gmbh Schubstangenspanner, insbesondere zur Verwendung im Kfz-Bau der Karosserieindustrie
ITTO20030814A1 (it) * 2003-10-16 2005-04-17 Vep Automation Srl Gruppo di controllo delle posizioni di fine corsa angolare del braccio di serraggio di un dispositivo di chiusura a leva articolata.
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

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3130809A1 (en) 2015-08-13 2017-02-15 Pneumax S.p.A. Optimized efficiency actuating unit of the articulated lever type

Also Published As

Publication number Publication date
ITMI20061226A1 (it) 2007-12-27
DE602007000897D1 (de) 2009-05-28
ATE428539T1 (de) 2009-05-15
EP1878539A1 (en) 2008-01-16

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