EP4400260A1 - Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner - Google Patents

Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner Download PDF

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Publication number
EP4400260A1
EP4400260A1 EP23151706.1A EP23151706A EP4400260A1 EP 4400260 A1 EP4400260 A1 EP 4400260A1 EP 23151706 A EP23151706 A EP 23151706A EP 4400260 A1 EP4400260 A1 EP 4400260A1
Authority
EP
European Patent Office
Prior art keywords
clamping
gripping
electric motor
gripping device
motor
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.)
Pending
Application number
EP23151706.1A
Other languages
German (de)
English (en)
Inventor
Eckhard Maurer
Jürgen Marquart
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.)
SMW Autoblok Spannsysteme GmbH
Original Assignee
SMW Autoblok Spannsysteme 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 SMW Autoblok Spannsysteme GmbH filed Critical SMW Autoblok Spannsysteme GmbH
Priority to EP23151706.1A priority Critical patent/EP4400260A1/fr
Priority to CN202410058475.XA priority patent/CN118342423A/zh
Priority to JP2024003945A priority patent/JP2024100750A/ja
Priority to US18/413,261 priority patent/US20240278386A1/en
Publication of EP4400260A1 publication Critical patent/EP4400260A1/fr
Pending 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
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/18—Arrangements for positively actuating jaws motor driven, e.g. with fluid drive, with or without provision for manual actuation
    • 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
    • B25B1/00—Vices
    • B25B1/02—Vices with sliding jaws
    • 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
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/08—Arrangements for positively actuating jaws using cams
    • 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
    • B25B1/00—Vices
    • B25B1/06—Arrangements for positively actuating jaws
    • B25B1/10—Arrangements for positively actuating jaws using screws
    • B25B1/106—Arrangements for positively actuating jaws using screws with mechanical or hydraulic power amplifiers

Definitions

  • the present invention relates to a clamping or gripping device with at least one clamping or gripping means operated by means of an electric power clamp, wherein the power clamp has an electric motor with a drive shaft, force transmission means for connecting the drive shaft to the at least one clamping or gripping means, and a force storage device for pre-tensioning the at least one clamping or gripping means, as well as a corresponding method for gripping or clamping a workpiece using an electric power clamp.
  • a chuck with electric motors is already available from EP 3 059 036 A1 previously known. It is described there that such a chuck can comprise a plurality of clamping jaws, which hold a tool on multiple sides and support it during processing, for example by a processing robot. It is also provided that each of the clamping jaws can be assigned a force storage device, which applies force to the clamping jaw in the event of the clamping jaw becoming loose as a result of vibrations during processing and provides additional clamping force.
  • the hydraulic accumulator can provide the necessary force for re-tightening in hydraulic clamping devices, when using an electric motor it is necessary to switch it off after clamping. Further processing of the workpiece can only begin when a so-called safe torque-off signal is present.
  • the motor power is therefore no longer available for re-tightening, unlike the hydraulic pressure that is still present in a hydraulic clamping device, and the purely mechanical elasticity of the workpiece is also not sufficient for this.
  • the present invention is therefore based on the object of creating an electrically operated clamping or gripping device which can apply force to re-clamp the workpiece between the clamping or gripping means even after a safe torque-off signal has been applied.
  • a clamping or gripping device is provided with at least one clamping or gripping means operated by means of an electric power clamp, wherein the power clamp comprises an electric motor with a drive shaft, power transmission means for connecting the drive shaft with the at least one clamping or gripping means, and a power storage device for pre-tensioning the at least a clamping or gripping means.
  • the drive shaft between the electric motor and the force transmission means has a bearing sleeve, relative to which the electric motor is mounted so as to be displaceable in the axial direction by means of a threaded spindle guided in a threaded sleeve against a restoring force of the energy storage device, wherein the restoring force of the energy storage device is greater than a propulsion force required for the propulsion of the clamping or gripping means.
  • clamping means can be operated in this way, while in other applications, such as gripper arms, robots and the like, any configuration can in principle be operated in which at least a first clamping or gripping means is clamped against a second clamping or gripping means, or a single clamping or gripping means is clamped against a fixed bearing. It is also possible to arrange such clamping means in a chuck, whereby in the case of a paired arrangement of opposing clamping means, these can also be used in larger numbers, i.e. two, four or six clamping means.
  • clamping means is only operated on one side, i.e. no opposing clamping means is used but rather a chuck with an odd number of clamping means is implemented, a power clamp will only operate one clamping means, whereas a power clamp can operate two clamping means with opposing clamping means such as in a vice.
  • the bearing sleeve arranged in the drive shaft rotates with the electric motor during the feed of the clamping or gripping device, as the energy storage device initially ensures a frictional connection between the threaded spindle and the threaded sleeve. Only when the clamping or gripping device comes into contact with a workpiece does the additional feed force required become greater than the static friction force between the threaded spindle and the threaded sleeve and the threaded spindle unscrews itself from the threaded sleeve. The force applied by the motor, which must continue to rotate after reaching the stop, is introduced into the energy storage device and tensions it.
  • any type of threaded spindle can be used, including ball screws.
  • the threaded spindle can be designed as a steep thread spindle which is guided in a steep thread sleeve.
  • a steep thread spindle has a particularly large pitch.
  • the pitch refers to the path that the spindle travels in the longitudinal direction while it rotates once around its axis, i.e. the distance between two thread peaks.
  • the thread of the steep thread spindle can have a pitch of 10 mm to 80 mm, preferably 30 mm to 40 mm, most preferably 35 mm.
  • Such a strong thread pitch means that even a slight rotation of the spindle leads to a strong load on the energy storage device, so that the energy storage device can exert a large force on the force transmission means.
  • the threaded spindle is operatively connected to the electric motor and the threaded sleeve is held in the bearing sleeve in a rotationally fixed manner.
  • the threaded spindle extends the drive axis and the bearing sleeve can be moved longitudinally relative to the threaded spindle.
  • the threaded sleeve can be held in place by frictional engagement. in the bearing sleeve in a clamp fit, but it is advantageous to additionally fix the threaded sleeve to the bearing sleeve in a rotationally fixed manner, e.g. by means of grub screws, in order to be able to apply a greater force.
  • the power transmission means can advantageously comprise a gear, which allows the design to be adapted to an advantageous speed of the motor.
  • At least one spring assembly made up of at least one, preferably several, compression springs, preferably spiral springs or gas pressure springs, can be provided as the energy storage device. These can preferably be arranged around the electric motor and mounted on spring pins to prevent lateral deflection under pressure load.
  • the electric motor can have a motor housing which is connected to a motor plate in a rotationally fixed manner, with the energy storage device being supported on the one hand on the motor plate and on the other hand on the motor fixed bearing. This creates a cage for the springs of the energy storage device, so that when the motor housing is moved away from the bearing sleeve and the motor plate is moved onto a motor fixed bearing, the springs have no opportunity to deflect.
  • the spring pins can be attached to the motor plate, but then only hit the motor fixed bearing on one side, so that they can deflect the coupled force through the motor fixed bearing.
  • the at least one clamping or gripping device can be driven by means of a self-locking trapezoidal thread spindle or a ball screw.
  • a self-locking spindle requires a higher static friction force to be overcome in order to be set in motion. Loosening of clamping or gripping devices driven by such a spindle is therefore made even more difficult.
  • a method for gripping or clamping a workpiece using an electric power clamp which actuates at least one clamping device by means of an electric motor with a drive shaft, power transmission means for connecting the drive shaft to the at least one clamping or gripping device, and a force accumulator for pre-tensioning the at least one clamping or gripping device.
  • the drive shaft has a bearing sleeve between the electric motor and the power transmission means, and the electric motor continues to rotate after reaching a stop on the workpiece, wherein the motor is displaced in the axial direction by means of a threaded spindle provided within the bearing sleeve and guided in a threaded sleeve against a restoring force of the force accumulator, which is greater than a propulsion force required to drive the clamping or gripping device.
  • Figure 1 shows a clamping device 1 in the form of a vice with a first clamping device 2 and a second clamping device 3, which are accommodated in a housing 20.
  • the two clamping devices 2 and 3 are guided longitudinally displaceably on the housing 20 and are guided by means of a trapezoidal thread spindle 19, which in the sectional view according to Figure 2 shown, are operated in mirror image to each other.
  • Figure 2 shows a side section through the clamping device 1, in whose housing 20 the first clamping device 2 is connected to the second clamping device 3 via the trapezoidal thread spindle 19.
  • the trapezoidal thread spindle 19 has threads that run in a mirror image from the center, so that the clamping devices 2 and 3 either move towards or away from each other depending on the direction of rotation of the trapezoidal thread spindle 19.
  • the trapezoidal thread spindle 19 also has a threaded section in the area of its center that meshes with force transmission means 17 of the power clamp arranged below the clamping devices 2 and 3. The force of an electric motor 5 of the power clamp 4 is ultimately transmitted to the trapezoidal thread spindle 19 and thus to the clamping devices 2 and 3 via a thread 18.
  • FIG 3 shows only the power clamp 4, which is shown from its underside.
  • the electric motor 5 initially runs through a fixed motor bearing 7, whereby it is slidably mounted in this fixed motor bearing 7.
  • a rotationally fixed and force-locking connection is realized in the electric motor 5 on the motor plate 6, which is opposite the fixed motor bearing 7.
  • a spring assembly 9 is arranged between the motor plate 6 and the motor bearing 7 as a force storage device, which in this case is made up of six spiral compression springs which are fixed with spring pins.
  • the spring pins are attached to the motor plate 6 and the electric motor 5 itself is slidably mounted on the motor bearing 7, with the spring pins forming a stop which limits the greatest possible distance between the motor plate 6 and the motor bearing 7.
  • gear wheels are arranged as a force transmission means 17, which are operatively connected to the drive shaft 16 of the electric motor 5 (not shown here) via a gear 18 flanked by a bearing cheek 15 and a motor counter bearing 8.
  • the bearing sleeve 11 represents a central functional element, which in Figure 4 is explained in more detail.
  • the electric motor 5 is connected beyond the motor plate 6 to a threaded spindle 13, which is accommodated in a corresponding threaded sleeve 12.
  • the threaded spindle 13 is specifically a steep thread spindle with a pitch of 35 mm, the threaded sleeve 12 has a corresponding counter thread, so that the threaded spindle 13 can be unscrewed from the threaded sleeve 12 by rotating relative to the latter.
  • Such a relative movement between the threaded spindle 13 and the threaded sleeve 12 is initially prevented by frictional engagement. This is built up by the preload of the spring assembly 9, which presses the electric motor 5 in the direction of its drive shaft 16. As long as the rotation of the electric motor 5 can cause a movement in the gear 18, a rotation of the power transmission means 17 and ultimately a movement of the clamping means 2 and 3 and the force for this is less than the frictional engagement between the threaded spindle 13 and the threaded sleeve 12 caused by the spring assembly 9, a relative movement between the threaded spindle 13 and the threaded sleeve 12 will not occur. Only when the clamping means 2 and 3 reach a stop, for example when they grip the workpiece, the force required for the feed becomes greater than the frictional connection and the threaded spindle 13 begins to rotate in the threaded sleeve 12.
  • the thread of the threaded spindle 13 is designed as a steep thread, so that even a small rotation leads to a strong spring force, or vice versa, so that the spring can act on the threaded spindle 13 with a large force.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Gripping On Spindles (AREA)
  • Jigs For Machine Tools (AREA)
  • Gripping Jigs, Holding Jigs, And Positioning Jigs (AREA)
EP23151706.1A 2023-01-16 2023-01-16 Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner Pending EP4400260A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP23151706.1A EP4400260A1 (fr) 2023-01-16 2023-01-16 Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner
CN202410058475.XA CN118342423A (zh) 2023-01-16 2024-01-15 用于抓取或夹紧工件的夹紧或抓取装置和方法
JP2024003945A JP2024100750A (ja) 2023-01-16 2024-01-15 緊締または把持装置およびワークピースを把持または緊締する方法
US18/413,261 US20240278386A1 (en) 2023-01-16 2024-01-16 Spann-oder greifvorrichtung und verfahren zum greifen oder verspannen eines werkstücks

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
EP23151706.1A EP4400260A1 (fr) 2023-01-16 2023-01-16 Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner

Publications (1)

Publication Number Publication Date
EP4400260A1 true EP4400260A1 (fr) 2024-07-17

Family

ID=84981393

Family Applications (1)

Application Number Title Priority Date Filing Date
EP23151706.1A Pending EP4400260A1 (fr) 2023-01-16 2023-01-16 Dispositif de serrage ou de préhension et procédé de préhension ou de serrage d'une pièce à usiner

Country Status (4)

Country Link
US (1) US20240278386A1 (fr)
EP (1) EP4400260A1 (fr)
JP (1) JP2024100750A (fr)
CN (1) CN118342423A (fr)

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120119451A1 (en) * 2009-10-02 2012-05-17 Eugen Hangleiter Method of chucking a tool or a workpiece and apparatus for carrying out the method
EP2548681A1 (fr) * 2011-07-19 2013-01-23 Karl Hiestand Dispositif de tension pour machines-outils
US20160158848A1 (en) * 2014-12-04 2016-06-09 Smw-Autoblok Spannsysteme Gmbh Chuck
EP3175942A1 (fr) * 2015-12-01 2017-06-07 MTH GbR Markus und Thomas Hiestand Dispositif de serrage

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120119451A1 (en) * 2009-10-02 2012-05-17 Eugen Hangleiter Method of chucking a tool or a workpiece and apparatus for carrying out the method
EP2548681A1 (fr) * 2011-07-19 2013-01-23 Karl Hiestand Dispositif de tension pour machines-outils
US20160158848A1 (en) * 2014-12-04 2016-06-09 Smw-Autoblok Spannsysteme Gmbh Chuck
EP3059036A1 (fr) 2014-12-04 2016-08-24 SMW-AUTOBLOK Spannsysteme GmbH Mandrin avec moteurs électriques
EP3175942A1 (fr) * 2015-12-01 2017-06-07 MTH GbR Markus und Thomas Hiestand Dispositif de serrage

Also Published As

Publication number Publication date
CN118342423A (zh) 2024-07-16
US20240278386A1 (en) 2024-08-22
JP2024100750A (ja) 2024-07-26

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