JP3644882B2 - Clamping device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a clamping device capable of clamping a workpiece via an arm that rotates by a predetermined angle under the driving action of a driving means.
[0002]
[Prior art]
Conventionally, for example, when a component such as an automobile is welded, a clamp cylinder is used to clamp the component, and this type of clamp cylinder is disclosed in, for example, US Pat. No. 4,458,889. Has been.
[0003]
In the clamp cylinder disclosed in this U.S. Pat. No. 4,458,889, as shown in FIGS. 14 and 15, the piston rod 2 is moved under the driving action of the cylinder 1c between a set of divided bodies 1a, 1b. A coupling 3 is connected to one end of the piston rod 2. A pair of links 5a and 5b and a pair of rollers 6a and 6b are respectively attached to both sides of the coupling 3 via a first shaft 4, and further, between the pair of links 5a and 5b. The arm 8 is connected via a second shaft 7 so as to be rotatable by a predetermined angle.
[0004]
In this case, the pair of rollers 6a and 6b are slidably provided via a plurality of needles 9a mounted in the holes, and the piston rod 2 is formed in track grooves formed in the bodies 1a and 1b, respectively. Under the guiding action of the rollers 6a and 6b sliding along 9b, the rollers 6a and 6b are provided so as to be displaced integrally.
[0005]
[Problems to be solved by the invention]
However, in the clamp cylinder disclosed in the above-mentioned U.S. Pat. No. 4,458,889, for example, depending on the rotation angle of the arm when the workpiece is clamped by the size or thickness of the workpiece held by the arm. There is a problem that the clamping force decreases.
[0006]
In other words, for example, the clamping force characteristic for holding the workpiece fluctuates (decreases) due to a change in the rotation angle of the arm when the workpiece is clamped due to, for example, the mounting posture of the clamp cylinder.
[0007]
The present invention has been made in view of the above-described problems, and provides a clamping device capable of holding a clamping force substantially constant even when the rotation angle of an arm when a workpiece is clamped changes. With the goal.
[0008]
[Means for Solving the Problems]
To achieve the above object, the present invention provides a body,
Driving means for displacing a rod member provided in the body along the axial direction of the body;
A toggle link mechanism including a link member connected to the rod member and a support lever linked to the link member, and converting a linear motion of the rod member into a rotational motion;
An arm connected to the toggle link mechanism and rotated by a predetermined angle under the driving action of the driving means;
A long hole formed in the link member and engaged with a knuckle pin provided on one end of the rod member;
A locking means formed with a locking surface for restricting the rotation of the support lever;
It is characterized by providing.
[0009]
In this case, the locking means is composed of a lever stopper, and the pivoting operation of the arm at the initial position in the unclamped state is suitably restricted by the side surface of the support lever contacting the locking surface of the lever stopper.
[0010]
The driving means may be constituted by a cylinder portion including a piston that is displaced under the action of the pressure fluid supplied to the cylinder chamber via a set of pressure fluid inlet / outlet ports.
[0011]
Furthermore, it is preferable to provide a rotation angle regulating means comprising a locking portion formed on the support lever inside the body. When the contact surface of the locking portion contacts the lever stopper, the rotation angle of the arm at the initial position in the unclamped state is regulated.
[0012]
According to the present invention, the link member is provided so as to be freely displaceable within the range of the long hole, and the support lever and the arm following the link member are also provided with a degree of freedom. Therefore, the clamping force is kept substantially constant even when the arm rotation angle changes when the workpiece is clamped. Further, by providing the locking means, the degree of freedom by the long hole is restricted and the arm is held at a predetermined position in an unclamped state.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Preferred embodiments of the clamping device according to the present invention will be described below and described in detail with reference to the accompanying drawings.
[0014]
1 and 2, reference numeral 10 indicates a clamping device according to an embodiment of the present invention.
[0015]
The clamp device 10 includes a body 12, a cylinder portion (driving means) 14 that is airtightly connected to a lower end portion of the body 12, and a set of openings (not shown) formed in the body 12. An arm 20 connected to a bearing section 18 having a rectangular cross-section projecting to the outside through a locking mechanism 22 provided inside the body 12 and holding the initial position of the arm 20 in an unclamped state. Is provided.
[0016]
The cylinder portion 14 includes an end block 24, and a rectangular tube cylinder 26 having one end portion hermetically connected to the concave portion of the end block 24 and the other end portion hermetically connected to the body 12.
[0017]
Further, as shown in FIG. 2, the cylinder portion 14 is connected to a piston 30 that is accommodated in the cylinder tube 26 and reciprocates along the cylinder chamber 28, and a central portion of the piston 30. And a rod member 32 that is integrally displaced. The piston 30 has a substantially elliptical cross section substantially orthogonal to the axis of the rod member 32, and the cylinder chamber 28 has a substantially elliptical cross section corresponding to the piston 30.
[0018]
A piston packing 36 is mounted on the outer peripheral surface of the piston 30.
[0019]
Mounting holes (not shown) are drilled in the four corners of the end block 24, and the end block 24, cylinder tube 26, and body are inserted through four shafts (not shown) inserted through the mounting holes. Each 12 is assembled airtight. Each of the body 12 and the end block 24 is formed with a pair of pressure fluid inlet / outlet ports 42 a and 42 b for introducing and deriving a pressure fluid (for example, compressed air) to the cylinder chamber 28.
[0020]
The body 12 is configured by integrally assembling a first casing 46 and a second casing (not shown). A chamber 44 is formed in the body 12 by recesses formed in a first casing 46 and a second casing (not shown), respectively, and the free end of the rod member 32 faces the chamber 44.
[0021]
At one end of the rod member 32, a toggle link mechanism 64 that converts a linear motion of the rod member 32 into a rotational motion of the arm 20 is provided via a knuckle joint 62. The knuckle joint 62 includes a knuckle block 56 having a bifurcated portion that is spaced apart by a predetermined interval and branches in parallel, and a knuckle pin 70 that is pivotally attached to a hole formed in the bifurcated portion. On one side surface of the knuckle block 56, an engaging portion 54 having a first inclined surface 50 and a second inclined surface 52 that are engaged with a roller member 48 described later is formed (see FIG. 3).
[0022]
The toggle link mechanism 64 has a substantially circular shape formed in a link plate (link member) 72 connected between the two forks of the knuckle joint 62 via the knuckle pin 70, the first casing 46, and a second casing (not shown). And a support lever 74 pivotally supported by each of the pair of openings. The support lever 74 may be integrally formed with the arm 20.
[0023]
The link plate 72 is interposed between the knuckle joint 62 and the support lever 74 and functions to link the knuckle joint 62 and the support lever 74.
[0024]
That is, the link plate 72 has a substantially elliptical long hole 65 formed on one end side and a hole (not shown) formed on the other end side, and is engaged with the long hole 65. The knuckle pin 70 and the knuckle joint 62 are connected to the free end of the rod member 32, and are connected to the bifurcated portion of the support lever 74 via the link pin 69 that is pivotally attached to the hole. Further, a curved surface 81 that contacts a guide roller 79 described later is formed at one end of the link plate 72 (see FIG. 2).
[0025]
In this case, a long hole 65 that engages with the knuckle pin 70 is formed in the link plate 72 so that play is provided in the knuckle pin 70, so that the link plate 72 can be displaced within the range of the long hole 65. Have In other words, the contact portion between the curved surface 81 formed on the link plate 72 and the guide roller 79 can be held at a substantially constant position regardless of the rotation angle of the arm 20.
[0026]
The support lever 74 is formed to project into a bifurcated portion in which a hole portion on which the link pin 69 is axially formed and a direction substantially perpendicular to the axis of the rod member 32 (a direction substantially perpendicular to the paper surface), and is not shown. And a bearing portion 18 having a rectangular cross section that is exposed to the outside from the body 12. An arm 20 for clamping a workpiece (not shown) is detachably attached to the bearing portion 18. Accordingly, the support lever 74 is provided to rotate integrally with the arm 20.
[0027]
On the lower side of the bearing portion 18, a lever stopper (locking means) 75 fixed to the corner of the inner wall of the first casing 46 via a screw member 73 is provided. The lever stopper 75 is configured to support the support lever 74. Serves the function of restricting the pivoting movement. The lever stopper 75 is formed with a locking surface 77 that is inclined to the right by a predetermined angle.
[0028]
It should be noted that the lever stopper 75 may be formed integrally with the first casing 46 or the second casing (not shown) without forming the lever stopper 75 separately.
[0029]
As shown in FIGS. 1 and 3, the lock mechanism 22 is disposed in the chamber 44, and is pivotally attached to one end side with a fulcrum pin 58 supported by the first casing 46 and a second casing (not shown). A roller plate that is pivotally supported between a branch plate 61a, 61b of the lock plate 60 via a pin member 66 and a lock plate 60 that is rotatably provided at a predetermined angle with the fulcrum pin 58 as a fulcrum. 48, a first inclined surface 50, a second inclined surface 52, and a portion between the first inclined surface 50 and the second inclined surface 52, which are provided in the knuckle block 56 and engaged with the roller member 48. A spring member 68 having one end portion engaged with an engaging portion 54 having a peak portion 53 formed at a boundary portion and a recess 67 formed on an end portion side of the lock plate 60 opposite to the fulcrum pin 58. Including.
[0030]
The other end of the spring member 68 is engaged with a recess 71 formed on the inner wall surface of the first casing 46, and the lock plate 60 is always pointed to the arrow with the fulcrum pin 58 as a fulcrum under the action of the elastic force. It is provided to press in the B direction. In other words, the lock plate 60 is provided so as to be rotatable by a predetermined angle in the direction of the arrow A with the fulcrum pin 58 as a fulcrum when a pressing force that overcomes the elastic force of the spring member 68 acts on the roller member 48. ing.
[0031]
As shown in FIG. 3, the inclination angle α of the first inclined surface 50 and the inclination angle β of the second inclined surface 52 with respect to the vertical plane are set to satisfy α> β, respectively, The inclination angle α may be set to about 30 to 45 degrees, and the inclination angle β may be set to about 10 to 20 degrees.
[0032]
With reference to the center point of the pivot pin 58, the distance between the fulcrum pin 58 and the roller member 48 and the engaging portion 54 of the contact point abutting (the center point of the pin member 66) and L ₁ , when the support pin 58 and the spring member 68 has a distance between the pressing points are pressed and L _2, by setting a large value of L ₂ / L _1, increase the holding force of the locking mechanism 22 be able to.
[0033]
A concave portion 78 having a circular arc section is formed on the upper side of the inner wall surface of the first casing 46 and the second casing (not shown) constituting the body 12, and the concave portion 78 has a curved surface 81 of the link plate 72. A guide roller 79 that rotates by a predetermined angle by contact is provided. A pin member 82 for pivotally supporting the guide roller 79 is fixed to a hole formed in the first casing 46 and the second casing (not shown), and the through hole of the guide roller 79 is circumferentially provided. A plurality of needle bearings 84 are mounted along the same. A guide roller 79 is provided to smoothly rotate under the rolling operation of the needle bearing 84.
[0034]
The clamp device 10 according to the embodiment of the present invention is basically configured as described above. Next, the operation and effects thereof will be described.
[0035]
First, the clamping device 10 is fixed at a predetermined position via a fixing means (not shown), and one end of a tube body such as a tube (not shown) is connected to a set of pressure fluid inlet / outlet ports 42a and 42b, respectively. The other end is connected to a pressure fluid supply source (not shown).
[0036]
After the preparatory work as described above, a pressure fluid supply source (not shown) is energized to introduce pressure fluid (for example, compressed air) from one pressure fluid inlet / outlet port 42b into the cylinder chamber 28 on the lower side of the piston 30. . The piston 30 is pressed under the action of the pressure fluid introduced into the cylinder chamber 28, and the piston 30 rises along the cylinder chamber 28.
[0037]
The linear motion of the piston 30 is transmitted to the toggle link mechanism 64 via the rod member 32 and the knuckle joint 62, and converted into the rotational motion of the arm 20 under the rotational action of the support lever 74 constituting the toggle link mechanism 64. Is done.
[0038]
That is, a force that presses the knuckle joint 62 and the link plate 72 engaged with the free end of the rod member 32 upward is applied by the linear motion (rise) of the piston 30. The pressing force on the link plate 72 rotates the link plate 72 by a predetermined angle with the knuckle pin 70 as a fulcrum, and also rotates the support lever 74 under the link action of the link plate 72.
[0039]
Accordingly, the arm 20 rotates counterclockwise by a predetermined angle with the bearing portion 18 of the support lever 74 as a fulcrum.
[0040]
When the arm 20 is thus rotated counterclockwise, the curved surface 81 of the link plate 72 is in contact with the guide roller 79, and the guide roller 79 is maintained while maintaining the state of contact with the curved surface 81. Rotates around the pin member 82.
[0041]
Further, the arm 20 is rotated and comes into contact with a workpiece (not shown) to stop the rotation operation of the arm 20. As a result, the workpiece is clamped by the arm 20 (see FIG. 4).
[0042]
As shown in FIG. 5, for example, when the rotation angle of the arm 20 in the clamped state of the work (W, W1, W2) is changed due to a difference in the thickness of the work (W, W1, W2) or the like, By slightly displacing the link plate 72 along the long hole 65 that engages the knuckle pin 70, the clamping force can be kept substantially constant. That is, the link plate 72 is provided so as to be freely displaceable within the long hole 65, and a certain degree of freedom is also provided for the support lever 74 and the arm 20 that follow the link plate 72.
[0043]
In other words, even if the rotation angle of the arm 20 changes, the link plate 72 is provided with a degree of freedom within the range of the long hole 65, and the curved surface 81 of the link plate 72 and the guide roller 79 contact each other. This is because the point is always the same and held at a certain position.
[0044]
As a result, in the present embodiment, it is possible to obtain a clamping force characteristic that can hold the clamping force substantially constant even if the rotation angle of the arm 20 when the workpiece W is clamped changes.
[0045]
Next, when releasing the clamp state by separating the arm 20 from the workpiece W, the cylinder on the upper side of the piston 30 is switched from the other pressure fluid inlet / outlet port 42a opposite to the above under the switching action of a switching valve (not shown). A pressure fluid is introduced into the chamber 28. The piston 30 is pressed under the action of the pressure fluid introduced into the cylinder chamber 28, and the piston 30 descends along the cylinder chamber 28.
[0046]
The linear motion of the piston 30 is converted into the rotational motion of the arm 20 via the toggle link mechanism 64, and the arm 20 rotates in the clockwise direction (see FIG. 6).
[0047]
When the support lever 74 rotates in the clockwise direction in conjunction with the rotation operation of the arm 20, the side surface of the support lever 74 is brought into contact with the locking surface 77 of the lever stopper 75 as shown in FIG. The rotation of the support lever 74 in the clockwise direction is restricted by contact.
[0048]
In FIG. 7, the knuckle pin 70 is positioned on the upper side of the long hole 65, but this is because the arm 20 moves in the clockwise direction by the inertial force when the rod member 32 descends integrally with the piston 30. This is an example of one of the engagement states of the knuckle pin 70 and the long hole 65 when rotating toward the top, and the knuckle pin 70 is not necessarily in a state of being engaged with the upper side of the long hole 65. Absent.
[0049]
In a state where the clockwise rotation of the support lever 74 is restricted by the lever stopper 75, the piston 30 is further displaced downward under the action of the pressure fluid supplied to the upper cylinder chamber 28. As a result, the piston 30 reaches the lower limit position shown in FIG. At that time, the rod member 32 and the knuckle block 56 are displaced downward together with the piston 30 so that the knuckle pin 70 is slightly lowered along the long hole 65 (compare FIG. 7 and FIG. 2). reference).
[0050]
In the initial position of the unclamped state shown in FIG. 2, the support lever 74 is restricted from rotating in the clockwise direction under the locking action of the lever stopper 75, and the piston 30 reaches the lower limit position. Further, by restricting the displacement toward the lower side, the arm 20 is reliably prevented from rotating in the clockwise direction. On the other hand, the cylinder chamber 28 on the upper side is held in a state where a pressure fluid having a predetermined pressure is supplied. Under the action of the pressure fluid, the piston 30 rises and the arm 20 moves counterclockwise. It is reliably prevented from rotating.
[0051]
Thus, even if the long hole 65 is provided in order to obtain a substantially constant clamping force characteristic, the degree of freedom by the long hole 65 is restricted at the initial position in the unclamped state. Thus, it is possible to reliably prevent the arm 20 from rattling.
[0052]
Next, the function and effect of the lock mechanism 22 will be described.
[0053]
Before the arm 20 rotates in the clockwise direction and the piston 30 reaches the lowest limit position, the second inclined surface 52 of the engaging portion 54 that descends integrally with the knuckle block 56 is pivotally supported by the lock plate 60. The roller member 48 is engaged (see FIG. 7).
[0054]
In this case, the lock plate 60 is pressed in the direction of arrow A against the elastic force of the spring member 68, and the roller member 48 pivotally supported by the lock plate 60 is the second inclined surface of the engaging portion 54. 52, the roller member 48 is engaged with the first inclined surface 50 by overcoming the crests 53 formed at the boundary portion between the second inclined surface 52 and the first inclined surface 50, whereby the arm 20 Is locked at the initial position in the unclamped state (see FIG. 2).
[0055]
In this case, the initial position means a state where the piston 30 has reached the lowest limit position of the cylinder chamber 28 as shown in FIG.
[0056]
In the locked state, the other pressure fluid inlet / outlet port 42b is also open to the atmosphere, so even if the supply of pressure fluid stops for some reason at the initial position of the arm 20 in the unclamped state, The clamp state is securely held by the lock mechanism 22 without being released.
[0057]
By providing the lock mechanism 22, the supply of the pressure fluid to the cylinder portion 14 functioning as the driving means is stopped, and the unclamped state of the arm 20 is ensured even when the transmission of the driving force to the arm 20 is interrupted. Can be held in.
[0058]
The force (holding force) that holds the arm 20 in the unclamped state by the lock mechanism 22 is, for example, an appropriate holding force that is not displaced by the inertial force even when a robot or the like to which the clamping device 10 is attached operates. In addition, it is necessary to set the holding force so that the holding state of the unclamp can be released by the displacement force of the piston 30 when the pressure fluid is supplied again from the pressure fluid inlet / outlet port 42b. In this case, the inclination angle α of the first inclined surface 50 with respect to the vertical surface of the engaging portion 54 is set larger than the inclination angle β of the second inclined surface 52, and the inclination angle α of the first inclined surface 50 is about It is preferable to set the inclination angle β of the second inclined surface 52 to 30 degrees to 45 degrees to about 10 degrees to 20 degrees.
[0059]
In the present embodiment, the cylinder portion 14 is used as the driving means, but the present invention is not limited to this, and the rod member 32 is configured to be displaced using a linear actuator, an electric motor, or the like (not shown). Also good.
[0060]
Next, clamp devices 100a and 100b according to first and second modifications of the present invention are shown in FIGS. The same components as those in the embodiment shown in FIG. 1 are denoted by the same reference numerals, and detailed description thereof is omitted.
[0061]
The clamp devices 100a and 100b according to the first and second modifications are different from the clamp device 10 according to the above-described embodiment in that the rotation angle θ of the arm 20 is limited to a predetermined angle in advance. In this case, in the first modification shown in FIG. 8, the rotation angle θ of the arm 20 is set to about 45 degrees, and in the second modification shown in FIG. 11, the rotation angle θ of the arm 20 is about 75. Is set to degrees. Even when the rotation angle θ of the arm 20 is restricted to a predetermined angle, it is the same as the above embodiment that the arm 20 is locked by the lock mechanism 22 at the initial position of unclamping.
[0062]
The clamping devices 100a and 100b according to the first and second modified examples are connected to one end of the rod member 32 and have knuckle blocks 102a and 102b having a length corresponding to a preset rotation angle θ of the arm 20. The link plate 72 connected between the two forks of the knuckle blocks 102a and 102b via the knuckle pin 70 and the substantially circular opening formed in the first casing 46 and the second casing (not shown) are respectively rotated. And support levers 108a and 108b that are freely supported.
[0063]
As shown in FIG. 10 and FIG. 13, between the pair of bearing portions 18 formed in both ends of the support levers 108 a and 108 b and having a rectangular cross section, a rotation that regulates the rotation angle of the arm 20. Locking portions 110a and 110b functioning as angle regulating means are provided, and contact surfaces 112a and 112b made of inclined surfaces are formed on the locking portions 110a and 110b.
[0064]
In this case, when the contact surfaces 112a and 112b of the support levers 108a and 108b contact the lever stopper 75, the rotation angle θ of the arm 20 at the initial position in the unclamped state is regulated. The contact surfaces 112 a and 112 b may be formed by inclined surfaces having various inclination angles corresponding to the set rotation angle θ of the arm 20.
[0065]
Further, on one side of the body 12, a pair of proximity switches 118a and 118b for detecting the rotational position of the arm 20 by detecting a metal dog 116 that is displaced integrally with the knuckle blocks 102a and 102b are provided. Provided.
[0066]
The first and second modifications have the following effects or advantages by restricting the rotation angle θ of the arm 20.
[0067]
First, by limiting the rotation angle θ of the arm 20, it is possible to prevent the arm 20 from colliding with or coming into contact with other devices, members, etc. (not shown) arranged close to the clamp devices 100a and 100b. Therefore, it is possible to effectively use a small installation space.
[0068]
Secondly, by limiting the rotation angle θ of the arm 20 to be small, the cycle in which the arm 20 rotates can be accelerated, and the working efficiency can be improved.
[0069]
Thirdly, by limiting the rotation angle θ of the arm 20, the displacement amount of the piston 30 is reduced, and the air consumption for displacing the piston 30 can be saved.
[0070]
In the first and second modified examples, the rotation angle θ of the arm 20 is set to about 45 degrees and about 75 degrees. However, the present invention is not limited to this, and the clamp devices 100a and 100b are assembled. Of course, various rotation angles θ of the arms 20 can be set by assembling other knuckle blocks and support levers (not shown) corresponding to the rotation angle θ of the arms 20.
[0071]
Other functions and effects are the same as those of the embodiment shown in FIG.
[0072]
【The invention's effect】
According to the present invention, the following effects can be obtained.
[0073]
That is, within the range of the long hole, the link member is provided so as to be freely displaceable, and the support lever and the arm that follow the link member have a degree of freedom, so the rotation angle of the arm when the workpiece is clamped changes. Even in this case, the clamping force can be kept substantially constant.
[0074]
Further, by providing a locking means for restricting the pivoting operation of the support lever, the degree of freedom due to the long hole can be restricted, and the arm can be held at a predetermined position in an unclamped state, thereby preventing play. .
[Brief description of the drawings]
FIG. 1 is an exploded perspective view of a main part of a clamp device according to an embodiment of the present invention.
FIG. 2 is a partial longitudinal sectional view along the axial direction of the clamp device according to the embodiment of the present invention.
FIG. 3 is a partially enlarged view of the lock mechanism shown in FIG. 2;
4 is an operation explanatory view showing a state in which the arm is rotated from the initial position of FIG. 1 and the workpiece is clamped. FIG.
FIG. 5 is an explanatory view showing a shape state of a knuckle pin with respect to a long hole when the thicknesses of workpieces are different.
6 is an operation explanatory view showing a state in which the arm is rotated by a predetermined angle in the clockwise direction from the state of FIG. 4;
7 is an operation explanatory view showing a state where the arm is further rotated by a predetermined angle in the clockwise direction from the state of FIG. 6;
FIG. 8 is a partial vertical cross-sectional view along the axial direction of a clamp device according to a first modification of the present invention.
9 is a longitudinal sectional view taken along line IX-IX in FIG.
FIG. 10 is a perspective view of a support lever incorporated in the clamp device according to the first modification.
FIG. 11 is a partial vertical cross-sectional view along the axial direction of a clamp device according to a second modification of the present invention.
12 is a longitudinal sectional view taken along line XII-XII in FIG.
FIG. 13 is a perspective view of a support lever incorporated in the clamp device according to the second modification.
FIG. 14 is an exploded perspective view of a main part of a clamp cylinder according to a conventional technique.
15 is a partial cross-sectional side view of the clamp cylinder shown in FIG. 14;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 10, 100a, 100b ... Clamping device 12 ... Body 14 ... Cylinder part 20 ... Arm 22 ... Lock mechanism 28 ... Cylinder chamber 30 ... Piston 32 ... Rod member 42a, 42b ... Pressure fluid inlet / outlet port 56, 102a, 102b ... Knuckle block 62 ... Knuckle joint 64 ... Toggle link mechanism 65 ... Long hole 69 ... Link pin 70 ... Knuckle pin 72 ... Link plates 74, 108a, 108b ... Support lever 75 ... Lever stopper 77 ... Locking surface 79 ... Guide roller 81 ... Curved surface 110a , 110b ... locking portion 112a, 112b ... contact surface

Claims (5)

Body,
Driving means for displacing a rod member provided in the body along the axial direction of the body;
A toggle link mechanism including a link member connected to the rod member and a support lever linked to the link member, and converting a linear motion of the rod member into a rotational motion;
An arm connected to the toggle link mechanism and rotated by a predetermined angle under the driving action of the driving means;
A long hole formed in the link member and engaged with a knuckle pin provided on one end of the rod member;
A locking means formed with a locking surface for restricting the rotation of the support lever;
A clamping device comprising: The apparatus of claim 1.
The clamping device is composed of a lever stopper, and the pivoting operation of the arm at the initial position in the unclamped state is regulated by the side surface of the support lever coming into contact with the latching surface of the lever stopper. . The apparatus of claim 1.
The said drive means consists of a cylinder part containing the piston which displaces under the effect | action of the pressure fluid supplied to a cylinder chamber through a pair of pressure fluid inlet / outlet ports. The apparatus of claim 1.
A clamp device characterized in that a rotation angle restricting means for restricting the rotation angle of the arm to a predetermined angle is provided inside the body. The apparatus of claim 4.
The rotation angle restricting means includes an engaging portion formed on the support lever, and the contact surface of the engaging portion contacts the lever stopper, so that the arm rotating angle at the initial position in the unclamped state is set. A clamping device that is regulated.

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