KR20140037417A - Electrical clamping apparatus having manual release clutch with improved safety and space efficiency and control method using same - Google Patents

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric clamping device for fixing a position of an automobile part, comprising: a driving motor; A worm shaft rotatably driven by the drive motor; A worm wheel engaged with the worm shaft and rotating; A rotating shaft that rotates in engagement with the worm wheel; A pressing member coupled to an end of the rotating shaft and interlocked with the rotating shaft to fix a position of a part being produced in a production line; A control unit for rotationally driving the drive motor until the pressing member reaches a fixed position for pressing the component to fix the position of the component from an open position that opens the movement path of the component on the production line; It is configured to include a vehicle, such as an automobile chassis, which moves along the production line by using a drive motor that takes up less space and has a faster response speed than a pneumatic clamping device, thereby fixing the vehicle parts at a machining position such as welding. To provide a more efficient, accurate, and faster production process, the company provides an electric clamping device for fixing the position to prevent safety accidents.

Description

ELECTRICAL CLAMPING APPARATUS HAVING MANUAL RELEASE CLUTCH WITH IMPROVED SAFETY AND SPACE EFFICIENCY AND CONTROL METHOD USING SAME}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric clamping device and a control method thereof, and more particularly, to fix a position of an automobile component to be processed while moving along a production line for welding machining of an automobile component such as an automobile chassis at each machining position. As it is used, the structure is simpler and takes up less space than the conventional pneumatic device, and there are no safety accidents such as poorly placed parts, quality problems such as poor welding, or worker's hands caught in the fixing device. The present invention relates to an electric clamping device for fixing a position of an automobile part which can be prevented from and a control method thereof.

Automobiles are made of a combination of many car parts. Among them, parts such as a chassis of an automobile are manufactured by being moved or fixed along a production line, and numerous welding operations are performed by a robot at predetermined positions on a movement path along the production line. At this time, it is necessary to fix the car parts such as the chassis in a constant posture and position.

In the related art, as shown in FIG. 1, welding or the like is performed in a state in which a vehicle body or a part thereof is fixed by using a hydraulic pressure clamping device 1. When the plunger 20 reciprocating linearly in the cylinder 10 moves reciprocally indicated by reference numeral 20d, the pneumatic clamping device 1 is rotated on the end of the plunger 20 and the support 40 for supporting the automobile parts, respectively. 30a) The pressing member 30, which is possibly installed, is configured to press and fix a side of the automobile part 88.

However, the hydraulic pneumatic clamping device 1 has a serious problem that the process itself is delayed due to not only high cost but also slow response speed. In addition, the pneumatic clamping device (1) must maintain the compressor at a certain pressure even for intermittent operation, so that the compressor should be operated at all times. The problem of continual consumption of energy has arisen. In addition, when the position of the component 88 is fixed, the pneumatic pneumatic clamping device 1 is not easy to control acceleration and deceleration, causing a loud noise to be generated, which has caused a poor working environment.

In addition, the pneumatic clamping device 1 is configured such that the plunger 20 linearly reciprocates with respect to the cylinder 10, and has an open position for opening the conveying direction of the component 88 (direction perpendicular to the ground in FIG. 1). The reciprocating movement of the pressing member 30 in the fixed position for holding the component 88 has a problem of requiring a complicated link structure for converting the linear reciprocating motion into the circular rotational motion since the pressing member 30 needs to perform a circular rotational motion. To this end, the pressing member 30 of the hydraulic pneumatic clamping device 1 is coupled to the support 40 by a hinge 40a, is coupled to the end of the plunger 20 by a hinge 30a, and at the same time extends from the support 40. It consists of a link structure in which the member and the member extending from the plunger 20 is hinged. However, the pressure member 30 having such a complicated structure is not only more expensive to install and maintain, but also has a larger width w1, w1 ′ and a height h1, and thus, the production line of the automobile component 88. The problem of taking up excessive space in the vicinity was also caused.

Above all, the hydraulic pneumatic clamping device 1 has a problem that the movement control of the plunger 20 cannot be precisely refined. Accordingly, when the component 88 operates without reaching the position of the support 40, there is a problem that the contact portion of the pressing member 30 presses the component 88 to cause damage to the component 88. . In addition, if a worker gets caught between the pressing members 30 in the process of handling the component 88, it is very difficult to implement the emergency stop function in the hydraulic pneumatic clamping device 1, so that There was a fatal problem that caused a safety accident on the body.

The present invention, in order to solve the above-mentioned conventional problems, a faster response than the pneumatic clamping device while occupying a small space in the clamping device for fixing the position of the car parts for processing such as welding of the car parts such as car chassis It is an object of the present invention to provide an electric clamping device for fixing a position of an automobile part, which makes it possible to more efficiently and quickly carry out a vehicle production process by implementing speed.

Above all, an object of the present invention is to prevent the safety accident caused by the pressure member of the clamping device is operated in the state that the parts to be transported along the production line is in the wrong position, the parts are damaged or the hand of the operator.

In addition, the present invention has a compact structure in the case of the need to manually release the position fixing state in the state of fixing the position of the automobile component, so that the clamping state of the automobile component can be easily released in terms of operation. For other purposes.

In order to achieve the above object, the present invention provides a clamping device for fixing the position of the components in a mobile production line, a drive motor; A worm shaft rotatably driven by the drive motor; A worm wheel engaged with the worm shaft and rotating; A rotating shaft that rotates in engagement with the worm wheel; A pressing member coupled to an end of the rotating shaft and interlocked with the rotating shaft to fix a position of a part being produced in a production line; A control unit for rotationally driving the drive motor until the pressing member reaches a fixed position for pressing the component to fix the position of the component from an open position that opens the movement path of the component on the production line; It provides a position fixing electric clamping device comprising a.

Unlike the conventional hydraulic clamping device, the motor line is configured to pressurize and fix the vehicle parts by using a motor, thus using a drive motor having a smaller response space and a faster response speed than the hydraulic pneumatic clamping device. In order to be able to fix the position of the car parts, such as the car chassis moving along the position in the machining position, such as welding. This has the advantage that the production process of automobiles can be carried out more efficiently, accurately and quickly.

In other words, by driving the worm gear consisting of the worm wheel and the worm shaft in conjunction with the drive motor, there is an advantageous effect that can be applied to a narrow car production line because the space utilization is increased.

In addition, since the electric clamping device using the drive motor generates a circular rotational movement, it is possible to reciprocate the open position for opening the moving path in which the auto parts move along the production line and the fixed position for fixing the position of the auto parts. Therefore, unlike the conventional hydraulic pneumatic clamping device that has to convert a linear reciprocating motion into a circular rotary motion by using a complicated link structure, the pressure member can be directly connected and fixed to the rotating shaft, thereby simplifying the overall structure and more advantageous in terms of maintenance. The advantage is that the interference between the part and the pressing member can be more easily eliminated.

In addition, the electric clamping device using the drive motor, unlike the conventional pneumatic pneumatic clamping device that must keep the compressor always on, it is necessary to supply power only when operating, it is more environmentally friendly and can suppress unnecessary consumption of power.

In addition, although the drive motor rotates at a high rotational speed by using the drive motor, the present invention is configured to sufficiently decelerate the rotational speed of the drive motor by using the worm shaft and the worm wheel, thereby providing a pressure member for fixing the position of the component. It becomes possible to control according to the rotational speed.

Above all, the present invention further includes a rotation sensor for sensing the rotational speed of the drive motor, wherein the control unit receives the rotational speed of the drive motor from the rotation detection sensor, the rotation time of the rotational shaft of the drive motor is If it is longer than a predetermined time, it is controlled to stop the rotation of the drive motor. Through this, the clamping device operates when the car parts such as the chassis, which have reached the machining position, are not properly positioned on the support, and are damaged as the pressure member presses the position where the auto parts should not be pressed, or the pressure member and the component If a part of the body of the worker is caught in the middle of the vehicle, the driving motor can be stopped to prevent a safety accident, and at the same time, a beneficial effect of fundamentally preventing damage to the parts in spite of a malfunction of the parts transfer device or the like can be obtained. .

At this time, although the rotational speed of the drive motor may be sensed, the rotational speed of the rotating shaft on which the pressing member is fixed may be detected by a rotation detection sensor to prevent a safety accident and to prevent damage to a part.

The predetermined time may be determined as the time required for the pressing member to reach the fixed position in the normal operation from the open position. In this way, if the body of the operator is caught between the pressing member and the part, or the part is not in the correct position, the rotation sensor detects that the pressing member takes longer to move to fix the part. Therefore, by immediately stopping the operation of the drive motor it is possible to prevent safety accidents and component damage.

On the other hand, according to another embodiment of the present invention, the control unit may drive the drive motor by pulse width control. At this time, the control unit receives a pulse output signal from the drive motor, the pulse width when any one or more of the pulse width of the received pulse output signal, the pulse interval, the number of pulses for a predetermined time, When the difference between the pulse interval and the number of pulses for a predetermined time is larger than the predetermined value, the rotation of the drive motor is stopped. By performing pulse width control in driving the drive motor in this way, the control of the drive motor is not only easier and more accurate, but also the error of the drive motor can be detected more accurately and quickly to ensure safety accidents. It can prevent.

The control unit controls the rotational speed of the drive motor to have an acceleration section, a constant speed section, and a deceleration section, thereby minimizing a moving time from an open position to a fixed position, while generating a moment when the pressing member contacts the part. Noise can be minimized.

On the other hand, according to another embodiment of the present invention, the present invention includes: a clutch main body which rotates in combination with the worm wheel, and a plurality of engaging portions are formed on the plate surface along the circumferential direction; A clutch disc that can engage with the clutch engaging portion is formed along the circumferential direction, and rotates together with the clutch body in a state where the clutch protrusion and the engaging portion are engaged; A leaf spring for applying an elastic force to the rotating shaft in a direction in which the engaging portion engages with the clutch protrusion; It is further configured, the rotary shaft may be coupled to the clutch disk to rotate with the clutch disk.

Through this, the electric clamping device according to the present invention, the clutch disk by pushing the rotary shaft with a force that overcomes the elastic force of the leaf spring, even in the state that the power supply is OFF or suddenly stopped the production line while fixing the position of the automobile parts After releasing the engagement state between the clutch body and the clutch body, it is possible to manually release the pressing member. This is because the conventional hydraulic clamping device releases the position fixed state only by the process of removing the pneumatic or hydraulic pressure pushing the plunger while the power is turned off or the production line is suddenly stopped while the position of the automobile parts is fixed. The conventional problem which could be made is solved. Therefore, the electric clamping device according to the present invention can easily simply release the engagement state of the clutch body and the clutch disk of the compact structure when there is a necessity of manually releasing the position fixing state while fixing the position of the automobile parts. To obtain an advantageous effect.

In the process of fixing the position of the automobile part for the welding process or the like, it is advantageous to clamp the object while rotating the pressing member in consideration of the direction of the transfer line of the automobile part. However, according to the conventional hydraulic clamping device, since the plunger performs a linear reciprocating motion, it is cumbersome to implement a link configuration as a separate component in order to implement the rotational motion of the pressing member. On the contrary, since the present invention drives the pressing member by transmitting the rotational force by the driving motor, it is possible to obtain an advantageous effect of implementing the rotational movement of the pressing member even with a small number of components without adding a separate component.

At this time, the pressing member is fixed to the rotary shaft so as to extend in the radial direction from the rotary shaft long, it is possible to fix the position of the car chassis, etc. by rotating in conjunction with the rotation of the rotary shaft.

Alternatively, the pressing member is fixedly installed on the second rotation shaft so as to extend in a radial direction from the second rotation shaft rotated by the driven gear engaged with the pinion fixed to the rotation shaft, and linked with the rotation of the second rotation shaft By rotating, the position of automobile parts, such as an automobile chassis, can also be fixed. Through this, it is possible to fix the position of the vehicle parts while the pressing member rotates at a lower speed.

The pressing member may be installed as a rack engaged with the pinion fixed to the rotation shaft, and may fix the position of a part such as an automobile chassis to the end of the rack by linear motion.

On the other hand, in order to fix the position of one vehicle component moving in a mobile production line, the drive motor, the worm shaft, the rotating shaft, and the pressing member is composed of a plurality of moving car parts moving in a mobile production line Fix it more precisely in the fixed position. At this time, the control unit may control only one driving motor, but by rotating the plurality of driving motors used to fix the position of one automobile part at a time, the automobile parts are locally twisted at a predetermined position. Etc. can be detected more accurately.

On the other hand, according to another field of the invention, the present invention is a transmission motor consisting of a drive motor and a pressing member for moving and driven by the drive motor to selectively fix the position of the vehicle parts moving on the production line while reciprocating a predetermined path CLAIMS 1. A control method of a clamping device, comprising: a pressing member first moving step of moving the pressing member to an open position away from the moving path so that the component can move along a moving path on the production line; A second member moving step of moving the pressing member by rotating the driving motor until the part reaches the fixed first position until a part of the pressing member reaches a fixed position for pressing the component; A rotational speed measurement step of measuring a rotational speed of the drive motor during the pressing member second moving step; An operation stop step of stopping driving of the drive motor when the rotation time of the rotation speed measurement step is longer than a predetermined time; It provides a control method of an electric clamping device comprising.

In addition, the present invention is a control method of an electric clamping device comprising a drive motor and a pressing member which is fixed by the drive motor to selectively fix the position of a vehicle component moving on a production line while reciprocating a predetermined path. A pressing member first moving step of moving the pressing member to an open position away from the moving path so that the component can move along the moving path on the production line; A second member moving step of moving the pressing member by rotating the driving motor until the part reaches the fixed first position until a part of the pressing member reaches a fixed position for pressing the component; A pulse output signal receiving step of receiving a pulse output signal of the drive motor during the second moving step of the pressing member; An operation of stopping the driving of the driving motor if the width, interval and number of pulses received in the pulse output signal receiving step are greater than a predetermined value compared to the width, interval and number of pulses in normal operation Stop step; It provides a control method of an electric clamping device comprising.

At this time, a plurality of drive motors are rotated to fix the position of one vehicle component moving in the mobile production line to each pressing member, and the plurality of drive motors are controlled by one control unit in which the control method is implemented. Can be.

As described above, the present invention provides a clamping device for fixing a position of a part in a mobile production line, comprising: a drive motor; A worm shaft rotatably driven by the drive motor; A worm wheel engaged with the worm shaft and rotating; A rotating shaft that rotates in engagement with the worm wheel; A pressing member coupled to an end of the rotating shaft and interlocked with the rotating shaft to fix a position of a part being produced in a production line; A control unit for rotationally driving the drive motor until the pressing member reaches a fixed position for pressing the component to fix the position of the component from an open position that opens the movement path of the component on the production line; The present invention provides an electric clamping device for fixing the position of an automobile part, which implements a faster response speed than the pneumatic clamping device while occupying a small space, so that the production process of the automobile can be performed more efficiently and quickly.

In addition, the present invention, unlike the conventional hydraulic pneumatic clamping device that has to convert the linear reciprocating motion into a circular rotational motion using a complex link structure, the rotational driving force is generated by the drive motor, the pressing member on the rotating shaft that is interlocked with the drive motor By directly connecting and fixing, the overall structure is simplified, it is more advantageous in terms of maintenance, and it is possible to obtain an advantage of more easily eliminating interference between components and pressing members.

And, in the present invention, unlike the conventional pneumatic clamping device that must always keep the compressor ON, since only the power supply is to be moved when the pressing member is moved, it is possible to obtain an effect that can be more environmentally friendly and increase the energy efficiency.

In addition, although the drive motor rotates at a high rotational speed according to the use of the drive motor, the present invention is configured to sufficiently decelerate the rotational speed of the drive motor by using a worm shaft and a worm wheel, thereby providing a pressure member for fixing the position of the component. It becomes possible to control according to the rotational speed.

In particular, the present invention further includes a rotation sensor for sensing the rotational speed of the drive motor or the rotating shaft, and receives the rotational speed of the drive motor from the rotational sensor, so that the rotation time of the rotational shaft of the drive motor is more than a predetermined time In the longer case, by controlling the driving motor to stop the rotation, the pressing member of the clamping device is operated while the parts to be transported along the production line are in the wrong position, resulting in damage to the parts or the hand of the operator. The beneficial effect of preventing a safety accident can be obtained.

In addition, the present invention controls the rotational speed of the drive motor to have an acceleration section, a constant speed section, and a deceleration section, thereby minimizing the movement time from the open position to the fixed position, while generating the instant when the press member contacts the part. Noise can be minimized.

In addition, the present invention is the operator plate through the compact configuration in which the clutch disk and the clutch body selectively interlocked by the leaf spring, even in the state that the power supply is OFF or suddenly stopped the production line in a fixed state of the automotive parts A simple process of pushing the rotating shaft with a force that overcomes the spring's elastic force can be used to achieve an advantageous effect of easily releasing the clamping state manually.

In addition, the present invention provides a durable service life of the worm wheel without deteriorating the mechanical strength of the worm wheel by interposing a cushioning material in a region where the clutch body transmitting the rotational force to the worm wheel contacts the worm wheel. You can also benefit.

In addition, since the pressing member is configured to fix the position of the automotive part by using the rotation of the rotary shaft, unlike the pneumatic clamping device, the pressing member with a smaller number of components without additionally using additional components By rotating it is possible to obtain an advantageous effect of clamping the object.

In addition, the present invention by rotating the plurality of drive motors used to fix the position of one automobile parts at one time with one control unit, by detecting a phenomenon that the automotive parts are locally displaced at a predetermined position, etc. more accurately This damage can be quickly recovered, and the control unit in which the control unit is mounted can be compact, thereby obtaining an advantageous effect of improving space efficiency.

1 is a schematic diagram showing a clamping state of an automobile part by a conventional hydraulic clamping device;
Figure 2 is a schematic diagram showing a clamping state of the automotive part by the electric clamping device according to an embodiment of the present invention
3 is a perspective view showing the configuration of the electric clamping device of FIG.
4 is a longitudinal sectional view of FIG. 3 excluding a drive motor;
5 is an exploded view of FIG.
6 is a front view showing the configuration of the clutch disk of FIG.
7 and 8 illustrate the principle of manually releasing the clamping state;
9A is a graph showing the rotational speed distribution of the drive motor over time while the pressing member normally moves from the open position to the fixed position.
9B is a graph showing an example of the rotational speed distribution of the drive motor over time while the pressing member is abnormally moved from the open position to the fixed position.
Fig. 9C is a graph showing another example of the rotational speed distribution of the drive motor over time while the pressing member is abnormally moved from the open position to the fixed position.
Fig. 10A is a graph showing the output pulse signal of the drive motor over time while the pressing member normally moves from the open position to the fixed position.
10B is a graph showing an example of the output pulse signal of the drive motor over time while the pressing member is abnormally moved from the open position to the fixed position.
Fig. 10C is a graph showing another example of the output pulse signal of the drive motor over time while the pressing member is abnormally moved from the open position to the fixed position.
11 is a flowchart sequentially showing a control method of the electric clamping device of the present invention.
Fig. 12A is a schematic plan view showing a configuration in which auto parts move along a production line;
12B is a schematic diagram showing a configuration in which one control unit controls a plurality of drive motors used to position fix one vehicle part moving along a production line;
13 is a diagram showing the configuration of an electric clamping device according to another embodiment of the present invention;
14 is a photograph of a controller according to an embodiment of the present invention for collectively controlling driving motors of a plurality of clamping devices.

Hereinafter, the electric clamping device 100 according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

2 is a schematic view showing a clamping state of an automobile component by an electric clamping device according to an embodiment of the present invention, FIG. 3 is a perspective view showing the configuration of the electric clamping device of FIG. 3 is an exploded view of FIG. 4 excluding the motor, FIG. 5 is an exploded view of FIG. 4, FIG. 6 is a front view showing the configuration of the clutch disk of FIG. 4, and FIGS. 7 and 8 show the principle of manually releasing the clamping state. 9A and 9C are graphs showing the distribution of the rotational speed of the drive motor over time while the pressing member is normally moved from the open position to the fixed position. FIGS. 9B and 9C show that the pressing member is abnormally moved from the open position to the fixed position. It is a graph which shows an example of the rotational speed distribution of the drive motor over time during the movement.

As shown in the figure, the electric clamping device 100 according to an embodiment of the present invention, the drive motor 130 for generating a rotational force by receiving power, and the worm shaft is rotationally driven by the drive motor 130 (130s) and the worm wheel 140 is formed to be engaged with the worm gear of the worm shaft (130s) is engaged with the worm shaft (130s) and the worm wheel 140, combined with the worm wheel 140 to rotate together and the clutch protrusion ( Clutch body 150 formed on the plate surface 151 and a plurality of engaging portions 161 that can engage the clutch protrusion 151 is formed along the circumferential direction in the form of a hole penetrating the plate surface clutch protrusion 151 And the clutch disc 160 that rotates together with the clutch body 150 only when the engaging portion 161 is engaged with each other, the rotary shaft 110 that is coupled to the clutch disc 160 and rotates together with the clutch disc 160, When combining the rotary shaft 110 and the clutch disk 160 Is between the push nut 180, the leaf spring 170 for applying the elastic restoring force in the direction to move the clutch disk 160 toward the clutch body 150, between the worm wheel 140 and the clutch body 150 A shock absorbing material 190 interposed therebetween to cushion the shock, a housing 120 surrounding these 140-190, and a vehicle chassis fixed to one end of the rotating shaft 110 together with the rotation of the rotating shaft 110. And a control member 200 for controlling the drive motor 130 in accordance with the position of the pressurizing member 110x for fixing the parts of the back and the like, and the vehicle parts 88 moving along the movement path in the mobile production line 77. do.

The pressing member 110x is integrally fixed to the end of the rotation shaft 110 which is rotationally driven by the drive motor 130, and the end thereof is rotated by the rotation of the rotation shaft 110. Press to fix the position of the vehicle component 88.

The rotating shaft 110 is rotatably supported by the bush 110b installed in the shaft hole 120u formed in the housing main body 120a, and the pressing member 110x is coupled to one end thereof to be integrally rotated, and the other end thereof. Thread 110y is formed and integrally fixed by push nut 180 to clutch disk 160 to which rotational force is selectively transmitted.

The housing 120 has a shaft hole (120u) for rotationally supporting the rotation shaft 110 is formed and the housing body 120a for receiving the parts 140, 150, 160 and the fixed spring spring 170 is fitted The groove 170h is formed to be coupled to the housing body 120a to form a housing cover 120b that forms a closed hollow space. An O-ring 99 is inserted between the housing main body 120a and the housing cover 120b to prevent foreign matter from penetrating from the outside air, and these 120a and 120b are firmly coupled by fixing bolts 128. do.

The drive motor 130 includes a connector 130c to which a signal and power are supplied from the controller 200, and are driven to rotate in the forward and reverse directions according to a control signal. As a result, the worm shaft 130s that is rotationally driven by the drive motor 130 rotates the worm wheel 140 installed in a posture of about 90 degrees. In addition, a hall sensor (not shown) is mounted inside the driving motor 130 to transmit the rotational speed of the driving motor 130 to the controller 200 in real time, thereby monitoring the rotational speed of the driving motor 130 in real time. do.

The worm wheel 140 has a thread 140g engaging with the worm gear of the worm shaft 130s on the outer circumferential surface thereof, and is driven to receive rotational driving force from the worm shaft 130s. The worm wheel 140 is rotatably installed on the support 1201 of the housing main body 120a, and the groove 142 into which the protrusion 152 of the clutch main body 150 is inserted to smoothly transmit the rotational force to the clutch main body 150 ( 142 is recessed in the plate surface.

The clutch main body 150 is integrally fixed by a fitting method in which the outer circumferential end is fitted to the worm wheel 140 while the protrusion 152 formed on one surface is inserted into the groove 142 of the worm wheel 140. At this time, the worm wheel 140 and the clutch body 150 may be coupled by a fastening means. Accordingly, the rotational force of the worm wheel 140 is transmitted to the clutch body 150 as it is. In order to selectively transmit the rotational force transmitted from the electric motor 130 to the rotary shaft 110, the clutch protrusion 151 is formed on the other surface of the clutch body 150 protruding.

As shown in FIG. 6A, the clutch disc 160 is positioned at the other side of the clutch body 150, and a plurality of engaging holes 161 are formed along the circumferential direction in which the clutch protrusion 151 is selectively inserted. The clutch disc 160 performs a relative rotational motion away from the clutch body 150 so that any one of the engaging holes 161 of the clutch disc 160 is connected to the clutch protrusion 151 of the clutch body 150. Interlocked. In the drawing, a configuration in which the plurality of holes 161 are formed along the circumferential direction as an example of the engaging portion for accommodating the clutch protrusion 151 is illustrated. However, the clutch disc 160 has a plurality of grooves as the engaging portions for engaging the clutch protrusion 151. It may be formed along this circumferential direction. On the other hand, although the configuration in which the clutch protrusion 151 is formed in the clutch main body 150 and the engaging hole 161 is formed in the clutch disk 160 is illustrated as an example, the clutch body 150 has a hole or groove as a plurality of engaging portions. Is formed, and a clutch protrusion may be formed on the clutch disk 160 facing the clutch body.

One end of the leaf spring 170 is bent vertically and inserted into the fixing groove 170h of the housing cover 120b to fix the position. In a state where the housing main body 120a and the housing cover 120b are coupled to each other, the leaf spring 170 may apply a force F 'for pressing in the direction in which the pressing member 110x is located to the clutch disc 160 and the rotating shaft 110. ). Accordingly, the clutch disk 160 has a force to approach the clutch body 150, so that the engagement state of the engaging hole 161 of the clutch disk 160 and the clutch protrusion 151 of the clutch body 150 is stable. The rotational force of the driving motor 130 is transmitted to the rotation shaft 110 via the clutch body 150 and the clutch disk 160. The leaf spring 170 may be formed in the form of one long strip to press the clutch disk 160, but may be formed in the form of two or more strips to press the clutch disk 160.

The push nut 180 is integrally coupled to the rotary shaft 110 and the clutch disk 160 while being fastened and fixed to the threaded portion (110y) formed on the other end of the rotary shaft (110). The push nut 180 is formed on the inner circumferential surface of a female thread that is engaged with the threaded portion 110y of the rotation shaft 110, and is wide enough in the radial direction to be installed in contact with the clutch disk 160 and a larger area. As a result, when the push nut 180 is pressed by the leaf spring 170, the force of the leaf spring 170 may be transmitted to the clutch disk 160 with a force more uniformly distributed.

The control unit 200 is provided with a memory unit for storing the time during which the pressing member 110x normally moves from the open position to the fixed position and the rotational speed distribution of the drive motor (Fig. 9A). Then, when the parts 88 such as the automobile chassis moving along the production line 77 shown in Fig. 12A are moved, the parts 88 are rotated in the direction in which the pressing member 110x is opened (based on Fig. 2). It is controlled by the control unit 200 to rotate the pressing member 110x to an open position capable of moving along the production line 77 without being interfered by the pressing member 110x. Then, when the parts 88, such as an automobile chassis, reach the machining position 98, such as welding, it rotates in the direction (FIG. 2 reference | standard) which the pressing member 110x collects, and the parts 88 are supported on the support 40. As shown in FIG. It is controlled by the control part 200 so that the pressing member 110x may be rotated to the fixed position fixed by the pressing member 110x.

At this time, the control unit 200 controls the drive motor 130 in accordance with the speed distribution 200C shown in Fig. 9A when the pressing member 110x moves from the open position to the fixed position. That is, it is controlled to have the acceleration section 201, the constant speed section 202, and the deceleration section 203 during the time Δto for the pressing member 110x to move from the open position to the fixed position. It reaches to a fixed position to fix the position of the component 88 for a time Δto, while minimizing the noise and shock generated by deceleration when the contact portion of the pressing member 110x contacts the component 88. As a result, the working environment is improved by reducing the noise generated in the field, and it is possible to prevent minute scratches or deformations that may occur while contacting the pressing member 110x.

Then, the control unit 200 of the worm shaft 130s that is rotationally driven by the drive motor 130 using a Hall sensor installed in the drive motor 130 while the pressing member 110x moves from the open position to the fixed position. The rotational speed is measured in real time, and compared with the rotational speed distribution (Fig. 9A) when the pressing member 110x operates normally from the open position to the fixed position. As a result, even if it operates normally, even if the time To which the press member 110x reached from the open position to the fixed position has passed, it will not rotate by the target rotation angle of the press member 110x, and will make the press member 110x the target rotation angle. If it is detected that the drive motor 130 is rotating to rotate by (rotation angle reaching to the fixed position), the component 88 is not properly seated on the support 40 or the body part of the worker 110x) and the part 88, or there is an error in the control of the drive motor 130, so that the rotation of the drive motor 130 is stopped immediately when the predetermined time (To) is reached (209). Let's do it.

For example, if the rotational speed distribution 200A of the drive motor 130 is detected by the hall sensor to operate for a longer time Δt1 as shown in Fig. 9B, the acceleration section 201 'and the constant speed section are normally 202 'and the deceleration section 203', but the rotational speed of the drive motor 130 is generally an error, and thus, once the predetermined time To is reached 209, the drive motor 130 once. ), It is necessary to stop the operation of the control unit 200 and the like. If not repaired because the processing process is delayed in accordance with a number of processes on the production line (77).

As another example, if the rotational speed distribution 200A "of the drive motor 130 is detected by the Hall sensor to operate for a longer time Δt2 as shown in Fig. 9C, then the acceleration section 201" normally. But at any time point P in the constant speed section 202 ", during the movement of the pressing member 110x, it hits the body of the unintentional worker or the wrongly mounted component 88, and the pressure member 203" with an abnormal speed distribution 203 ". 110x) rotates. Therefore, if the pressure member 110x reaches the fixed position from the open position to the fixed position if it has normally operated according to the rotational speed distribution shown in Fig. 9A, the pressing member is stopped immediately by stopping the rotation of the drive motor 130. The 110x can be additionally rotated to prevent the operator's body from being seriously injured or the parts are damaged.

On the other hand, the control unit 200 compares the rotational speed distribution (Fig. 9b, 9c) of the drive motor 130 measured by the Hall sensor and the rotational speed distribution (Fig. 9a) of the normal drive motor 130, the drive motor An emergency stop of 130 may be implemented. However, in contrast to the normal rotation speed distribution (FIG. 9 a) and the measured rotation speed distribution (FIG. 9 b), since the processing speed of the control unit 200 must be faster, the cost is higher, and thus, in terms of implementing simpler control, It is more preferable to control based on reaching the time To.

On the other hand, according to another embodiment of the present invention, in parallel or separate from the method shown in Figs. 9a to 9c, the control unit 200 controls the drive rotation of the drive motor 130 in a pulse width voltage control method, and drive Receives a pulse output signal from the motor 130, detects the pulse width, pulse interval, the number of pulses during the unit time, the pulse width, the pulse interval and the number of pulses during the unit time under normal conditions In contrast, if the difference is large, it may be configured to recognize a malfunction and to stop the drive motor.

More specifically, when the drive motor 130 is driven to rotate by pulse width control, the output signal output from the drive motor 130 also becomes a pulse output signal. Under the normal condition shown in FIG. 9A, the pulse output signal 300A output from the drive motor 130 has a predetermined pulse width DELTA So and a pulse interval DELTA Xo as shown in FIG. 10A. The time [Delta] to for the pressing member 110x to move from the open position to the fixed position is accurately taken. Since at least one of the pulse width ΔSo and the pulse interval ΔXo is changed in the acceleration / deceleration sections 201 and 203 of the driving motor 130, the pulse output signal 300A output from the driving motor 130 is changed. The pulse width ΔSo and the pulse interval ΔXo may be varied. However, for a given acceleration and deceleration, the pulse width ΔSo and the pulse interval ΔXo of the pulse output signal 300A change in a constant pattern, so for convenience, the pulse width ΔSo and the pulse interval ΔXo are shown in FIG. 10A. This is shown to be constant.

However, when the rotational speed distribution 200A operates for a longer time Δt1 as shown in Fig. 9B, the pulse output signal 300A 'output from the drive motor 130 as shown in Fig. 10B. The width? So of each pulse remains the same, but the interval? X1 between the pulses is longer than the pulse interval? Xo under normal conditions. Alternatively, although not shown in the figure, the pulse interval ΔXo under normal conditions may be the same but the width ΔSo of the pulse may be smaller, longer than the pulse interval ΔXo under normal conditions, and at the same time The width ΔSo may be made smaller. Or, it may vary from the number of pulses per unit time under normal conditions. When the control unit 200 receives the pulse output signal 300A 'shown in FIG. 10B, the rotation speed of the driving motor 130 is generally an error, and thus the pressing member 110x is fixed from the open position. Even before reaching, the operation of the driving motor 130 is stopped to quickly repair the control unit 200 and the like so that the machining process on the production line 77 can be smoothly performed.

As another example, as illustrated in FIG. 10C, the pulse output signal 300A ″ output from the driving motor 130 may have irregular widths of the pulse width ΔS2 and the pulse interval ΔX2. Since the pulse driving signal 300A "output from the driving motor 130 is reflected in the rotational driving state of the driving motor 130 as it is, if a worker's hand is caught or the automobile part 88 is not in position, In the process of reaching the member 110x from the open position to the fixed position, the width ΔS2 and the pulse interval ΔX2 of the pulse 302 of the pulse output signal 300A ″ are irregular as shown in FIG. 10B. This results in a longer phenomena, which means that the number of pulses 302 per unit time fluctuates, and in this case the time required for the pressing member 110x to reach the fixed position from the open position. (△ t2) is longer The.

Accordingly, as shown in FIG. 10C, the controller 200 receives the abnormal pulse output signal 300A ″ so that the abnormal operation can be immediately detected in the process of the pressing member 110x reaching the fixed position from the open position. In this case, the control unit 200 immediately stops the pressing member 110x, checks the condition of the automobile part 88 moving along the production line or the worker's injury, and then resumes the operation of the production line.

Thus, in the event of a safety accident such as a worker's hand pinching, the pulse output signal 300A "received from the drive motor 130 even before the pressing member 110x reaches the fixed position from the open position. Of the pulse width, pulse interval, and the number of pulses per unit time, the malfunction of the pressing member 110x or a safety accident is immediately detected and the rotation of the driving motor 130 is immediately stopped. In addition, rotational drive prevents serious injury to the operator's body or damage to parts.

In the mobile production line illustrated in FIG. 12A, the control unit 200 is configured to position one vehicle component 88 when one vehicle component 88 moving for processing reaches a designated working position 98. Four clamping devices 100 are arranged. Each clamping device 100 includes a pressing member 110x that is rotated by the drive motor 130. Accordingly, when one vehicle component 88 reaches the working position 98, four clamping devices 100 for positioning one component 88 are collectively one as shown in FIG. 12B. It is collectively controlled by the control unit 200. FIG. 14 shows a photograph of a controller mounted with a control unit 200 connected and controlled through a plurality of drive motors 130 and a plurality of ports to collectively control a plurality of clamping devices 100. Therefore, when an error occurs in any one of the plurality of clamping devices 100 in the process of moving and fixing the position of one automotive component 88 in the production line, it is necessary to fix the position of one automotive component 88 By stopping the operation of the drive motor 130 of the remaining clamping device 100 to be used, it is possible to more reliably prevent the damage of the automobile parts 88 moving along the production line.

The term 'predetermined time To' described in the present specification and claims refers to the time required for the pressing member 110x to operate normally, and the drive motor 130 as shown in FIGS. 10A to 10C. In case of detecting abnormality through the output pulse signals 300A, 300A ', and 300A "from), the number of pulses of the Hall sensor and the rising and falling of each individual pulse measured as a base signal for measuring the time It refers to the signal holding time that the state is maintained, and will be defined as including the time subtracted from the error time that can occur routinely during the operation of the pressing member (110x).

On the other hand, in the embodiment of the present invention has been described the case of measuring the rotational speed of the drive motor 130 by the Hall sensor, the present invention is to measure the rotational speed of the drive motor 130 by various means such as a tachometer or encoder Include all of the configuration. In addition, in the exemplary embodiment of the present invention, the configuration of determining whether the malfunction is controlled based on the distribution of the rotational speed of the drive motor 130 is exemplified, but by measuring the rotational speed of the rotation shaft 110 to which the pressing member 110x is coupled. On the basis of this, it may be configured to determine and control the malfunction.

Meanwhile, a hole through which the leaf spring 170 penetrates is formed in the push nut 180 so that the leaf spring 170 penetrates. As a result, the leaf spring 170 can more accurately apply a constant force F 'to the predetermined position of the clutch disk 160.

The shock absorbing material 190 is interposed between the worm wheel 140 and the clutch body 150, and at the moment when the pressing member 110x fixes the position of the automobile part 88, or to manually release the clamping state. The shock generated at the moment when the clutch body 150 and the clutch disk 160 are engaged with each other again is prevented from being transmitted to the worm wheel 140. In general, since the worm wheel 140 is made of cast iron, the impact resistance is weak, but as the shock absorbing material 190 is inserted between the clutch body 150 and the worm wheel 140, sufficient durability life can be ensured.

The reference numeral 110z in the figure is a sealing cap 110z that covers the rotating shaft 110 to block the outside air before the pressing member 110x fixed to the end of the rotating shaft 110 is mounted.

Electric clamping device 100 according to an embodiment of the present invention configured as described above is operated by the control method (S100) as follows.

Step 1 : First, by driving the drive motor 130 of the electric clamping device 110 located on both sides of the production line 77 to rotate the pressing member (110x) in the opening direction (upward direction) (S110). Accordingly, the pressing member 110x is positioned in an open position which is not interfered with the component 88 moving along the production line 77.

Step 2 : Then, as shown in Fig. 12A, along the production line 77, it moves (88d) to a first position (98) where a component 88, such as an automobile chassis, can be machined (S120).

Step 3 : Then, the drive motor 130 is driven in the opposite direction to rotate the pressing member 110x in the direction of gathering (downward), so that a part of the pressing member 110x contacts the component 88. To fix the position (S130). In other words, the pressing member 110x moves from the open position to the fixed position which fixes the position of the component 88.

Specifically, the worm shaft 130s is rotationally driven by the rotational drive of the electric motor 130, and the worm wheel 140 having the thread 140g engaged with the worm gear of the worm shaft 130s has a worm shaft. It is decelerated lower than the speed of 130s and driven to rotate. Since the clutch body 150 is coupled to rotate integrally with the worm wheel 140, the clutch body 150 is driven to rotate by the rotation of the worm wheel 140. In the state where the clutch protrusion 151 of the clutch body 150 and the engaging hole 161 of the clutch disk 160 are engaged with each other, the clutch disk 160 is driven to rotate by the rotation of the clutch body 150, The rotary shaft 110 integrally coupled with the clutch disc 160 is also driven to rotate in the forward and reverse directions. Therefore, the pressing member 110x extending in the radial direction at one end of the rotation shaft 110 rotates in the 110r direction as shown in FIG. 2 to clamp and fix a component such as an automobile chassis.

Step 4 : During the step 3, the rotation speed of the drive motor 130 or the rotation shaft 110 is measured by the rotation speed sensor (S140).

Step 5 : And, as in the example shown in Fig. 9A, the predetermined time To or the time that the pressing member 110x takes to reach the fixed position from the open position or the predetermined time To Despite the arrival, when the driving member 130 continuously rotates because the pressing member 110x does not rotate by the target rotation angle reaching the fixed position (S150), the rotation of the driving motor 130 is stopped. (S160).

Through this, the electric clamping device 100 according to the present invention, when the time required to move the pressing member 110x from the open position to the fixed position is longer than the predetermined time (To) of the drive motor 130 By controlling to stop the rotation, the pressing member 110x of the electric clamping device 100 can be operated in a state where the parts conveyed along the production line are in the wrong position, thereby preventing the parts from being damaged, and 110x) and the component 88 can be obtained an advantageous effect that can prevent the safety accident caused by the body, such as the operator's hand is caught.

And, the electric clamping device 100 according to the present invention, unlike the conventional hydraulic clamping device, by fixing the position of the vehicle component 88 by the electric drive motor 130, and much smaller height (H) and It occupies only the width (W2), which not only reduces the space occupied in the production line of the automobile, but also has a much faster response characteristic than the hydraulic type, so that when the automotive component 88 is mounted on the support 40, the automotive component can be quickly replaced. An advantageous effect of clamping and fixing 88 can be performed in a shorter time, such as welding.

Moreover, the production line of the motor vehicle is configured such that the part 88 moves along a straight line, so that the conventional hydraulic clamping device 1 of FIG. 1 has a structure of the plunger 20 so as not to interfere with the conveying path of the part 88. In order to convert the linear motion to the rotary motion (30a) had to add a separate part, the electric clamping device 100 according to the present invention transmits the rotational force from the drive motor 130 to the pressure member (110x) as it is, It is much easier to drive the pressing member 110x in a rotational motion that does not interfere with the conveying path of the component 88.

On the other hand, in the state where the power supply is turned off or the production line is abruptly stopped while the position of the automobile component 88 is fixed, the conventional hydraulic clamping device is fixed only by a process of removing pneumatic or hydraulic pressure pushing the plunger. Could release the state. However, the electric clamping device 100 according to the embodiment of the present invention configured as described above is powered off or abruptly produced in a state in which a clamping force for fixing the position of the automobile part is applied to the end of the pressing member 110x. Even when the line is stopped, as shown in Fig. 8, when the operator pushes the rotary shaft 110 with a predetermined force F by a force that overcomes the elastic restoring force F 'of the leaf spring, When the clutch disc 160 moves in the direction indicated by y, and thus the engagement state of the engaging hole 161 of the clutch disc 160 and the clutch protrusion 151 of the clutch body 150 is released, the pressing member ( Manual rotation of 110x) can simply release the clamping state of the component 88.

Then, when the predetermined force F applied by the operator is removed, the other of the engaging holes 161 of the clutch disc 160 and the clutch protrusion 151 of the clutch main body 150 again engage, thereby driving the drive motor ( The rotational force by the 130 is transmitted to the rotating shaft 110 again.

On the other hand, the electric clamping device 100 according to an embodiment of the present invention described above has the advantage that the pressing member 110x clamps the automobile component 88 by the rotational movement, if necessary, the automotive component 88 In the case of not interfering with the conveying path, the automobile part 88 may be clamped and fixed by linear motion. In this case, the pinion may be attached to the end of the rotating shaft 110, and may be used as an electric clamping device having a rack having a screw thread engaged with the pinion.

On the other hand, the electric clamping device 100 according to an embodiment of the present invention to reduce the rotational speed of the drive motor 130 by the reduction ratio of the worm shaft 130s and the worm wheel 140 to rotate the pressing member 110x. In order to lower the rotational speed of the pressing member 110x, as shown in FIG. 13, the pinion 110g is mounted at the end of the rotating shaft 110, and the pinion 110g is fitted. Physics can be used by rotating the second rotating shaft with a driven gear 310g having a screw thread, and using an electric clamping device 300 in which a pressing member is fixed to the second rotating shaft. Through this, an advantageous effect can be obtained that can freely adjust the rotational movement speed of the pressing member according to the conditions of the production site.

In the drawing, reference numeral 310z denotes a sealing cap 310z that covers the second rotating shaft from outside air before the pressing member fixed to the end of the rotating shaft 110 is mounted.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and equivalent arrangements included within the spirit and scope of the invention.

100: electric clamping device 110: rotating shaft
120: housing 130: drive motor
130s: worm shaft 140: worm wheel
150: clutch body 151: clutch projection
160: clutch disc 161: locking hole
170: leaf spring 180: push nut
190: buffer 200: control unit
200C: Standard speed distribution 200A, 200A ": Measurement speed distribution

Claims (15)

Clamping device for fixing the position of automotive parts in a mobile production line,
A drive motor;
A worm shaft rotatably driven by the drive motor;
A worm wheel engaged with the worm shaft and rotating;
A rotating shaft that rotates in engagement with the worm wheel;
A pressing member coupled to an end of the rotating shaft and interlocked with the rotating shaft to fix a position of a part being produced in a production line;
A control unit for rotationally driving the drive motor until the pressing member reaches a fixed position for pressing the component to fix the position of the component from an open position that opens the movement path of the component on the production line;
Position clamping electric clamping device comprising a.
The method of claim 1,
A rotation sensor for sensing a rotational speed of the drive motor;
The controller may further include receiving a rotation speed of the drive motor from the rotation detection sensor and stopping the rotation of the drive motor when the rotation time of the rotation shaft of the drive motor is longer than a predetermined time. Clamping device for fixing the position.
3. The method of claim 2,
And said predetermined time is a time taken for said pressing member to reach said fixed position in said normal position from said open position.
The method of claim 1,
A rotation sensor for sensing a rotation speed of the rotation shaft;
The controller may further include receiving a rotation speed of the rotation shaft from the rotation detection sensor and stopping the rotation of the driving motor when the rotation time of the rotation shaft of the driving motor is longer than a predetermined time. Electric clamping device for position fixing.
5. The method of claim 4,
And said predetermined time is a time taken for said pressing member to reach said fixed position in said normal position from said open position.
The method of claim 1,
And the control unit drives the driving motor by pulse width control.
The method according to claim 6,
The control unit receives a pulse output signal from the drive motor, the pulse width when the pulse width of the received pulse output signal, pulse interval, the number of pulses during a predetermined time is at a steady state, pulse interval, And the rotation of the drive motor is stopped when the difference with the number of pulses for a predetermined time is greater than the predetermined value.
The method of claim 1,
A clutch body coupled to the worm wheel and rotating together, the clutch body having a plurality of engaging portions formed on a plate surface in a circumferential direction;
A clutch disc that can engage with the clutch engaging portion is formed along the circumferential direction, and rotates together with the clutch body in a state where the clutch protrusion and the engaging portion are engaged;
A leaf spring for applying an elastic force to the rotating shaft in a direction in which the engaging portion engages with the clutch protrusion;
The rotating shaft is coupled to the clutch disk, the rotational clamping device, characterized in that for rotating with the clutch disk.
The method of claim 1,
The control unit is a fixed electric clamping device characterized in that for controlling the rotational speed of the drive motor to have an acceleration section, constant speed section, deceleration section.
10. The method according to any one of claims 1 to 9,
The pressing member is coupled to the end of the rotary shaft fixed position electric clamping device, characterized in that for fixing the position of the component through a rotational movement.
10. The method according to any one of claims 1 to 9,
The drive motor, the worm shaft, the rotation shaft, and the pressing member are formed in plural to fix a position of one vehicle component moving in a mobile production line; And the control unit rotationally drives the plurality of drive motors used to fix the position of one vehicle component.
A control method of an electric clamping device comprising a drive motor and a pressurizing member configured to selectively fix a position of an automobile part moving on a production line while reciprocating a predetermined path driven by the drive motor.
A pressing member first moving step of moving the pressing member to an open position away from the moving path so that the component can move along the moving path on the production line;
A second member moving step of moving the pressing member by rotating the driving motor until the part reaches the fixed first position until a part of the pressing member reaches a fixed position for pressing the component;
A rotational speed measurement step of measuring a rotational speed of the drive motor during the pressing member second moving step;
An operation stop step of stopping driving of the drive motor when the rotation time of the rotation speed measurement step is longer than a predetermined time;
Control method of the electric clamping device comprising.
A control method of an electric clamping device comprising a drive motor and a pressurizing member configured to selectively fix a position of an automobile part moving on a production line while reciprocating a predetermined path driven by the drive motor.
A pressing member first moving step of moving the pressing member to an open position away from the moving path so that the component can move along the moving path on the production line;
A second member moving step of moving the pressing member by rotating the driving motor until the part reaches the fixed first position until a part of the pressing member reaches a fixed position for pressing the component;
A pulse output signal receiving step of receiving a pulse output signal of the drive motor during the second moving step of the pressing member;
An operation of stopping the driving of the driving motor if the width, interval and number of pulses received in the pulse output signal receiving step are greater than a predetermined value compared to the width, interval and number of pulses in normal operation Stop step;
Control method of the electric clamping device comprising.
The method according to claim 12 or 13,
Wherein the plurality of drive motors are rotationally driven to fix the position of one vehicle component moving in a mobile production line to each of the pressing members, and the plurality of drive motors are controlled by one control unit in which the control method is implemented. Position clamping electric clamping device characterized in that.
15. The method of claim 14,
The control unit stops operation for the remaining drive motors of the plurality of drive motors when an error occurs in any one of the plurality of drive motors for fixing the position of one vehicle component. Fixed electric clamping device.

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