NL2021374B1 - Clamping device - Google Patents
Clamping device Download PDFInfo
- Publication number
- NL2021374B1 NL2021374B1 NL2021374A NL2021374A NL2021374B1 NL 2021374 B1 NL2021374 B1 NL 2021374B1 NL 2021374 A NL2021374 A NL 2021374A NL 2021374 A NL2021374 A NL 2021374A NL 2021374 B1 NL2021374 B1 NL 2021374B1
- Authority
- NL
- Netherlands
- Prior art keywords
- clamping
- tube
- clamping device
- cam
- arms
- Prior art date
Links
- 238000003466 welding Methods 0.000 claims description 59
- 238000005520 cutting process Methods 0.000 claims description 31
- 238000000034 method Methods 0.000 claims description 26
- 238000004140 cleaning Methods 0.000 claims description 6
- 238000007373 indentation Methods 0.000 claims 1
- 238000005304 joining Methods 0.000 description 9
- 238000010276 construction Methods 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K37/00—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups
- B23K37/04—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work
- B23K37/053—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor
- B23K37/0533—Auxiliary devices or processes, not specially adapted to a procedure covered by only one of the preceding main groups for holding or positioning work aligning cylindrical work; Clamping devices therefor external pipe alignment clamps
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23B—TURNING; BORING
- B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
- B23B31/02—Chucks
- B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
- B23B31/12—Chucks with simultaneously-acting jaws, whether or not also individually adjustable
- B23B31/1261—Chucks with simultaneously-acting jaws, whether or not also individually adjustable pivotally movable in a radial plane
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/02—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for mounting on a work-table, tool-slide, or analogous part
- B23Q3/06—Work-clamping means
- B23Q3/062—Work-clamping means adapted for holding workpieces having a special form or being made from a special material
- B23Q3/064—Work-clamping means adapted for holding workpieces having a special form or being made from a special material for holding elongated workpieces, e.g. pipes, bars or profiles
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16B—DEVICES FOR FASTENING OR SECURING CONSTRUCTIONAL ELEMENTS OR MACHINE PARTS TOGETHER, e.g. NAILS, BOLTS, CIRCLIPS, CLAMPS, CLIPS OR WEDGES; JOINTS OR JOINTING
- F16B2/00—Friction-grip releasable fastenings
- F16B2/02—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening
- F16B2/06—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action
- F16B2/10—Clamps, i.e. with gripping action effected by positive means other than the inherent resistance to deformation of the material of the fastening external, i.e. with contracting action using pivoting jaws
Abstract
The present invention relates to a clamping device for clamping a beam, and comprises a frame defining a beam opening through which in use a beam extends; at least five clamping arms which are pivotably connected to the frame at corresponding pivot axes, the pivot axes having respective locations which are fixed relative to the frame, wherein each clamping arm comprises: a pivot part located at a corresponding pivot axis; a free end located at a distance from the pivot part; a first side comprising a cam; a second side opposite the first side and comprising a convex guiding path, the second side being in continuous contact with a cam of an adjacent clamping arm, wherein at least three clamping arms comprise an engagement member for engaging the beam, wherein the clamping arms are configured to pivot about their respective axes between a first, outer position and a second, inner position, wherein in the second position the clamping arms hold the beam, wherein during the movement between the first position and the second position the cam of each clamping arm moves over the convex guiding path of the adjacent clamping arm, and wherein between the first and second position each clamping arm is always in contact with: an adjacent clamping arm located on the side of the cam, and an adjacent clamping arm located on the side of the convex guiding path.
Description
FIELD OF THE INVENTION
The present invention relates to clamping devices for clamping a beam, in particular a cylindrical beam, in a position aligned with a main axis of the clamping device.
The present invention further relates to a processing system for joining a first beam part and a second beam part by welding and/or for cutting a beam into a first and second beam part.
The present invention also relates to a method for joining a first beam part and a second beam part.
BACKGROUND OF THE INVENTION
When clamping beams or pipes, several factors may be of importance. Firstly it may be important that the beam is clamped such that movement of the beam relative to the clamp is restricted. This way, the beam can be controlled as desired. Such control may be desired when the beam has to undergo certain operations, such as welding or bevelling.
In the field of welding, a device used for clamping a beam are welding chucks. Said welding chucks usually comprise a support frame in which three jaws are provided. The jaws are radially movable in order to clamp a work piece, such as a beam. The jaws can be moved by rotating tightening handles which project radially outwardly relative to the support frame.
A disadvantage of such welding chucks is their dimensions, in particular the radial dimensions are relatively large compared to the diameter of the work piece. A traditional weld chuck comprises movable arms. Before a beam having a large diameter can be inserted into the welding chuck, the moveable arms have to be moved outward. In the outward position of the arms, the welding chuck including the arms has relatively large outer dimensions. This is disadvantageous in circumstances wherein the available space is limited.
Another disadvantage of the welding chucks is that for different work pieces with different diameters also different welding chucks have to be used. Said welding chucks are often only suitable for a small variance in diameter.
-2OBJECT OF THE INVENTION
In a first aspect, the invention has as objective to provide a clamping device which is at least more space-efficient and allows beams with varying diameters to be clamped.
A further object of the invention is to provide a processing system for joining a first beam part and a second beam part by welding and/or for cutting a beam into a first and second beam part.
SUMMARY OF THE INVENTION
At least one objective is achieved by a clamping device for clamping a beam, in particular a cylindrical beam, in a position aligned with a main axis of the clamping device. Said clamping device comprising:
- a frame defining a beam opening through which in use a beam extends,
- at least five clamping arms which are pivotably connected to the frame at corresponding pivot axes, the pivot axes having respective locations which are fixed relative to the frame, the pivot axes extending substantially parallel to the main axis and being equidistantly arranged around the beam opening, wherein each clamping arm extends over a distance from the respective pivot axis, wherein each clamping arm comprises:
a) a pivot part located at a corresponding pivot axis,
b) a free end located at a distance from the pivot part,
c) a first side comprising a cam,
d) a second side opposite the first side and comprising a convex guiding path, the second side being in continuous contact with a cam of an adjacent clamping arm, wherein at least three clamping arms comprise an engagement member for engaging the beam, wherein the clamping arms are configured to pivot about their respective axes between a first, outer position and a second, inner position, wherein in the second position the clamping arms hold the beam, wherein during the movement between the first position and the second position the cam of each clamping arm moves over the convex guiding path of the adjacent clamping arm, and wherein during the inward movement from the first, outer position to the second, inner position the convex guiding path of each clamping arm pushes against the cam of an adjacent clamping arm, thereby pushing the adjacent clamping arm inward toward a centre of the beam opening, and
-3wherein during the outward movement from the second, inward position to the first, outward position each cam pushes against the convex guiding path of an adjacent clamping arm, thereby pushing the adjacent clamping arm outward,
- an actuator for moving at least one clamping arm between the first position and the second position, wherein between the first and second position each clamping arm (20i) is always in contact with:
a) an adjacent clamping arm (20,+ι) located on the side of the cam, and
b) an adjacent clamping arm (20m) located on the side of the convex guiding path.
An advantage of the clamping device is the ability to clamp beams of a wide range of diameter without having to reconstruct the clamping device. When beams or pipes of different diameters have to be clamped, the clamping device does not have to be programmed for every different diameter individually. It simply clamps the beam or pipe whenever the engagement members engage said beam or pipe. This provides a flexible clamping device.
Another advantage of the clamping device is that the outer dimensions of the clamping device can be relatively small relative to the maximum allowable diameter of the beam.
Furthermore, the beam to be clamped is automatically centred due to the mutual engagement of the clamping arms in combination with the centering capability of the engagement members. This centering may be important when the clamped beam is to be rotated with the clamping device.
Because all clamping arms are always in contact with each other, in an embodiment only one clamping arm has to be actuated in order to move all other clamping arms. Obviously it may be possible to actuate a plurality of arms.
Having the pivot axes fixed relative to the frame provides a more robust structure, for there are less moving parts. Also, the accuracy of the movement of the clamping arms is higher compared to clamping arms wherein the pivot axes are movable relative to the frame. It is noted that some gripping devices according to the prior art are based on the principle of movable pivot axes. This results in a less robust structure and in a lower accuracy.
-4In an embodiment of the clamping device, adjacent pivot axes are arranged at a first distance (D1) from one another, wherein a first angle (a1) is defined between two lines extending from each of said adjacent pivot axes to a center (Cb) of the beam opening, wherein each cam has a cam centre (Cc) and a cam surface (Cs) located at a second distance (D2) from the cam centre (Cc), wherein the cam centre (Cc) of each clamping arm is located at a first length (L1) from the pivot axis of the associated clamping arm, which first length (L1) defines a first side (S1) of an isosceles triangle (T), wherein a second side (S2) of the isosceles triangle has the same, first length (L1) as the first side (S1) and extends from the pivot axis, wherein the first side (S1) and the second side (S2) enclose an angle between them which is equal to the first angle (a1), and wherein each convex guiding path has the shape of a part of a circle (C), wherein a center (0) of the circle (C) is located at an end of the second side (S2) away from the pivot axis, wherein the circle has a radius (R) which is substantially equal to the first distance (D1) minus the second distance (D2).
The above described mathematical relation allows the clamping device to function with different numbers of clamping arms. It may be that for some operations a clamping device with a high number of clamping arms is required, for example for beams with a large diameter. For beams having a relatively small diameter, less clamping arms may suffice.
In an embodiment of the clamping device, the frame comprises two frame parts, the frame parts being connected to one another via a hinge and being pivotable relative to each other between an open position, wherein the clamping device is configured to allow the beam to be positioned in the frame, and a closed position, wherein the clamping device fully encloses the beam.
This hinging embodiment comprising two frame parts has the advantage that it can move over the beam to be clamped, like a “Pacman”, and then be closed. The embodiment having one frame part only allows the beam to be clamped to be inserted through the beam opening in the direction of the main axis.
In an embodiment of the clamping device, each cam is located at the free end of the associated clamping arm.
In an embodiment of the clamping device, the pivot part of each clamping arm is located at an outward end of the associated clamping arm. This keeps the outer dimensions of the clamping device relatively small.
-5In an embodiment of the clamping device, each engagement member is located on the second side of the associated clamping arm, wherein the convex guiding path is located between the engagement member and the pivot part.
In an embodiment of the clamping device, each clamping arm comprises an engagement member.
Providing each clamping arm with an engagement member increases the grip on the beam while clamping and also allows the beam to be centred faster.
In an embodiment of the clamping device, the cam comprises a pivotable member, the pivotable member having a concave sliding surface, wherein a radius of the concave sliding surface corresponds with the radius of the convex guiding path, wherein the concave sliding surface of the pivotable cam is configured to slide over the convex guiding path.
In an embodiment of the clamping device, the pivotable member comprises a cleaning member for removing debris from the second side which may accumulate thereon during operation, the cleaning member being in particular formed by at least one sharp edge .
In an embodiment of the clamping device, the cam comprises a roller or a rounded protrusion.
In an embodiment, the clamping device comprises six clamping arms.
In an embodiment of the clamping device, each engagement member protrudes from the second side of the associated clamping arm.
In an embodiment of the clamping device, at least one clamping arm comprises a mounting position to which the actuator is connected, the mounting position being provided at a mounting distance from the pivot axis which is 35-70 percent of the second distance. Said mounting position allows the
In an embodiment of the clamping device, the mounting position is provided at a mounting distance from the second side which is between 25% and 40% of the second distance.
In an embodiment the clamping device further comprises a stopping member for stopping the clamping arms from moving outwardly past a predetermined location relative to the frame.
-6In an embodiment of the clamping device, the pivot axes define a regular polygon .
In an embodiment of the clamping device, the first length of the clamping arms is equal to or less than half the distance between directly opposing pivot axes, wherein the number of clamping arms is even.
In an embodiment of the clamping device, each clamping arm comprises an outer part and an inner part, the inner part is oriented inwardly at an angle a2 of 20-70 degrees relative to the outer part, and an elbow part being defined where the outer part meets the inner part.
In an embodiment of the clamping device, the convex guiding path is provided on the outer part, and wherein the convex guiding path comprises an outer path end, wherein a depression is defined in the second side at the outer path end, which depression acts as a stop for the cam of the adjacent clamping arm.
The invention further relates to a clamping device for clamping a beam, in particular a cylindrical beam, in a position aligned with a main axis of the clamping device, the clamping device comprising:
- a frame defining a beam opening, wherein the frame is configured to move over the beam in a radial and/or axial direction with respect to the beam, wherein the beam opening is configured to accommodate a section of the beam,
- N clamping arms, wherein N is at least five, which are pivotably connected to the frame at corresponding pivot axes, the pivot axes extending substantially parallel to the main axis and being equidistantly arranged around the beam opening, wherein each clamping arm extends over a distance from the respective pivot axis, wherein N minus 2 clamping arms comprise:
a) a pivot part located at a corresponding pivot axis,
b) a free end located at a distance from the pivot part,
c) a first side comprising a cam, the cam being located substantially at the opposite end,
d) a second side opposite the first side and comprising a convex guiding path, the second side being configured to be in continuous contact with an adjacent cam of an adjacent clamping arm, wherein a first clamping arm of the two remaining clamping arms comprises the pivot part, the free end, and the first side comprising the cam,
-7and wherein a second clamping arm of the two remaining clamping arms comprises the pivot part, the free end, and the second side comprising the convex guiding path, wherein at least three clamping arms comprise an engagement member for engaging the beam, wherein the clamping arms are configured to move between a first, outer position and a second, inner position, wherein in the second position the clamping arms hold the beam, wherein during the movement between the first position and the second position the cam of each clamping arm of the clamping arms provided with said cam moves over the convex guiding path of the adjacent clamping arm, and wherein during the inward movement from the first, outer position to the second, inner position the convex guiding path of the clamping arms provided with said convex guiding path pushes against the cam of an adjacent clamping arm, thereby pushing the adjacent clamping arm inward toward a centre of the beam opening, and wherein during the outward movement from the second, inward position to the first, outward position each cam of the clamping arms provided with said cam pushes against the convex guiding path of an adjacent clamping arm, thereby pushing the adjacent clamping arm outward,
- a first actuator coupled to the second of the two remaining clamping arms for moving the second of the two remaining clamping arms from the first position to the second position, thereby moving the other clamping arms from the first to the second position,
- a second actuator coupled to the first of the two remaining clamping arms for moving the first of the two remaining clamping arms from the second position to the first position, thereby moving the other clamping arms from the second to the first position.
Said clamping device has the additional advantage that it can move over the beam in an axial direction, but also a radial direction like the hinging embodiment as previously described.
In an embodiment of the clamping device, adjacent pivot axes are arranged at a first distance (D1) from one another, wherein a first angle (a1) is defined between two lines extending from each of said adjacent pivot axes to a center (Cb) of the beam opening, wherein each cam has a cam centre (Cc) and a cam surface (Cs) located at a second
-8distance (D2) from the cam centre (Cc), wherein the cam centre (Cc) of each clamping arm is located at a first length (L1) from the pivot axis of the associated clamping arm, which first length (L1) defines a first side (S1) of an isosceles triangle (T), wherein a second side (S2) of the isosceles triangle has the same, first length (L1) as the first side (S1), wherein the first side (S1) and the second side (S2) enclose an angle between them which is equal to the first angle (a1), and wherein each convex guiding path has the shape of a part of a circle (C), wherein a center (0) of the circle (C) is located at an end of the second side (S2) away from the pivot axis, wherein the circle has a radius (R) which is substantially equal to the first distance (D1) minus the second distance (D2).
In an embodiment of the clamping devices, the clamping device is provided with a manipulation member, the manipulation member being configured to manipulate the position and orientation of the beam when the beam is clamped by the clamping device.
The invention further relates to a processing system for joining a first beam part and a second beam part by welding and/or for cutting a beam into a first and second beam part, the processing system comprising:
- at least two clamping devices according to the invention, wherein:
a) a first clamping device is configured to clamp a first beam part and a second clamping device is configured to clamp a second beam part, the first and second clamping devices being configured to position the ends of the first and second beam part in an end-to-end relationship relative to one another, or
b) a first clamping device and a second clamping device which are configured to clamp a beam, and
- a welding device for joining the beam ends and/or a cutting device for cutting the beam into the first and second beam part.
The processing system allows high quality welding of beam parts and/or high quality cutting of a beam.
In an embodiment, the processing system comprises at least four clamping devices, the clamping devices being grouped in a first pair comprising the first clamping device and a second pair comprising the second clamping device, the first pair being configured to clamp a first beam part and the second pair configured to clamp a second beam part, the first and
-9second pair being configured to position the ends of the first and second beam part in an end-to-end relationship relative to one another
In an embodiment of the processing system, the frames of the two clamping devices of the first pair are fixed to one another via one or more interconnecting beams and wherein the frames of the two clamping devices of the second pair are fixed to one another via one or more interconnecting beams.
In an embodiment of the processing system, the first clamping device is mounted for rotation and wherein the second clamping device is mounted for rotation.
An advantage of have rotating clamping devices, is that once the clamping devices clamp respective beam parts, the beam parts can be rotated. When the beam parts are rotated, the welding device, in particular a welding torch, can remain substantially stationary during welding. This way, controlled welding can take place.
In an embodiment of the processing system, the first clamping device is supported by a first support frame and wherein the second clamping device is supported by a second support frame, wherein the first clamping device is rotatable relative to the first support frame and wherein the second clamping device is rotatable relative to the second support frame.
In an embodiment of the processing system, each clamping arm of a first clamping device of a pair is connected, in particular via a rod, to an associated clamping arm of an adjacent clamping device of the same pair. This way, all clamping arms of the pair can move synchronously and simultaneously.
In an embodiment of the processing system, the first pair and the second pair each comprise a gear extending around the main axis, wherein a first drive is provided on the first support frame for rotating the first clamping device via the first gear, wherein a second drive is provided on the second support frame for rotating the second clamping device via the second gear.
In an embodiment the processing system further comprises a set of actuators for moving the first clamping device in an X, Y and Z-direction relative to the second clamping device.
Said set of actuators allows the beam ends of respective beam parts to be positioned in an end-to-end relation.
- 10In an embodiment the processing system further comprises a guiding device for guiding a beam through the beam openings of the plurality of clamping devices.
In an embodiment the processing system further comprises a welding support member configured to keep a welding torch substantially stationary in the circumferential direction during the welding of the two beam ends which are to be joined.
The invention also relates to a method for joining a first beam part and a second beam part, the method comprising:
a) clamping at least two beam parts to be joined by a welding device according to any of claims 23-32, by inserting the first beam part through the beam opening of the first clamping device and pivoting the clamping arms of the first clamping device inward, thereby clamping the first beam part and inserting the second beam part through the beam opening of the second clamping device and pivoting the clamping arm of the second clamping device inward, thereby clamping the second beam part,
b) positioning the ends of the first and second beam part to be joined in an end-toend relationship,
c) welding the ends to one another by rotating the first and second beam part.
In an embodiment of the method, the beam parts are in step a) inserted through beam openings of adjacent clamping devices of the respective first pair and second pair.
In an embodiment of the method, the processing system comprises at least one welding torch, and wherein the welding torch is kept substantially stationary in the circumferential direction during the welding operation.
In an embodiment the method further comprises feeding the beam parts to be joined to the clamping devices via a guiding device, wherein the guiding device guides the beam parts to be joined through the beam openings of the plurality of clamping devices.
In an embodiment of the method, in the first, outer position the clamping arms stay inside a boundary defined by the frame of the welding device.
The present invention further relates to a method for cutting a beam into a first beam part and a second beam part, the method comprising:
a) clamping the beam to be cut by inserting the beam through the beam opening of the clamping device according to the invention and pivoting the clamping arms of the clamping device inward, thereby clamping the beam, and
b) cutting the beam with a cutting device.
The clamping device allows high precision cutting.
The present invention further relates to a method for cutting a beam into a first beam part and a second beam part, the method comprising:
a) clamping the beam to be cut by inserting the beam through the beam openings of the first and second clamping device of the processing system according to the invention and pivoting the clamping arms of the first and second clamping device inward, thereby clamping the beam, and
b) cutting the beam with the cutting device.
BRIEF DESCRIPTION OF THE FIGURES
Embodiments of the clamping device and the method will be described by way of example only, with reference to the accompanying schematic drawings in which corresponding reference symbols indicate corresponding parts, and in which:
Figure 1 schematically shows in front view an embodiment of a clamping device according the invention clamping a beam.
Figure 2 schematically shows in front view the clamping device of figure 1 clamping a beam with a smaller diameter.
Figure 3 schematically shows in front view an embodiment of a clamping arm.
Figure 4 schematically shows in front view another embodiment of a clamping device in an open position according to the invention.
Figure 5 schematically shows the clamping device of figure 4 in a closed position.
Figures 6A-6C schematically show another embodiment of a clamping device according to a second aspect of the invention
Figures 7-10 schematically show different views of a processing system according to a third aspect of the invention.
Figure 11 schematically shows a processing system, in particular a cutting system, according to a third aspect of the invention.
DETAILED DESCRIPTION OF THE FIGURES
- 12 Turning to figures 1 and 2 a clamping device 1 for clamping a beam 2, in particular a cylindrical beam 2, in a position aligned with a main axis 3 of the clamping device 1 is shown.
The clamping device 1 comprises a frame 4 which defines a beam opening 5 . A beam 2 extends through the beam opening 5. The shown embodiment has six clamping arms 6. More clamping arms 6 are also possible, as shown in figures 4 and 5, wherein eight clamping arms 6 are provided. Also five clamping arms 6 can be provided. The clamping arms 6 are pivotably connected to the frame 4 at corresponding pivot axes 7. The pivot axes 7 have respective locations 8 which are fixed relative to the frame 4. The pivot axes 7 extend substantially parallel to the main axis 3 and are equidistantly arranged around the beam opening 5. Each clamping arm extends over a distance from its respective pivot axis
7.
The pivot axes 7 define a regular polygon 51.
Looking at the clamping arms 6, each clamping arm comprises a pivot part 9 located at a corresponding pivot axis 10 7. At a distance from the pivot part 9 the clamping arm has a free end 11.
The pivot part 9 of each clamping arm is located in particular at an outward end 39 of the associated clamping arm.
A first side 12 of the clamping arm comprises a cam 13. Each cam 13 is located at the free end 11 of the associated clamping arm. This enables the entire arm length to be used.
A second side 14 opposite the first side 12 comprises a convex guiding path 15. In the working configuration the second side 14, in particular the convex guiding part is in continuous contact with a cam 13 of an adjacent clamping arm 17.
At least three clamping arms 6 comprise an engagement member 18 for engaging the beam 2. In the shown embodiments all clamping arms 6 comprise an engagement member 18.
The engagement member 18 is located on the second side 14 of the associated clamping arm. The convex guiding path 15 is located between the engagement member 18 and the pivot part 9.
- 13The engagement member 18 protrudes over a distance from the second side 14 of the associated clamping arm.
The clamping arms 6 are configured to pivot about their respective axes between a first, outer position 19 figure XX and a second, inner position 20 as shown in figure 1 and 2. In the second position 20 the clamping arms 6 hold the beam 2. During the movement between the first position 19 and the second position 20 the cam 13 of each clamping arm moves over the convex guiding path 15 of the adjacent clamping arm 17. During the inward movement from the first, outer position 19 to the second, inner position 20 the convex guiding path 15 of each clamping arm pushes against the cam 13 of an adjacent clamping arm 17. This way the adjacent clamping arm 17 is pushed inward toward a centre of the beam opening 21 5.
During the outward movement from the second, inward position to the first, outward position each cam 13 pushes against the convex guiding path 15 of an adjacent clamping arm 17. This way the adjacent clamping arm 17 is pushed outward.
Between the first and second position 20 each clamping arm 20i is always in contact with an adjacent clamping arm 17 20i+i located on the side of the cam 13, and an adjacent clamping arm 17 20m located on the side of the convex guiding path 15. This way, when one clamping arm moves, all clamping arms 6 move accordingly.
The clamping device 1 further comprises an actuator 22 for moving at least one clamping arm between the first position 19 and the second position 20. One actuator 22 may suffice, as all clamping arms 6 move when one clamping arm is actuated.
The actuator 22 is connected to the clamping arm at a mounting position. The mounting position is provided at a mounting distance 48A from the pivot axis 7 which is 35-70 percent of the first length L1.
The mounting position is provided at a mounting distance 48B from the second side 14 which is between 25% and 40% of the first length L1.
As mentioned, the pivot axes 7 are equidistantly arranged around the beam opening 5. Adjacent pivot axes 7 are arranged at a first distance D1 from one another. A first angle a1 is defined between two lines 52 extending from each of said adjacent pivot axes 7 to a centre Cb of the beam opening 5. Each cam 13 has a cam 13 centre Cc and a cam 13
- 14surface Cs located at a second distance D2 from the cam 13 centre Cc, see in particular figure 3. The cam 13 centre Cc of each clamping arm is located at a first length L1 from the pivot axis 7 of the associated clamping arm. Said first length L1 defines a first side 12 S1 of an isosceles triangle T. A second side 14 S2 of the isosceles triangle has the same, first length L1 as the first side 12 S1 and extends from the pivot axis 7. The first side 12 S1 and the second side 14 S2 enclose an angle between them which is equal to the first angle a1.
Each convex guiding path 15 has the shape of a part of a circle C. A centre O of said circle C is located at an end of the second side 14 S2 away from the pivot axis 7. A radius R of the circle is substantially equal to the first distance D1 minus the second distance D2 figure 3.
The first length L1 of the clamping arms 6 is equal to or less than half the distance between directly opposing pivot axes 7, when the number of clamping arms 6 is even.
The clamping device 1 as shown in figures 1 and 2 comprises a single frame 4. Other configurations are also possible, as shown in for example figures 4 and 5, wherein the clamping device 1 comprises two frame 4 parts 35A, 35B. The frame 4 parts are connected to one another via a hinge 36 . Said frame 4 parts are pivotable relative to each other between an open position 37 as shown in figure 4, wherein the clamping device 1 is configured to allow the beam 2 to be positioned in the frame 4, and a closed position 38 figure 5, wherein the clamping device 1 fully encloses the beam 2.
The clamping arms 6 further comprise an outer part 53 and an inner part 54. The inner part 54 is oriented inwardly at an angle a2 of 20-70 degrees relative to the outer part 53. An elbow part 55 is defined where the outer part 53 meets the inner part 54.
The convex guiding path 15 is provided on the outer part 53. Said convex guiding path 15 comprises an outer path end 56. In the second side 14 at the outer path end a depression 57 is defined, which depression 57 acts as a stop for the cam 13 of the adjacent clamping arm 17, in particular when the clamping arms 6 are moved inwardly.
Turning to figure 3, an embodiment of a clamping arm is shown. Also two embodiments of the cam 13 are shown, namely a pivotable member 40 and a roller 45. The cam 13 may also be an integral part of the clamping arm in the form of a rounded edge or protrusion 46.
The pivotable member 40 has a concave sliding surface 41, wherein a radius of the concave sliding surface 41 corresponds with the radius 42 of the convex guiding path 15. The
- 15concave sliding surface 41 of the pivotable cam 13 is configured to slide over the convex guiding path 15.
Said embodiment of the pivotable member 40 may comprise a cleaning member 43 for removing debris from the second side 14 which may accumulate thereon during operation. The cleaning member 43 is in particular formed by at least one sharp edge 44. In the shown embodiment two sharp edges 40 are provided, one on each side of the concave sliding surface 41.
The clamping device 1 may further comprise one or more stopping members 49 for stopping the clamping arms 6 from moving outwardly past a predetermined location relative to the frame 4. The pivot axes 7 may also function as stopping member 49, as they prevent the adjacent clamping arm 17 from pivoting beyond said pivot axis 7.
Figures 6A-6C show a clamping device 100 according to a second aspect of the invention. The clamping device 100 is also configured for clamping a beam 101, in particular a cylindrical beam 101, in a position aligned with a main axis 102 of the clamping device 100. The clamping device 100 comprises a frame 103 defining a beam opening 104. The frame
103 has a C-shape, or at least an open section, allowing the frame 103 to move over the beam 101 in a radial and/or axial direction with respect to the beam 101. The beam opening
104 is configured to accommodate a section of the beam 101.
The clamping device 100 has an N number of clamping arms 106, wherein N is at least equal to five. Said clamping arms 106 are pivotably connected to the frame 103 at corresponding pivot axes 107. The pivot axes 107 extend substantially parallel to the main axis 102 and are equidistantly arranged around the beam opening 104. Each clamping arm 106 extends over a distance from the respective pivot axis 107.
All clamping members 106 except two, comprise a pivot part 108 located at a corresponding pivot axis 107. A free end 109 is located at a distance from the pivot part 108. A first side 110 comprises a cam 111, the cam 111 being located substantially at the opposite end. A second side 112 opposite the first side 110 comprises a convex guiding path 113. The second side 112 is configured to be in continuous contact with an adjacent cam 111 of an adjacent clamping arm 115.
A first clamping arm 116 of the two remaining clamping arms comprises the pivot part, the free end, and the first side comprising the cam 111. A second clamping arm 117 of the two
- 16remaining clamping arms comprises the pivot part, the free end, and the second side comprising the convex guiding path 113.
At least three of all clamping arms 116 comprise an engagement member 118 for engaging the beam 101. In the shown embodiment, all clamping members comprise the engagement member 118.
The clamping arms 106 are configured to move between a first, outer position 119 and a second, inner position 120, wherein in the second position 120 the clamping arms 106 hold the beam 101. During the movement between the first position 119 and the second position 120 the cam 111 of each clamping arm of the clamping arms provided with said cam 111 moves over the convex guiding path 113 of the adjacent clamping arm 115.
During the inward movement from the first, outer position 119 to the second, inner position 120 the convex guiding path 113 of the clamping arms 106 provided with said convex guiding path 113 pushes against the cam 111 of an adjacent clamping arm 115, thereby pushing the adjacent clamping arm 115 inward toward a centre of the beam opening 5.
During the outward movement from the second, inward position to the first, outward position each cam of the clamping arms provided with said cam pushes against the convex guiding path of an adjacent clamping arm, thereby pushing the adjacent clamping arm outward.
A first actuator 122 is coupled to the second of the two remaining clamping arms for moving the second of the two remaining clamping arms from the first position 119 to the second position 120. thereby moving the other clamping arms from the first to the second position 120.
A second actuator 123 is coupled to the first of the two remaining clamping arms 6 for moving the first of the two remaining clamping arms 6 from the second position 20 to the first position 119, thereby moving the other clamping arms 6 from the second to the first position 119.
Adjacent pivot axes are arranged at a first distance D1 from one another. A first angle a1 is defined between two lines extending from each of said adjacent pivot axes to a center Cb of the beam opening. Each cam has a cam centre Cc and a cam surface Cs located at a second distance D2 from the cam centre Cc. See also figure 3. The cam centre Cc of each clamping arm is located at a first length L1 from the pivot axis of the associated clamping arm. Said first length L1 defines a first side S1 of an isosceles triangle T. A second side S2 of the isosceles triangle has the same, first length L1 as the first side S1 and extends from
- 17the pivot axis 7. The first side S1 and the second side S2 enclose an angle between them which is equal to the first angle a1.
Each convex guiding path 15 has the shape of a part of a circle C. A centre O of said circle C is located at an end of the second side S2 away from the pivot axis 7. A radius R of the circle is substantially equal to the first distance D1 minus the second distance D2 figure 3. The clamping devices 1, 100 of figures 1-6 can be provided with a manipulation member. The manipulation member may manipulate the position and orientation of the beam 2 when the beam 2 is clamped by the clamping device 1. A robotic arm is an example of a manipulation member.
Turning now to figures 7-9 a processing system 150 is shown for joining a first beam part 151 and a second beam part 152 by welding. The processing system 150 has at least two clamping devices. A first clamping device 153 is configured to clamp a first beam part 151 and a second clamping device 154 is configured to clamp a second beam part 152. The first and second clamping devices 153, 154 are the same as the clamping device 1 as described above, but in an alternative embodiment obviously two clamping devices 100 as described above may be used.
The first and second clamping devices position the ends 155 of the first and second beam part 151, 152 in an end-to-end relationship relative to one another.
A welding device 156 is provided on the processing system 150 for joining the beam ends 155. In an alternative embodiment, or additional to the welding device 156, a cutting device 180 may be provided, see figure 11. The cutting device can be for example a rotating knife or another cutting device known in the prior art. In the shown embodiment, the cutting device is a laser cutter 181. The laser cutter being provided on an end of a robotic arm 182. In order to cut the beam, the beam can be rotated while the cutting device remains stationary. It is however also possible to move the cutting device 180, in particular the laser cutter 181, during cutting and also rotate the beam.
The embodiment of the processing system 150 shown in figures 7-9 comprises four clamping devices. The four clamping devices are grouped in a first pair 157 comprising the first clamping device 153 and a second pair 158 comprising the second clamping device 154. The first pair 157 is configured to clamp a first beam part 151 and the second pair 158 is configured to clamp a second beam part 152. The first and second pair 158 position the
- 18ends 155 of the first and second beam part 152 in an end-to-end relationship relative to one another.
It is noted that in an alternative embodiment, only two clamping devices may be provided instead of four clamping devices. This may for instance be suitable for a cutting device in which the part of the beam which is cut part off from a main part of a beam does not need to be held by anything, or is held by a different device or connected to a fixed part of a construction. It may also be that in a welding operation, only a first beam part 151 needs to be held, and that the second beam part 152 is held by another device, or connected to a fixed part of a construction and does not need to be held.
The frames of the two clamping devices of the first pair 157 are fixed to one another via one or more interconnecting beams 160 160. Also the frames of the two clamping devices of the second pair 158 are fixed to one another via one or more interconnecting beams 160 161.
Both the first and second pair 158 of clamping devices are mounted for rotation about the main axis 3.
The first clamping device 153, or first pair 157, is supported by a first support frame 162. Also the second clamping device 154, or second pair 158 is supported by a second support frame 163. Both the first clamping device 153, or first pair 157, and second clamping device 154, or second pair 158, are rotatable relative to the first support frame 162.
One or more, or all clamping arms 6 of the first clamping device 153 of a pair are connected, in particular via a rod 164, to an associated clamping arm of an adjacent clamping device 1 of the same pair.
The first pair 157 and the second pair 158 each comprise a gear 165 extending around the main axis 3. A first drive 166 is provided on the first support frame 162 for rotating the first clamping device 153 via the first gear 165, see figure 10. A second drive similar to the first drive 166 is provided on the second support frame 163 for rotating the second clamping device 154 via the second gear. The first and second drives may comprise a servo 176, wherein the servo drives the gears 165 via a common axle and a drive belt 175 or chain. A skilled person will understand that different types of drives are possible for rotating the first and second clamping devices 153, 154.
- 19A slidable end stop 173 is provided against which the pipe ends can be engaged in order to ensure proper positioning with the weld torch. The end stop 173 can be moved to a retracted position prior to welding.
The processing system 150 further comprises a set of actuators for moving the first clamping device 153 in an X, Y and Z-direction relative to the second clamping device 154.
A guiding device 170 is provided for guiding a beam 2 through the beam openings of the plurality of clamping devices. Said guiding device 170 comprises V-shaped rollers in the shown embodiments.
A welding support member 171 is provided on the processing system 150 to keep a welding support member 172 substantially stationary in the circumferential direction during the welding of the two beam ends 155 which are to be joined. The welding support member 171 can be a robotic arm, as shown in figures 7-9.
OPERATION
The invention also relates to a method for joining a first beam part 151 and a second beam part 152.
The method entails inserting the first beam part 151 through the beam opening 5 of the first clamping device 153 and inserting the second beam part 152 through the beam opening 5 of the second clamping device 154.
The beam parts may be inserted through beam openings of adjacent clamping devices of the respective first pair 157 and second pair 158.
After the beams are inserted, the clamping arms 6 of both clamping devices are moved inward, thereby clamping both beam parts.
Next the ends 155 of the first and second beam part 152 to be joined are positioned in an end-to-end relationship.
When the ends 155 of the beam parts are positioned correctly, the ends 155 are welded to one another by rotating the first and second beam part 152 about the main axis 3 and at the same time welding with the welding device 156. The beam 2 parts are rotated by rotating the clamping devices.
-20The welding device 156 comprises at least one welding support member 172. Said welding support member 172 is kept substantially stationary in the circumferential direction during the welding operation. So the welding support member 172 does not have to move over the entire circumference of the beam 2.
The processing system 150 may comprise a guiding device 170. In that case the method may further comprise feeding the beam 2 parts to be joined to the clamping devices via said guiding device 170. The guiding device 170 guide the beam parts to be joined through the beam openings of the plurality of clamping devices.
The frame of the welding device defines a boundary. In the first, outer position the clamping arms stay inside said boundary.
As required, detailed embodiments of the present invention are disclosed herein; however, it is to be understood that the disclosed embodiments are merely exemplary of the invention, which can be embodied in various forms. Therefore, specific structural and functional details disclosed herein are not to be interpreted as limiting, but merely as a basis for the claims and as a representative basis for teaching one skilled in the art to variously employ the present invention in virtually any appropriately detailed structure. Further, the terms and phrases used herein are not intended to be limiting, but rather, to provide an understandable description of the invention.
The terms a or an, as used herein, are defined as one or more than one. The term plurality, as used herein, is defined as two or more than two. The term another, as used herein, is defined as at least a second or more. The terms including and/or having, as used herein, are defined as comprising (i.e., open language, not excluding other elements or steps). Any reference signs in the claims should not be construed as limiting the scope of the claims or the invention.
It will be apparent to those skilled in the art that various modifications can be made to the system and method according to the invention without departing from the scope as defined in the claims.
Claims (39)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2021374A NL2021374B1 (en) | 2018-07-23 | 2018-07-23 | Clamping device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| NL2021374A NL2021374B1 (en) | 2018-07-23 | 2018-07-23 | Clamping device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| NL2021374B1 true NL2021374B1 (en) | 2020-01-30 |
Family
ID=63684397
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| NL2021374A NL2021374B1 (en) | 2018-07-23 | 2018-07-23 | Clamping device |
Country Status (1)
| Country | Link |
|---|---|
| NL (1) | NL2021374B1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021185424A1 (en) * | 2020-03-20 | 2021-09-23 | Fynbo Engineering Ivs | A gripping tool, a system, a clamping unit, and a method of handling objects in a process |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2000812A1 (en) * | 1970-01-09 | 1971-07-15 | Perfection Engineering Ltd | Centering device for turning tools |
| DE4006900A1 (en) * | 1990-03-06 | 1991-09-12 | Ruppertsberg Siegfried | Welding ring assembly for positioning parts to be welded - has outer and inner ring with relative rotation to pivot cramps against hollow body for centring and clamping in position |
| EP0968784A2 (en) * | 1998-06-29 | 2000-01-05 | Tullio Giusi S.p.A. | Button-supporting head with adjustable grip |
-
2018
- 2018-07-23 NL NL2021374A patent/NL2021374B1/en active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE2000812A1 (en) * | 1970-01-09 | 1971-07-15 | Perfection Engineering Ltd | Centering device for turning tools |
| DE4006900A1 (en) * | 1990-03-06 | 1991-09-12 | Ruppertsberg Siegfried | Welding ring assembly for positioning parts to be welded - has outer and inner ring with relative rotation to pivot cramps against hollow body for centring and clamping in position |
| EP0968784A2 (en) * | 1998-06-29 | 2000-01-05 | Tullio Giusi S.p.A. | Button-supporting head with adjustable grip |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021185424A1 (en) * | 2020-03-20 | 2021-09-23 | Fynbo Engineering Ivs | A gripping tool, a system, a clamping unit, and a method of handling objects in a process |
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