WO2019025646A1 - Device for holding workpieces - Google Patents

Device for holding workpieces Download PDF

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Publication number
WO2019025646A1
WO2019025646A1 PCT/ES2018/070368 ES2018070368W WO2019025646A1 WO 2019025646 A1 WO2019025646 A1 WO 2019025646A1 ES 2018070368 W ES2018070368 W ES 2018070368W WO 2019025646 A1 WO2019025646 A1 WO 2019025646A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping device
jaws
potentiometer
measuring device
controller
Prior art date
Application number
PCT/ES2018/070368
Other languages
Spanish (es)
French (fr)
Inventor
Ramón CENARRUZABEITIA PEYPOCH
Javier Moises Fernandez Leal
Carlos Amuchastegui Uriarte
Original Assignee
Fresmak, Sa
Mirakonta, Sl
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fresmak, Sa, Mirakonta, Sl filed Critical Fresmak, Sa
Publication of WO2019025646A1 publication Critical patent/WO2019025646A1/en

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Classifications

    • 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
    • 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
    • B23Q3/18—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for positioning only
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/02—Vices with sliding jaws
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2405—Construction of the jaws
    • B25B1/2457—Construction of the jaws with auxiliary attachments
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B1/00—Vices
    • B25B1/24—Details, e.g. jaws of special shape, slideways
    • B25B1/2494—Means indicating the distance between jaws or their angular position

Definitions

  • the present invention relates to fastening devices for parts applicable to the sector of the machine tool.
  • the workholding devices employ a plurality of clamping elements between which the parts are clamped.
  • This type of device comprises two jaws between which the parts are fastened, and to fit parts of different diameters at least one of the jaws is movable with respect to the other (to increase or decrease the separation between them.)
  • Some of these devices comprise two movable jaws, such as the one disclosed in ES2336399A1 of the applicant, for example, In the device disclosed in this document, a spindle mechanism is used to move the jaws, but other ways of moving said jaws are also known in W02017050514A1.
  • a clamping device comprising a piston actuated by a fluid under pressure to move the jaws.
  • the clamping device comprises a main body, two facing jaws that are linearly displaceable in a clamping direction with respect to the main body, in opposing senses and simultaneously, and a scrollable actuator in one direction of actua transverse to the clamping direction.
  • the actuator comprises an actuation element with an actuation surface for each clamp, the actuation surfaces extending obliquely to the clamping direction and being in contact with a complementary contact surface of a respective clamp, the clamps being configured to move in different directions Opposites when actuated by the actuator between a closing position in which the distance between the two jaws is the minimum and an opening position in which the distance between the two jaws is the maximum.
  • the object of the invention is to provide a piece holding device, as defined in the claims.
  • the part holding device comprises a main body, two jaws facing each other to hold the parts, with at least one of said jaws movable with respect to the other jaw in a linear clamping direction with respect to the main body, to adjust the existing space between both jaws, and an actuator
  • the movable jaw and the actuator are configured so that the movable jaw moves between a closing position in which the distance between the two jaws is minimal and an opening position in which the distance between the two jaws is maximum.
  • the device further comprises a measuring device associated with the movable jaw for detecting the position of said jaw with respect to the opening position 0 with respect to the closing position, and, therefore, the degree of opening of the device. clamping, said degree of opening being the minimum in the closed position and the maximum in the open position.
  • FIG. 1 shows a perspective view of a preferred embodiment of the fastening device of the invention.
  • Figure 2 is a side sectional view of the fastening device of Figure 1, with the jaws in the open position.
  • Figure 3 is a sectional side view of the fastening device of Figure 1, with the jaws in the closed position.
  • Figure 4 shows a perspective view of another embodiment of the fastening device of the invention.
  • the device 100 comprises a main body 102, two jaws 2 facing each other to hold the parts, with at least one of said jaws 2 movable with respect to the other jaw 2, in a clamping direction X linear with respect to the main body 102, for adjusting the space between both jaws 2, and an actuator 4 configured to cause the required displacement of the movable jaw 2.
  • the movable jaw 2 and the actuator 4 are configured so that the movable jaw 2 moves between a closing position in which the distance between the two jaws 2 is minimum and an opening position in which the distance between the two jaws 2 It is maximum.
  • the clamping device 100 further comprises an auxiliary body 103 which engages the main body 102 and which is discussed in more detail below.
  • the two jaws 2 are movable, but it could be the case that only of them was movable (embodiment shown in Figure 4).
  • the jaws 2 face one another, and are linearly displaceable in the clamping direction X in opposite directions and simultaneously, said movement being caused by an actuator 4.
  • the actuator 4 of said preferred embodiment is displaceable in a direction of action And transverse to the clamping direction X, and comprises an actuation element 40 which in turn comprises an actuation surface 41 for each clamp 2, both actuation surfaces 41 extending obliquely to the clamping direction X and to the actuation direction Y (in opposite directions).
  • Each actuation surface 41 is in contact with a contact surface 23 complementary to a respective clamp 2, such that when the actuation element 40 moves in the direction of actuation Y, due to the cooperation between the surfaces 41 and 23 , the jaws 2 move in the clamping direction X.
  • the jaws 2 and the actuator 4 are configured so that said jaws 2 they move between a closing position in which the distance between the two jaws is the minimum and an opening position in which the distance between the two jaws is the maximum.
  • the distance between the closing jaws 2 in the closed position depends on the diameter of the part to be clamped in each case, and is previously adjusted.
  • the main body 102 defines a chamber 101, where the actuator 4 is at least partially arranged, as shown in FIGS. 2 and 3.
  • the main body 102 comprises a hole that communicates said chamber 101 with the outside, and the actuation element 40 of the actuator 4 protrudes from said chamber 101 through said hole, thus being! in contact with the jaws 2 which are arranged outside said chamber 101 (on top of the main body 102).
  • the displacement of the actuation element 40 can be operated hydraulically or pneumatically, for example.
  • the actuator comprises a base 42 from which the actuating element 40 extends, and the corresponding pressurized fluid, preferably air or oil, is applied against a lower face 42.0 of the base 42 to move it in the direction which causes the separation between the jaws 2, or the fluid under pressure is applied on an upper face 42.1 of said base 42 to cause its displacement in the opposite direction.
  • the base 42 is housed in the chamber 101, the fluid being applied in said chamber 101.
  • the main body 102 comprises a groove (not shown in the figures) on an outer surface, and the jaws 2 are housed with freedom of movement in the clamping direction X in said groove.
  • the groove and the jaws 2 comprise complementary configurations to allow said displacement, at the same time that the jaws 2 are held securely in said grooves.
  • Complementary configurations can result in a dovetail configuration, for example.
  • the jaws 2 could be moved with a different actuator 4.
  • the actuator 4 may be analogous to that discussed for the preferred embodiment (configured to move a single jaw 2), or may be different.
  • the clamping device 100 further comprises a measuring device 3 associated with a movable jaw 2 for detecting the position of said jaw 2, preferably with respect to the open position or with respect to the position of closing.
  • a measuring device 3 associated with a movable jaw 2 for detecting the position of said jaw 2, preferably with respect to the open position or with respect to the position of closing.
  • the Measurement device 3 is associated only with one of the jaws 2, because, when moving together, knowing the position of one of them, one can know the position of the other.
  • the clamping device 100 not only can this circumstance be detected, but it can also be detected if the movement has been interrupted or if it has not started, for example. This allows to have more information than with the prior state of the art, since it can be detected if an element has been accidentally introduced between the jaws 2, if an erroneous part has been placed between them to be held or the correct piece but poorly positioned, for example.
  • the clamping device 100 of the invention offers additional information compared to the devices of the prior art, from which operating and / or state data of the clamping device 100 can be obtained, for example, with the advantages that this entails.
  • each jaw 2 comprises a carriage 21 which is partially housed in the groove and which comprises lateral surfaces complementary to the lateral surfaces of the groove, so that the carriages 21 slide along said groove in the direction of X clamping safely, as previously discussed.
  • Each clamp 2 further comprises a clamping element 22 fixed to the corresponding carriage 21, on said carriage 21, and projecting from the main body 102, the clamping elements 22 being responsible for holding the parts, preferably by contact. By projecting from the main body 102, it is possible to arrange parts to be held in the space between the two clamping elements 22 (in the case of clamping pieces with the jaws 2 in the closed position).
  • the measuring device 3 is associated to one of the carriages 21, in such a way that to detect the linear displacement of the jaws 2 the displacement of said carriage 21 is detected.
  • the fact of associating the measuring device 3 with the carriage 21 and not the clamping element 22 allows to change the clamping element 21 if the part to be clamped requires it (for having a different diameter, for example), without having to change any other element or device of the clamping device 100.
  • said jaw 2 also preferably comprises a carriage 21 and a fastening element 22 as discussed for the preferred embodiment, the detection device 3 being associated with said carriage 21.
  • the clamping device 100 further comprises a controller not shown in the figures, which is connected to the measuring device 3, to receive at least one measurement from said measuring device 3.
  • the controller is adapted to treat said received measure as required, which could be a microprocessor, a controller, an FPGA or an equivalent device with the capacity to calculate and process data.
  • the controller and the detection device 3 are arranged in the auxiliary body 103 of the holding device 100.
  • the holding device 100 also preferably comprises a battery for feeding at least the measuring device 3 and the controller, but also all those elements or devices of the clamping device 100 that require electrical power.
  • the battery is in the auxiliary body 103.
  • the auxiliary body 103 is autonomous, and this allows to implement the clamping device 100 of the invention in a simple manner, since it does not require to modify, if required, the design of a known clamping device, being able to be implanted even in one of these clamping devices, simply coupling said auxiliary body 103 to the main body of said clamping devices as required.
  • the controller is preferably configured to communicate with the measuring device 3 intermittently (every 1 ms, for example), instead of continuously, thus, only at times when the controller is required It will read the detection made by the measuring device 3. The reading period will be fixed based on requirements, and will be fixed preferably during the calibration of the clamping device 100.
  • the measuring device 3 comprises a linear displacement potentiometer comprising a static body 30 and a shank 31.
  • the movable rod 31 is associated with the jaw 2 whose linear displacement is measured (to the corresponding carriage 21), thus moving solidly with said jaw 2 with respect to the static body 30, thus being able to obtain the position of said jaw 2 when it is require
  • the static body 30 of the potentiometer is fixed to the auxiliary body 103 of the holding device 100.
  • the potentiometer varies its resistive value with the position of the rod 31, and therefore with the position of the jaws 2.
  • the measurement obtained from the potentiometer reflects the position of the jaws 2, the controller being able to determine said position as a function of said measure (and therefore the degree of opening / closing of the clamping device 100).
  • the potentiometer To detect or measure the displacement with the potentiometer, first, the potentiometer must be electrically powered, and in the preferred embodiment it is carried out by means of the battery.
  • the potentiometer comprises a resistance of a determined value in its maximum displacement, and depending on the voltage to which it is fed comprises a configuration voltage between the two terminals of the resistance. As long as the supply voltage does not vary, this voltage will not be electrically powered, and in the preferred embodiment it is carried out by means of the battery.
  • the potentiometer comprises a resistance of a determined value in its maximum displacement, and depending on the voltage to which it is fed comprises a configuration voltage between the two terminals of the resistance. As long as the supply voltage does not vary, this voltage will not
  • the potentiometer varies its resistance with the displacement of the rod 31, which represents the displacement of the jaws 2, in such a way that the electrical voltage through said mobile resistance is variable as a function of said displacement (depending on the position of the jaws). two).
  • the controller is configured to determine the voltage of configuration and the voltage dependent on the displacement, and for this it is connected to the potentiometer in a certain way.
  • a potentiometer comprises three connections: a reference, a connection pointing to the potentiometer resistance terminal and another connection pointing to the mobile point of the resistor (mobile with the displacement of the rod 31). The potentiometer is connected to the controller by the two connections that point to the resistor, and both,
  • potentiometer and controller are also connected to the same reference.
  • the controller is configured to determine the displacement of the jaws 2 as a function of both electrical voltages. Using both electrical voltages allows to improve the accuracy substantially, since the measurement of the power supply voltage of the potentiometer (configuration voltage) each time you want to determine the
  • the controller is configured to determine the position of the jaws 2 as a function of the quotient between the configuration voltage V1 and the voltage V2 which reflects the position of the jaws 2 ( of the rod 31), the value (V2 / V1) * 100 being a reflection of the position of the rod 31 of the potentiometer in terms of percentage with respect to the maximum displacement of the potentiometer. This allows to give a relative value in% of the displacement, exact and independent of the absolute resistive value of the potentiometer and, consequently,
  • potentiometer The fact of using a potentiometer as mentioned above also makes it possible to use the clamping device 100 as a measuring instrument for diameters, since the diameter of the clamping piece can be obtained by knowing the position of both jaws 2 ( and therefore of the distance that separates them when they are holding a piece).
  • the clamping device 100 also comprises a communications module not shown in the figures, which is communicated with the controller and configured to transmit information relative to said measurement to the exterior of the device. of clamping 100, if necessary.
  • the controller is thus configured to send information relative to the detection made by the measuring device 3 to the communication module, and this, after treating said information and transforming it as it corresponds, will transmit it to where it corresponds.
  • This transmission can also be wireless, for example, which facilitates the assembly of the fastening device 100 at destination, since it is not necessary to connect it to any additional device by wiring that could hinder its installation, in order to be able to process the information obtained by the device
  • the wireless communication can be bidirectional, which can be used, for example, to parameterize or characterize the clamp 2 (for example, remotely define the distance between the jaws 2 in the closed position, for the part corresponding), and to calibrate the measuring device 3 (in particular, the potentiometer).
  • the communication module comprises a radio unit associated with a unique identifier code, the radio unit further comprising a controller configured to control communications of the communications module (the transmission and, where appropriate, also the reception).
  • the controller is connected to said controller, and said controller is configured to transform the information received from the controller to a suitable encoding to transmit it
  • the communications module and the controller can be integrated in the same control device.
  • the clamping device 100 comprises a printed circuit board disposed in the auxiliary body 103 (not shown in the figures), the measuring device 3 being (the rod 31 in the potentiometer case), the controller and the communication module welded to said printed circuit board.
  • the clamping device 100 may further comprise an additional measuring device not shown in the figures, for detecting whether the actuator 4 is operative when required, and an additional controller communicated with said additional measuring device for said additional controller to identify said detection .
  • the additional measuring device and the additional controller are associated with the main body 102.
  • the additional measurement device is disposed between both jaws 2 and comprises a deformable load cell, which is disposed between the two jaws 2 and which deforms when said jaws 2 move, this deformation being detected to determine the actuator 4 is operative.
  • the additional measurement device comprises a pressure switch 110 connected to the chamber 101 to directly measure whether or not there is pressure in said chamber 101, when required.
  • the clamping device 100 may further comprise an additional communication module communicated with the additional controller, which is configured to, at least, wirelessly transmit the information relating to the device. additional measure abroad.
  • the additional controller is configured to communicate with the additional measuring device and with the additional communication module intermittently, every 5 ms, for example, in such a way that it reduces the power consumption (with respect to continuous communications). This allows a smaller battery to be disposed in the holding device 100, which makes it possible to have a more compact and economical device.
  • the additional communication module and the additional controller can be integrated in the same control device.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

The invention relates to a device for holding workpieces, which comprises a main body (102), two jaws (2) facing one another to hold the workpieces, at least one of said jaws (2) being movable to adjust the space that exists between the two jaws (2), and an actuator (4) for causing the required movement of the movable jaw (2). The movable jaw (2) and the actuator (4) are configured so that the movable jaw (2) moves between a closed position in which the distance between the two jaws (2) is minimal and an open position in which the distance between the two jaws (2) is maximal. The holding device (100) comprises a measurement device (3) associated with the movable jaw (2) to detect the position of said jaw (2) with respect to the open position or with respect to the closed position.

Description

DESCRIPCIÓN  DESCRIPTION
DISPOSITIVO DE SUJECIÓN DE PIEZAS PARTS HOLDING DEVICE
La presente invención se relaciona con dispositivos de sujeción de piezas aplicables al sector de la máquina-herramienta. The present invention relates to fastening devices for parts applicable to the sector of the machine tool.
ESTADO ANTERIOR DE LA TÉCNICA PRIOR STATE OF THE TECHNIQUE
Los dispositivos de sujeción de piezas emplean una pluralidad de elementos de sujeción entre los que se sujetan las piezas. Este tipo de dispositivos comprenden dos mordazas entre las que se sujetan las piezas, y para ajustarse a piezas de diferentes diámetros al menos una de las mordazas es móvil con respecto a la otra (para aumentar o disminuir la separación entre ellas. Algunos de estos dispositivos de sujeción comprenden dos mordazas móviles, como el divulgado en ES2336399A1 del propio solicitante, por ejemplo. En el dispositivo divulgado en este documento se emplea un mecanismo de husillo para desplazar las mordazas, pero también se conoce otras maneras de desplazar dichas mordazas. En W02017050514A1 se divulga un dispositivo de sujeción que comprende un pistón actuado mediante un fluido a presión, para mover las mordazas. El dispositivo de sujeción comprende un cuerpo principal, dos mordazas enfrentadas que son desplazables linealmente en una dirección de sujeción con respecto al cuerpo principal, en sentidos opuestos y simultáneamente, y un actuador desplazable en una dirección de actuación transversal a la dirección de sujeción. El actuador comprende un elemento de actuación con una superficie de actuación para cada mordaza, extendiéndose las superficies de actuación oblicuamente a la dirección de sujeción y estando en contacto con una superficie de contacto complementaria de una mordaza respectiva, estando las mordazas configuradas para desplazarse en sentidos opuestos cuando son actuadas por el actuador entre una posición de cierre en la que la distancia entre las dos mordazas es la mínima y una posición de apertura en la que la distancia entre las dos mordazas es la máxima. The workholding devices employ a plurality of clamping elements between which the parts are clamped. This type of device comprises two jaws between which the parts are fastened, and to fit parts of different diameters at least one of the jaws is movable with respect to the other (to increase or decrease the separation between them.) Some of these devices The clamping devices comprise two movable jaws, such as the one disclosed in ES2336399A1 of the applicant, for example, In the device disclosed in this document, a spindle mechanism is used to move the jaws, but other ways of moving said jaws are also known in W02017050514A1. discloses a clamping device comprising a piston actuated by a fluid under pressure to move the jaws.The clamping device comprises a main body, two facing jaws that are linearly displaceable in a clamping direction with respect to the main body, in opposing senses and simultaneously, and a scrollable actuator in one direction of actua transverse to the clamping direction. The actuator comprises an actuation element with an actuation surface for each clamp, the actuation surfaces extending obliquely to the clamping direction and being in contact with a complementary contact surface of a respective clamp, the clamps being configured to move in different directions Opposites when actuated by the actuator between a closing position in which the distance between the two jaws is the minimum and an opening position in which the distance between the two jaws is the maximum.
EXPOSICIÓN DE LA INVENCIÓN El objeto de la invención es el de proporcionar un dispositivo de sujeción de piezas, según se define en las reivindicaciones. EXHIBITION OF THE INVENTION The object of the invention is to provide a piece holding device, as defined in the claims.
El dispositivo de sujeción de piezas comprende un cuerpo principal, dos mordazas enfrentadas para sujetar las piezas, siendo al menos una de dichas mordazas móvil con respecto a la otra mordaza en una dirección de sujeción lineal con respecto al cuerpo principal, para ajusfar el espacio existente entre ambas mordazas, y un actuador The part holding device comprises a main body, two jaws facing each other to hold the parts, with at least one of said jaws movable with respect to the other jaw in a linear clamping direction with respect to the main body, to adjust the existing space between both jaws, and an actuator
configurado para provocar el desplazamiento requerido de la mordaza móvil. La mordaza móvil y el actuador están configurados para que la mordaza móvil se desplace entre una posición de cierre en la que la distancia entre las dos mordazas es mínima y una posición de apertura en la que la distancia entre las dos mordazas es máxima. configured to cause the required displacement of the movable jaw. The movable jaw and the actuator are configured so that the movable jaw moves between a closing position in which the distance between the two jaws is minimal and an opening position in which the distance between the two jaws is maximum.
El dispositivo comprende, además, un dispositivo de medida asociado a la mordaza móvil para detectar la posición de dicha mordaza con respecto a la posición de apertura 0 con respecto a la posición de cierre, y, por tanto, el grado de apertura del dispositivo de sujeción, siendo dicho grado de apertura el mínimo en la posición de cierre y el máximo en la posición de apertura. The device further comprises a measuring device associated with the movable jaw for detecting the position of said jaw with respect to the opening position 0 with respect to the closing position, and, therefore, the degree of opening of the device. clamping, said degree of opening being the minimum in the closed position and the maximum in the open position.
De esta manera, se puede determinar, por ejemplo, el grado de apertura/cierre del dispositivo de sujeción, y no únicamente si la mordaza móvil ha llegado a su posición final, pudiéndose detectar casuísticas adicionales como un agarre de una pieza mal posicionada (con un detector que solo indica si el dispositivo de sujeción ha llegado a su posición final o su posición de origen, la única información en ese caso sería que la pieza no se ha sujetado, pero no se sabría por qué, por ejemplo). Estas y otras ventajas y características de la invención se harán evidentes a la vista de las figuras y de la descripción detallada de la invención. In this way, it is possible to determine, for example, the degree of opening / closing of the clamping device, and not only if the mobile clamp has reached its final position, being able to detect additional casuistry as a grip of a piece incorrectly positioned (with a detector that only indicates if the clamping device has reached its final position or its position of origin, the only information in that case would be that the piece has not been fastened, but it would not be known why, for example). These and other advantages and features of the invention will become apparent in view of the figures and the detailed description of the invention.
DESCRIPCIÓN DE LOS DIBUJOS La figura 1 muestra una vista en perspectiva de una realización preferente del dispositivo de sujeción de la invención. DESCRIPTION OF THE DRAWINGS Figure 1 shows a perspective view of a preferred embodiment of the fastening device of the invention.
La figura 2 es una vista lateral en corte del dispositivo de sujeción de la figura 1 , con las mordazas en la posición de apertura. La figura 3 es una vista lateral en corte del dispositivo de sujeción de la figura 1 , con las mordazas en la posición de cierre. Figure 2 is a side sectional view of the fastening device of Figure 1, with the jaws in the open position. Figure 3 is a sectional side view of the fastening device of Figure 1, with the jaws in the closed position.
La figura 4 muestra una vista en perspectiva de otra realización del dispositivo de sujeción de la invención. Figure 4 shows a perspective view of another embodiment of the fastening device of the invention.
EXPOSICIÓN DETALLADA DE LA INVENCIÓN DETAILED EXHIBITION OF THE INVENTION
En las figuras 1 a 3 se muestra una realización preferente del dispositivo de sujeción 100 de piezas de la invención. El dispositivo 100 comprende un cuerpo principal 102, dos mordazas 2 enfrentadas para sujetar las piezas, siendo al menos una de dichas mordazas 2 móvil con respecto a la otra mordaza 2, en una dirección de sujeción X lineal con respecto al cuerpo principal 102, para ajusfar el espacio existente entre ambas mordazas 2, y un actuador 4 configurado para provocar el desplazamiento requerido de la mordaza 2 móvil. La mordaza 2 móvil y el actuador 4 están configurados para que la mordaza 2 móvil se desplace entre una posición de cierre en la que la distancia entre las dos mordazas 2 es mínima y una posición de apertura en la que la distancia entre las dos mordazas 2 es máxima. El dispositivo de sujeción 100 comprende además un cuerpo auxiliar 103 que se acopla al cuerpo principal 102 y que se comenta más adelante con más detalle. En la realización preferente del dispositivo de sujeción 100 de la invención, las dos mordazas 2 son móviles, pero pudiera darse el caso de que solo de ellas fuese móvil (realización mostrada en la figura 4). In Figures 1 to 3 a preferred embodiment of the clamping device 100 of parts of the invention is shown. The device 100 comprises a main body 102, two jaws 2 facing each other to hold the parts, with at least one of said jaws 2 movable with respect to the other jaw 2, in a clamping direction X linear with respect to the main body 102, for adjusting the space between both jaws 2, and an actuator 4 configured to cause the required displacement of the movable jaw 2. The movable jaw 2 and the actuator 4 are configured so that the movable jaw 2 moves between a closing position in which the distance between the two jaws 2 is minimum and an opening position in which the distance between the two jaws 2 It is maximum. The clamping device 100 further comprises an auxiliary body 103 which engages the main body 102 and which is discussed in more detail below. In the preferred embodiment of the clamping device 100 of the invention, the two jaws 2 are movable, but it could be the case that only of them was movable (embodiment shown in Figure 4).
En la realización preferente las mordazas 2 están enfrentadas entre sí, y son desplazables linealmente en la dirección de sujeción X en sentidos opuestos y simultáneamente, provocándose dicho desplazamiento con un actuador 4. El actuador 4 de dicha realización preferente es desplazable en una dirección de actuación Y transversal a la dirección de sujeción X, y comprende un elemento de actuación 40 que a su vez comprende una superficie de actuación 41 para cada mordaza 2, extendiéndose ambas superficies de actuación 41 oblicuamente a la dirección de sujeción X y a la dirección de actuación Y (en direcciones opuestas). Cada superficie de actuación 41 está en contacto con una superficie de contacto 23 complementaria de una mordaza 2 respectiva, de tal manera que cuando el elemento de actuación 40 se desplaza en la dirección de actuación Y, debido a la cooperación entre las superficies 41 y 23, las mordazas 2 se desplazan en la dirección de sujeción X. Las mordazas 2 y el actuador 4 están configurados para que dichas mordazas 2 se desplacen entre una posición de cierre en la que la distancia entre las dos mordazas es la mínima y una posición de apertura en la que la distancia entre las dos mordazas es la máxima. La distancia entre las mordazas de cierre 2 en la posición de cierre depende del diámetro de la pieza a sujetar en cada caso, y se ajusta previamente. In the preferred embodiment, the jaws 2 face one another, and are linearly displaceable in the clamping direction X in opposite directions and simultaneously, said movement being caused by an actuator 4. The actuator 4 of said preferred embodiment is displaceable in a direction of action And transverse to the clamping direction X, and comprises an actuation element 40 which in turn comprises an actuation surface 41 for each clamp 2, both actuation surfaces 41 extending obliquely to the clamping direction X and to the actuation direction Y (in opposite directions). Each actuation surface 41 is in contact with a contact surface 23 complementary to a respective clamp 2, such that when the actuation element 40 moves in the direction of actuation Y, due to the cooperation between the surfaces 41 and 23 , the jaws 2 move in the clamping direction X. The jaws 2 and the actuator 4 are configured so that said jaws 2 they move between a closing position in which the distance between the two jaws is the minimum and an opening position in which the distance between the two jaws is the maximum. The distance between the closing jaws 2 in the closed position depends on the diameter of the part to be clamped in each case, and is previously adjusted.
En la realización preferente, el cuerpo principal 102 define una cámara 101 , donde está dispuesto al menos parcialmente el actuador 4, tal y como se muestra en las figuras 2 y 3. El cuerpo principal 102 comprende un orificio que comunica dicha cámara 101 con el exterior, y el elemento de actuación 40 del actuador 4 sobresale de dicha cámara 101 a través de dicho orificio, estando as! en contacto con las mordazas 2 que están dispuestas fuera de dicha cámara 101 (encima del cuerpo principal 102). El desplazamiento del elemento de actuación 40 puede accionarse de manera hidráulica o neumática, por ejemplo. Para ello, el actuador comprende una base 42 a partir de la cual se extiende el elemento de actuación 40, y se aplica el fluido a presión correspondiente, preferentemente aire o aceite, contra una cara inferior 42.0 de la base 42 para desplazarlo en la dirección que provoca la separación entre las mordazas 2, o se aplica el fluido a presión sobre una cara superior 42.1 de dicha base 42 para provocar su desplazamiento en el sentido contrario. La base 42 esta alojada en la cámara 101 , aplicándose el fluido en dicha cámara 101. In the preferred embodiment, the main body 102 defines a chamber 101, where the actuator 4 is at least partially arranged, as shown in FIGS. 2 and 3. The main body 102 comprises a hole that communicates said chamber 101 with the outside, and the actuation element 40 of the actuator 4 protrudes from said chamber 101 through said hole, thus being! in contact with the jaws 2 which are arranged outside said chamber 101 (on top of the main body 102). The displacement of the actuation element 40 can be operated hydraulically or pneumatically, for example. For this, the actuator comprises a base 42 from which the actuating element 40 extends, and the corresponding pressurized fluid, preferably air or oil, is applied against a lower face 42.0 of the base 42 to move it in the direction which causes the separation between the jaws 2, or the fluid under pressure is applied on an upper face 42.1 of said base 42 to cause its displacement in the opposite direction. The base 42 is housed in the chamber 101, the fluid being applied in said chamber 101.
En la realización preferente, el cuerpo principal 102 comprende una ranura (no representada en las figuras) en una superficie exterior, y las mordazas 2 están alojadas con libertad de desplazamiento en la dirección de sujeción X en dicha ranura. La ranura y las mordazas 2 comprenden configuraciones complementarias para permitir dicho desplazamiento, a la misma vez que las mordazas 2 se mantienen de forma segura en dichas ranuras. Las configuraciones complementarias pueden dar lugar a una configuración tipo cola de milano, por ejemplo. In the preferred embodiment, the main body 102 comprises a groove (not shown in the figures) on an outer surface, and the jaws 2 are housed with freedom of movement in the clamping direction X in said groove. The groove and the jaws 2 comprise complementary configurations to allow said displacement, at the same time that the jaws 2 are held securely in said grooves. Complementary configurations can result in a dovetail configuration, for example.
En otras realizaciones las mordazas 2 pudieran moverse con un actuador 4 diferente. En otras realizaciones en las que sólo una mordaza 2 es móvil, el actuador 4 puede ser análogo al comentado para la realización preferente (configurado para mover una sola mordaza 2), o puede ser diferente. In other embodiments the jaws 2 could be moved with a different actuator 4. In other embodiments where only one jaw 2 is movable, the actuator 4 may be analogous to that discussed for the preferred embodiment (configured to move a single jaw 2), or may be different.
En cualquiera de las realizaciones, el dispositivo de sujeción 100 comprende, además, un dispositivo de medida 3 asociado a una mordaza 2 móvil para detectar la posición de dicha mordaza 2, preferentemente con respecto a la posición de apertura o con respecto a la posición de cierre. En la realización preferente, aunque las dos mordazas 2 son móviles el dispositivo de medida 3 está asociado únicamente a una de las mordazas 2, debido a que, al moverse solidarias, conociendo la posición de una de ellas se puede saber la posición de la otra. In any of the embodiments, the clamping device 100 further comprises a measuring device 3 associated with a movable jaw 2 for detecting the position of said jaw 2, preferably with respect to the open position or with respect to the position of closing. In the preferred embodiment, although the two jaws 2 are movable the Measurement device 3 is associated only with one of the jaws 2, because, when moving together, knowing the position of one of them, one can know the position of the other.
De esta manera, gracias a dicha detección es posible determinar la posición de ambas mordazas 2 (o de la mordaza 2 móvil) y por tanto el grado de apertura (o cierre) del dispositivo de sujeción 100, siendo dicho grado de apertura el mínimo en la posición de cierre (que como se ha comentado depende de la pieza a sujetar, o que se sujeta, en cada memento) y el máximo en la posición de apertura. Si se toma la posición de apertura como referencia, por ejemplo, cuando las mordazas 2 (o la mordaza 2) se desplazan para pasar a la posición de cierre el dispositivo de medida 3 es capaz de determinar la posición de las mordazas 2 (o de la mordaza 2) a lo largo de todo su recorrido (y no uncialmente cuando llegan al destino). Así, por ejemplo, si las mordazas 2 (o la mordaza 2) dejan de desplazarse a pesar de no haber completado todavía todo el desplazamiento previsto, con el dispositivo de sujeción 100 no sólo se puede detectar esta circunstancia, sino que también se puede detectar si el desplazamiento se ha interrumpido o si no ha empezado, por ejemplo. Esto permite tener más información que con el estado anterior de la técnica, puesto que se puede detectar si se ha introducido algún elemento de manera accidental entre las mordazas 2, si se haya dispuesto una pieza errónea entre ellas para ser sujeta o se ha dispuesto la pieza correcta pero mal posicionada, por ejemplo. In this way, thanks to said detection it is possible to determine the position of both jaws 2 (or of the movable jaw 2) and therefore the degree of opening (or closing) of the clamping device 100, said degree of opening being the minimum in the closing position (which, as mentioned, depends on the piece to be held, or that is held, at each moment) and the maximum in the opening position. If the opening position is taken as reference, for example, when the jaws 2 (or the jaw 2) move to move to the closing position the measuring device 3 is able to determine the position of the jaws 2 (or the gag 2) along its entire route (and not uncially when they arrive at the destination). Thus, for example, if the jaws 2 (or the jaw 2) stop moving despite not yet completing all the planned movement, with the clamping device 100 not only can this circumstance be detected, but it can also be detected if the movement has been interrupted or if it has not started, for example. This allows to have more information than with the prior state of the art, since it can be detected if an element has been accidentally introduced between the jaws 2, if an erroneous part has been placed between them to be held or the correct piece but poorly positioned, for example.
Por el contrario, en los dispositivos de sujeción del estado anterior de la técnica simplemente se saberla que las mordazas 2 no han llegado a su destine puesto que no se habría detectado su llegada a dicho destino (llegada que se detecta normalmente con un detector inductivo), pero no se podría saber si es porque se ha interrumpido su desplazamiento (la posición actual de las mordazas 2) o si ni tan quisiera ha comenzado dicho desplazamiento, por ejemplo. De esta manera, el dispositivo de sujeción 100 de la invención ofrece información adicional comparado con los dispositivos del estado anterior de la técnica, a partir de la cual se pueden obtener datos de funcionamiento y/o estado del dispositivo de sujeción 100, por ejemplo, con las ventajas que ello conlleva. On the contrary, in prior art fastening devices it is simply known that the jaws 2 have not reached their destination since their arrival at that destination would not have been detected (arrival that is normally detected with an inductive detector) , but it could not be known if it is because his displacement has been interrupted (the current position of the jaws 2) or if he had not even wanted to start said displacement, for example. In this way, the clamping device 100 of the invention offers additional information compared to the devices of the prior art, from which operating and / or state data of the clamping device 100 can be obtained, for example, with the advantages that this entails.
En la realización preferente, cada mordaza 2 comprende un carro 21 que está alojado parcial mente en la ranura y que comprende unas superficies laterales complementarias a las superficies laterales de la ranura, de manera que los carros 21 se deslicen por dicha ranura en la dirección de sujeción X de manera segura, tal y como se ha comentado previamente. Cada mordaza 2 comprende además un elemento de sujeción 22 fijado al carro 21 correspondiente, sobre dicho carro 21 , Y que sobresale del cuerpo principal 102, siendo los elementos de sujeción 22 los encargados de sujetar las piezas, preferentemente por contacto. Al sobresalir del cuerpo principal 102 se permite disponer piezas a sujetar en el espacio entre los dos elementos de sujeción 22 (en el caso de sujetar piezas con las mordazas 2 en la posición de cierre). El dispositivo de medida 3 está asociado a uno de los carros 21 , de tal manera que para detectar el desplazamiento lineal de las mordazas 2 se detecta el desplazamiento de dicho carro 21. El hecho de asociar el dispositivo de medida 3 al carro 21 y no al elemento de sujeción 22 permite cambiar el elemento de sujeción 21 si la pieza a sujetar así lo requiere (por tener un diámetro diferente, por ejemplo), sin tener que cambiar ningún otro elemento o dispositivo del dispositivo de sujeción 100. In the preferred embodiment, each jaw 2 comprises a carriage 21 which is partially housed in the groove and which comprises lateral surfaces complementary to the lateral surfaces of the groove, so that the carriages 21 slide along said groove in the direction of X clamping safely, as previously discussed. Each clamp 2 further comprises a clamping element 22 fixed to the corresponding carriage 21, on said carriage 21, and projecting from the main body 102, the clamping elements 22 being responsible for holding the parts, preferably by contact. By projecting from the main body 102, it is possible to arrange parts to be held in the space between the two clamping elements 22 (in the case of clamping pieces with the jaws 2 in the closed position). The measuring device 3 is associated to one of the carriages 21, in such a way that to detect the linear displacement of the jaws 2 the displacement of said carriage 21 is detected. The fact of associating the measuring device 3 with the carriage 21 and not the clamping element 22 allows to change the clamping element 21 if the part to be clamped requires it (for having a different diameter, for example), without having to change any other element or device of the clamping device 100.
En algunas realizaciones en las que solo una de las mordazas 2 es móvil, dicha mordaza 2 también comprende preferentemente un carro 21 y un elemento de sujeción 22 como los comentados para la realización preferente, estando el dispositivo de detección 3 asociado a dicho carro 21. In some embodiments in which only one of the jaws 2 is movable, said jaw 2 also preferably comprises a carriage 21 and a fastening element 22 as discussed for the preferred embodiment, the detection device 3 being associated with said carriage 21.
En cualquiera de las realizaciones, el dispositivo de sujeción 100 comprende además un controlador no representado en las figuras, que está comunicado con el dispositivo de medida 3, para recibir al menos una medida procedente de dicho dispositivo de medida 3. El controlador está adaptado para tratar dicha medida recibida como se requiera, pudiendo ser así un microprocesador, un controlador, una FPGA o un dispositivo equivalente con capacidad de cálculo y de tratamiento de datos. Preferentemente, el controlador y el dispositivo de detección 3 están dispuestos en el cuerpo auxiliar 103 del dispositivo de sujeción 100. El dispositivo de sujeción 100 comprende, además, preferentemente, una batería para alimentar al menos el dispositivo de medida 3 y el controlador, pero también todos aquellos elementos o dispositivos del dispositivo de sujeción 100 que requieran alimentación eléctrica. La batería está en el cuerpo auxiliar 103. De esta manera, el cuerpo auxiliar 103 es autónomo, y esto permite implementar el dispositivo de sujeción 100 de la invención de una manera sencilla, puesto que no requiere modificar, si así se requiere, el diseño de un dispositivo de sujeción ya conocido, pudiéndose implantar incluso en uno de estos dispositivos de sujeción, acoplando simplemente dicho cuerpo auxiliar 103 al cuerpo principal de dichos dispositivos de sujeción como se requiera. Para disminuir el consumo energético, el controlador está configurado preferentemente para comunicarse con el dispositivo de medida 3 de manera intermitente (cada 1 ms, por ejemplo), en vez de manera continua, Así, únicamente en los momentos en los que se requiera el controlador leerá la detección realizada por el dispositivo de medida 3. El periodo de lectura se fijará en base a requerimientos, y se fijará preferentemente durante la calibración del dispositivo de sujeción 100. Esto reduce los requisitos energéticos del dispositivo de sujeción 100, lo que permite reducir el tamaño de la batería a emplear, con el resultado de poder compactar el cuerpo auxiliar 103 (y por tanto el dispositivo de sujeción 100) y reducir el coste total del dispositivo de sujeción 100. Preferentemente, tal y como ocurre en la realización preferente, por ejemplo, el dispositivo de medida 3 comprende un potenciómetro de desplazamiento lineal que comprende un cuerpo estático 30 y un vástago móvil 31. El vástago móvil 31 está asociado a la mordaza 2 cuyo desplazamiento lineal se mide (al carro 21 correspondiente), moviéndose así solidario con dicha mordaza 2 con respecto al cuerpo estático 30, pudiéndose así obtener la posición de dicha mordaza 2 cuando se requiera. En dicha realización preferente, el cuerpo estático 30 del potenciómetro está fijo en el cuerpo auxiliar 103 del dispositivo de sujeción 100. In any of the embodiments, the clamping device 100 further comprises a controller not shown in the figures, which is connected to the measuring device 3, to receive at least one measurement from said measuring device 3. The controller is adapted to treat said received measure as required, which could be a microprocessor, a controller, an FPGA or an equivalent device with the capacity to calculate and process data. Preferably, the controller and the detection device 3 are arranged in the auxiliary body 103 of the holding device 100. The holding device 100 also preferably comprises a battery for feeding at least the measuring device 3 and the controller, but also all those elements or devices of the clamping device 100 that require electrical power. The battery is in the auxiliary body 103. In this way, the auxiliary body 103 is autonomous, and this allows to implement the clamping device 100 of the invention in a simple manner, since it does not require to modify, if required, the design of a known clamping device, being able to be implanted even in one of these clamping devices, simply coupling said auxiliary body 103 to the main body of said clamping devices as required. To reduce the energy consumption, the controller is preferably configured to communicate with the measuring device 3 intermittently (every 1 ms, for example), instead of continuously, thus, only at times when the controller is required It will read the detection made by the measuring device 3. The reading period will be fixed based on requirements, and will be fixed preferably during the calibration of the clamping device 100. This reduces the energy requirements of the clamping device 100, which allows to reduce the size of the battery to be used, with the result of being able to compact the auxiliary body 103 (and therefore the holding device 100) and reduce the total cost of the holding device 100. Preferably, as in the preferred embodiment, for example, the measuring device 3 comprises a linear displacement potentiometer comprising a static body 30 and a shank 31. The movable rod 31 is associated with the jaw 2 whose linear displacement is measured (to the corresponding carriage 21), thus moving solidly with said jaw 2 with respect to the static body 30, thus being able to obtain the position of said jaw 2 when it is require In said preferred embodiment, the static body 30 of the potentiometer is fixed to the auxiliary body 103 of the holding device 100.
El potenciómetro varia su valor resistivo con la posición del vástago 31 , y por lo tanto con la posición de las mordazas 2. Así, la medida obtenida del potenciómetro refleja la posición de las mordazas 2, pudiendo el controlador determinar dicha posición en función de dicha medida (y por tanto el grado de apertura/cierre del dispositivo de sujeción 100). The potentiometer varies its resistive value with the position of the rod 31, and therefore with the position of the jaws 2. Thus, the measurement obtained from the potentiometer reflects the position of the jaws 2, the controller being able to determine said position as a function of said measure (and therefore the degree of opening / closing of the clamping device 100).
Para detectar o medir el desplazamiento con el potenciómetro, en primer lugar, el potenciómetro tiene que estar alimentado eléctricamente, y en la realización preferente se realiza mediante la batería. El potenciómetro comprende una resistencia de un valor determinado en su desplazamiento máximo, y dependiendo de la tensión a la que sea alimentado comprende una tensión de configuración entre los dos bornes de la resistencia. Mientras la tensión de alimentación no vane, dicha tensión tampoco lo hará To detect or measure the displacement with the potentiometer, first, the potentiometer must be electrically powered, and in the preferred embodiment it is carried out by means of the battery. The potentiometer comprises a resistance of a determined value in its maximum displacement, and depending on the voltage to which it is fed comprises a configuration voltage between the two terminals of the resistance. As long as the supply voltage does not vary, this voltage will not
(independientemente del desplazamiento o posición de las mordazas 2). (regardless of the displacement or position of the jaws 2).
El potenciómetro varia su resistencia con el desplazamiento del vástago 31 , que representa el desplazamiento de las mordazas 2, de tal manera que la tensión eléctrica a través de dicha resistencia móvil es variable en función de dicho desplazamiento (en función de la posición de las mordazas 2). Preferentemente, tal y como ocurre en la realización preferente, por ejemplo, el controlador está configurado para determinar la tensión de configuración y la tensión eléctrica dependiente del desplazamiento, y para ello está conectado al potenciómetro de una manera determinada. Por lo general un potenciómetro comprende tres conexiones: una referencia, una conexión que apunta a borne de la resistencia del potenciómetro y otra conexión que apunta al punto móvil de la resistencia (móvil con el desplazamiento del vástago 31). El potenciómetro está conectado al controlador mediante las dos conexiones que apuntan a la resistencia, y ambos, The potentiometer varies its resistance with the displacement of the rod 31, which represents the displacement of the jaws 2, in such a way that the electrical voltage through said mobile resistance is variable as a function of said displacement (depending on the position of the jaws). two). Preferably, as in the preferred embodiment, for example, the controller is configured to determine the voltage of configuration and the voltage dependent on the displacement, and for this it is connected to the potentiometer in a certain way. In general, a potentiometer comprises three connections: a reference, a connection pointing to the potentiometer resistance terminal and another connection pointing to the mobile point of the resistor (mobile with the displacement of the rod 31). The potentiometer is connected to the controller by the two connections that point to the resistor, and both,
potenciómetro y controlador, están conectados además a la misma referencia. El controlador está configurado para determinar el desplazamiento de las mordazas 2 en función de ambas tensiones eléctricas. Emplear ambas tensiones eléctricas permite mejorar sustancialmente la precisión, puesto que la medición de la tensión de alimentación del potenciómetro (tensión de configuración) cada vez que se quiere determinar el potentiometer and controller, are also connected to the same reference. The controller is configured to determine the displacement of the jaws 2 as a function of both electrical voltages. Using both electrical voltages allows to improve the accuracy substantially, since the measurement of the power supply voltage of the potentiometer (configuration voltage) each time you want to determine the
desplazamiento de las mordazas 2 hace que la precisión de la medida de la posición del potenciómetro sea independiente de la variación de tensión de la batería, puesto que esta variación se tiene en cuenta en ambas medidas. Preferentemente, tal y como ocurre además en la realización preferente, por ejemplo, el controlador está configurado para determinar la posición de las mordazas 2 en función del cociente entre la tensión de configuración V1 y la tensión V2 que refleja la posición de las mordazas 2 (del vástago 31), siendo el valor (V2/V1) * 100 reflejo de la posición del vástago 31 del potenciómetro en términos de porcentaje con respecto al desplazamiento máximo del potenciómetro. Esto permite dar un valor relativo en % del desplazamiento, exacto e independiente del valor resistivo absoluto del potenciómetro y, en consecuencia, displacement of the jaws 2 makes the precision of the measurement of the position of the potentiometer independent of the voltage variation of the battery, since this variation is taken into account in both measurements. Preferably, as is also the case in the preferred embodiment, for example, the controller is configured to determine the position of the jaws 2 as a function of the quotient between the configuration voltage V1 and the voltage V2 which reflects the position of the jaws 2 ( of the rod 31), the value (V2 / V1) * 100 being a reflection of the position of the rod 31 of the potentiometer in terms of percentage with respect to the maximum displacement of the potentiometer. This allows to give a relative value in% of the displacement, exact and independent of the absolute resistive value of the potentiometer and, consequently,
independiente de la tolerancia en el valor de la resistencia que pueda tener el independent of the tolerance in the value of the resistance that the
potenciómetro. El hecho de emplear un potenciómetro como el comentado, además, permite poder emplear el dispositivo de sujeción 100 como un instrumento de medida de diámetros, puesto que se puede obtener el diámetro de la pieza que sujeta, al conocerse la posición de ambas mordazas 2 (y por lo tanto de la distancia que las separa cuando están sujetando una pieza). potentiometer. The fact of using a potentiometer as mentioned above also makes it possible to use the clamping device 100 as a measuring instrument for diameters, since the diameter of the clamping piece can be obtained by knowing the position of both jaws 2 ( and therefore of the distance that separates them when they are holding a piece).
Preferentemente, tal y como ocurre en la realización preferente, por ejemplo, el dispositivo de sujeción 100 también comprende un módulo de comunicaciones no representado en las figuras, que está comunicado con el controlador y configurado para transmitir información relativa a dicha medida al exterior del dispositivo de sujeción 100, si fuera necesario. El controlador esta así configurado para enviar información relativa a la detección realizada por el dispositivo de medida 3 al módulo de comunicaciones, y este, tras tratar dicha información y transformarla como corresponda, la transmitirá a donde corresponda. Esa transmisión puede ser además inalámbrica, por ejemplo, lo que facilita el montaje del dispositivo de sujeción 100 en destino, puesto que no es necesario conectarlo a ningún dispositivo adicional mediante cableado que pudiera entorpecer su instalación, para poder tratar la información obtenida mediante el dispositivo de medida 3. Además, la comunicación inalámbrica puede ser bidireccional, lo que puede servir, por ejemplo, para parametrizar o caracterizar la mordaza 2 (por ejemplo, definir remota mente la distancia entre las mordazas 2 en la posición de cierre, para la pieza correspondiente), y para calibrar el dispositivo de medida 3 (en particular, el potenciómetro). Preferably, as in the preferred embodiment, for example, the clamping device 100 also comprises a communications module not shown in the figures, which is communicated with the controller and configured to transmit information relative to said measurement to the exterior of the device. of clamping 100, if necessary. The controller is thus configured to send information relative to the detection made by the measuring device 3 to the communication module, and this, after treating said information and transforming it as it corresponds, will transmit it to where it corresponds. This transmission can also be wireless, for example, which facilitates the assembly of the fastening device 100 at destination, since it is not necessary to connect it to any additional device by wiring that could hinder its installation, in order to be able to process the information obtained by the device Furthermore, the wireless communication can be bidirectional, which can be used, for example, to parameterize or characterize the clamp 2 (for example, remotely define the distance between the jaws 2 in the closed position, for the part corresponding), and to calibrate the measuring device 3 (in particular, the potentiometer).
Preferentemente, el módulo de comunicaciones comprende una unidad de radio asociada con un código identificador único, comprendiendo además la unidad de radio un controlador configurado para controlar las comunicaciones del módulo de comunicaciones (las de transmisión y, en su caso, también las de recepción), El controlador esta comunicado con dicho controlador, y dicho controlador está configurado para transformar la información recibida desde el controlador a una codificación adecuada para transmitirla Preferably, the communication module comprises a radio unit associated with a unique identifier code, the radio unit further comprising a controller configured to control communications of the communications module (the transmission and, where appropriate, also the reception). , The controller is connected to said controller, and said controller is configured to transform the information received from the controller to a suitable encoding to transmit it
inalámbricamente, y viceversa. wirelessly, and vice versa.
El módulo de comunicaciones y el controlador pueden estar integrados en un mismo dispositivo de control. The communications module and the controller can be integrated in the same control device.
En algunas realizaciones, como en la realización preferente, por ejemplo, el dispositivo de sujeción 100 comprende una placa de circuito impreso dispuesta en el cuerpo auxiliar 103 (no representada en las figuras), estando el dispositivo de medida 3 (el vástago 31 en el caso del potenciómetro), el controlador y el módulo de comunicaciones soldados a dicha placa de circuito impreso. In some embodiments, as in the preferred embodiment, for example, the clamping device 100 comprises a printed circuit board disposed in the auxiliary body 103 (not shown in the figures), the measuring device 3 being (the rod 31 in the potentiometer case), the controller and the communication module welded to said printed circuit board.
El dispositivo de sujeción 100 puede comprender además un dispositivo de medida adicional no representado en las figuras, para detectar si el actuador 4 está operativo cuando se requiere, y un controlador adicional comunicado con dicho dispositivo de medida adicional para que dicho controlador adicional identifique dicha detección. El dispositivo de medida adicional y el controlador adicional están asociados al cuerpo principal 102. The clamping device 100 may further comprise an additional measuring device not shown in the figures, for detecting whether the actuator 4 is operative when required, and an additional controller communicated with said additional measuring device for said additional controller to identify said detection . The additional measuring device and the additional controller are associated with the main body 102.
En algunas realizaciones, el dispositivo de medida adicional está dispuesto entre ambas mordazas 2 y comprende una célula de carga deformable, que está dispuesta entre las dos mordazas 2 y que se deforma cuando dichas mordazas 2 se desplazan, detectándose esta deformación para determinar el actuador 4 está operativo. En otras realizaciones, el dispositivo de medida adicional comprende un presostato 110 conectado a la cámara 101 para medir directamente si hay o no presión en dicha cámara 101 , cuando se requiere. En el caso de comprender un dispositivo de medida adicional y un controlador adicional, el dispositivo de sujeción 100 puede comprender además un módulo de comunicaciones adicional comunicado con el controlador adicional, que está configurado para, al menos, transmitir inalámbricamente la información relativa al dispositivo de medida adicional al exterior. El controlador adicional está configurado para comunicarse con el dispositivo de medida adicional y con el módulo de comunicaciones adicional de manera intermitente, cada 5 ms, por ejemplo, de tal manera que reduce el consumo energético (con respecto comunicaciones continuas). Esto permite disponer una batería menor en el dispositivo de sujeción 100, lo que permite tener un dispositivo más compacto y económico. El módulo de comunicaciones adicional y el controlador adicional pueden estar integrados en un mismo dispositivo de control. In some embodiments, the additional measurement device is disposed between both jaws 2 and comprises a deformable load cell, which is disposed between the two jaws 2 and which deforms when said jaws 2 move, this deformation being detected to determine the actuator 4 is operative. In other embodiments, the additional measurement device comprises a pressure switch 110 connected to the chamber 101 to directly measure whether or not there is pressure in said chamber 101, when required. In the case of comprising an additional measuring device and an additional controller, the clamping device 100 may further comprise an additional communication module communicated with the additional controller, which is configured to, at least, wirelessly transmit the information relating to the device. additional measure abroad. The additional controller is configured to communicate with the additional measuring device and with the additional communication module intermittently, every 5 ms, for example, in such a way that it reduces the power consumption (with respect to continuous communications). This allows a smaller battery to be disposed in the holding device 100, which makes it possible to have a more compact and economical device. The additional communication module and the additional controller can be integrated in the same control device.

Claims

REIVINDICACIONES
1. Dispositivo de sujeción de piezas, que comprende un cuerpo principal (102), dos mordazas (2) enfrentadas para sujetar las piezas, siendo al menos una de dichas mordazas (2) móvil con respecto a la otra mordaza (2) en una dirección de sujeción (X) lineal con respecto al cuerpo principal (102), para ajusfar el espacio existente entre ambas mordazas (2), y un actuador (4) configurado para provocar el desplazamiento requerido de la mordaza (2) móvil, estando la mordaza (2) móvil y el actuador (4) configurados para que la mordaza (2) móvil se desplace entre una posición de cierre en la que la distancia entre las dos mordazas (2) es mínima y una posición de apertura en la que la distancia entre las dos mordazas (2) es máxima, caracterizado porque el dispositivo de sujeción (100) comprende, además, un dispositivo de medida (3) asociado a la mordaza (2) móvil para detectar la posición de dicha mordaza (2) con respecto a la posición de apertura o con respecto a la posición de cierre. Clamping device for parts, comprising a main body (102), two clamps (2) facing each other to hold the parts, at least one of said clamps (2) being movable with respect to the other clamp (2) in one linear clamping direction (X) with respect to the main body (102), to adjust the space between both jaws (2), and an actuator (4) configured to cause the required displacement of the mobile clamp (2), the movable jaw (2) and the actuator (4) configured so that the movable jaw (2) moves between a closing position in which the distance between the two jaws (2) is minimal and an opening position in which the distance between the two jaws (2) is maximum, characterized in that the clamping device (100) further comprises a measuring device (3) associated with the movable jaw (2) to detect the position of said jaw (2) with with respect to the opening position or with respect to the position d close
2. Dispositivo de sujeción según la reivindicación 1 , que comprende un cuerpo auxiliar (103) que se acopla al cuerpo principal (102), estando el dispositivo de medida (3) alojado, al menos parcialmente, en el cuerpo auxiliar (103). 2. Clamping device according to claim 1, comprising an auxiliary body (103) that is coupled to the main body (102), the measuring device (3) being housed, at least partially, in the auxiliary body (103).
3. Dispositivo de sujeción según la reivindicación 2, en donde la mordaza (2) móvil comprende un carro (21) que está alojado al menos parcialmente en una ranura externa del cuerpo principal (102) Y que se desliza linealmente por dicho cuerpo principal (102) cuando la mordaza (2) móvil se desplaza linealmente en la dirección de sujeción (X), y un elemento de sujeción (22) fijado a dicho carro (21) Y que sobresale del cuerpo principal (102), siendo el elemento de sujeción (22) el encargado de sujetar las piezas por contacto y estando el dispositivo de medida (3) asociado al carro (21), de tal manera que para detectar la posición de la mordaza (2) móvil se detecta la posición de dicho carro (21). Clamping device according to claim 2, wherein the movable jaw (2) comprises a carriage (21) which is housed at least partially in an external groove of the main body (102) and which slides linearly by said main body ( 102) when the movable jaw (2) moves linearly in the clamping direction (X), and a clamping element (22) fixed to said carriage (21) Y protruding from the main body (102), the element being holding (22) responsible for holding the parts by contact and the measuring device (3) associated with the carriage (21), in such a way that to detect the position of the mobile clamp (2) the position of said carriage is detected (twenty-one).
4. Dispositivo de sujeción según la reivindicación 2 o 3, que comprende un controlador que está comunicado con el dispositivo de medida (3) y que está configurado para recibir al menos una medida procedente del dispositivo de medida (3) y para determinar la posición de la mordaza (2) móvil en función de dicha medida recibida. Clamping device according to claim 2 or 3, comprising a controller which is connected to the measuring device (3) and which is configured to receive at least one measurement from the measuring device (3) and to determine the position of the mobile clamp (2) based on said received measure.
5. Dispositivo de sujeción según la reivindicación 4, en donde el controlador está 5. Clamping device according to claim 4, wherein the controller is
configurado para comunicarse con el dispositivo de medida (3) de manera intermitente, y para determinar la posición de la mordaza (2) móvil de manera intermitente. configured to intermittently communicate with the measuring device (3), and to determine the position of the moving jaw (2) intermittently.
6. Dispositivo de sujeción según la reivindicación 4 o 5, en donde el dispositivo de medida (3) comprende un potenciómetro de desplazamiento lineal que comprende un vástago móvil (31) y un cuerpo (30) estático, estando el vástago móvil (31) unido a la mordaza (2) móvil. Clamping device according to claim 4 or 5, wherein the measuring device (3) comprises a linear displacement potentiometer comprising a moving rod (31) and a static body (30), the moving rod (31) being attached to the mobile clamp (2).
7. Dispositivo de sujeción según la reivindicación 6, en donde el controlador está 7. Clamping device according to claim 6, wherein the controller is
configurado para determinar la tensión eléctrica (V1) entre los bornes de la resistencia en el desplazamiento máximo del potenciómetro y que no varía con el desplazamiento del potenciómetro y la tensión eléctrica (V2) de la resistencia del potenciómetro que refleja la posición del potenciómetro, y para determinar la posición de la mordaza (2) móvil en función de ambas tensiones eléctricas (V1 , V2). configured to determine the electrical voltage (V1) between the terminals of the resistor in the maximum displacement of the potentiometer and that does not vary with the displacement of the potentiometer and the electrical voltage (V2) of the resistance of the potentiometer that reflects the position of the potentiometer, and to determine the position of the mobile clamp (2) as a function of both electrical voltages (V1, V2).
8. Dispositivo de sujeción según la reivindicación 7, en donde el controlador está 8. Clamping device according to claim 7, wherein the controller is
configurado para determinar la posición de la mordaza (2) móvil en función del cociente entre la tensión eléctrica (V1) entre los bornes de la resistencia en el desplazamiento máximo de dicho potenciómetro y que no varía con el desplazamiento del potenciómetro y la tensión eléctrica (V2) que refleja la posición del potenciómetro, siendo el valor (V2/V1)*100 el desplazamiento del potenciómetro como porcentaje del desplazamiento máximo del potenciómetro. configured to determine the position of the movable jaw (2) as a function of the quotient between the electrical voltage (V1) between the terminals of the resistor in the maximum displacement of said potentiometer and which does not vary with the displacement of the potentiometer and the electrical voltage ( V2) that reflects the position of the potentiometer, the value (V2 / V1) * 100 being the displacement of the potentiometer as a percentage of the maximum displacement of the potentiometer.
9. Dispositivo de sujeción según cualquiera de las reivindicaciones 4 a 8, que comprende un módulo de comunicaciones comunicado con el controlador y configurado para, al menos, transmitir al exterior del dispositivo de sujeción (100) la información relativa a la posición de la mordaza (2) móvil, preferentemente de manera inalámbrica. 9. Clamping device according to any of claims 4 to 8, comprising a communication module communicated with the controller and configured to at least transmit to the outside of the clamping device (100) the information relating to the position of the clamp (2) mobile, preferably wirelessly.
10. Dispositivo de sujeción según la reivindicación 9, que comprende una placa de circuito impreso y una batería alojadas en el cuerpo auxiliar (103), estando el dispositivo de medida10. Clamping device according to claim 9, comprising a printed circuit board and a battery housed in the auxiliary body (103), the measuring device being
(3), el controlador y el módulo de comunicaciones soldados a dicha placa de circuito impreso. (3), the controller and the communication module welded to said printed circuit board.
1 1. Dispositivo de sujeción según cualquiera de las reivindicaciones 4 a 10, que comprende un dispositivo de medida adicional para detectar si el actuador (4) está operativo cuando se requiere, y un controlador adicional comunicado con el dispositivo de medida adicional, estando dicho controlador adicional configurado para determinar si dicho actuador (4) está operativo en función de dicha detección recibida. 1. Clamping device according to any of claims 4 to 10, comprising an additional measuring device for detecting whether the actuator (4) is operative when required, and an additional controller communicated with the additional measuring device, said additional controller configured to determine if said actuator (4) is operative based on said received detection.
12. Dispositivo de sujeción según la reivindicación 1 1 , en donde el controlador adicional está configurado para comunicarse con el dispositivo de medida adicional de manera 12. Clamping device according to claim 1, wherein the additional controller is configured to communicate with the additional measuring device in a manner
intermitente, y para determinar si el actuador (4) está operativo de manera intermitente. intermittent, and to determine if the actuator (4) is operative intermittently.
13. Dispositivo de sujeción según la reivindicación 1 1 o 12, que comprende un módulo de comunicaciones adicional comunicado con el controlador adicional y configurado para, al menos, transmitir al exterior del dispositivo de sujeción (100) la información relativa a la operatividad del actuador (4), preferentemente de manera inalámbrica. Clamping device according to claim 1 or 12, comprising an additional communications module communicated with the additional controller and configured to at least transmit to the outside of the clamping device (100) the information relating to the operability of the actuator (4), preferably wirelessly.
14. Dispositivo de sujeción según cualquiera de las reivindicaciones 1 1 a 13, en donde el dispositivo de medida adicional comprende una célula de carga deformable dispuesta entre ambas mordazas (2) y que se deforma con el desplazamiento de la mordaza (2) móvil. Clamping device according to any one of claims 1 to 13, wherein the additional measuring device comprises a deformable load cell disposed between both jaws (2) and which deforms with the displacement of the movable jaw (2).
15. Dispositivo de sujeción según cualquiera de las reivindicaciones 1 1 a 13, en donde el dispositivo de medida adicional comprende un presostato (110) conectado a la cámara (101) para medir la presión en dicha cámara (101). 15. Clamping device according to any of claims 1 to 13, wherein the additional measuring device comprises a pressure switch (110) connected to the chamber (101) to measure the pressure in said chamber (101).
16. Dispositivo de sujeción según cualquiera de las reivindicaciones 1 a 15, en donde las dos mordazas (2) son móviles, estando configuradas para desplazarse simultáneamente y en sentidos opuestos actuadas por el actuador (4), y estando el dispositivo de detección (3) asociado a una de las mordazas (2) móviles. 16. Clamping device according to any of claims 1 to 15, wherein the two jaws (2) are movable, being configured to move simultaneously and in opposite directions actuated by the actuator (4), and the detection device (3) being ) associated with one of the mobile jaws (2).
PCT/ES2018/070368 2017-08-04 2018-05-22 Device for holding workpieces WO2019025646A1 (en)

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Application Number Priority Date Filing Date Title
ESP201731014 2017-08-04
ES201731014A ES2698703A1 (en) 2017-08-04 2017-08-04 Clamping device for parts (Machine-translation by Google Translate, not legally binding)

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GB1358495A (en) * 1972-07-12 1974-07-03 Lifshits V S Machine for continuous flash butt-welding of parts
US4685661A (en) * 1985-06-21 1987-08-11 The United States Of America As Represented By The Secretary Of Commerce Method and mechanism for fixturing objects
CN201264166Y (en) * 2008-05-30 2009-07-01 比亚迪股份有限公司 Numerical control machining clamper
EP3022012A1 (en) * 2013-07-18 2016-05-25 Behringer GmbH Workpiece clamping device, machine tool, and method for clamping a workpiece

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102014110352B3 (en) * 2014-07-23 2015-10-08 Gressel Ag Centric jig

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
GB1358495A (en) * 1972-07-12 1974-07-03 Lifshits V S Machine for continuous flash butt-welding of parts
US4685661A (en) * 1985-06-21 1987-08-11 The United States Of America As Represented By The Secretary Of Commerce Method and mechanism for fixturing objects
CN201264166Y (en) * 2008-05-30 2009-07-01 比亚迪股份有限公司 Numerical control machining clamper
EP3022012A1 (en) * 2013-07-18 2016-05-25 Behringer GmbH Workpiece clamping device, machine tool, and method for clamping a workpiece

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