WO2019057876A1

WO2019057876A1 - Clamping device

Info

Publication number: WO2019057876A1
Application number: PCT/EP2018/075574
Authority: WO
Inventors: Christian Churchin
Original assignee: Kuka Deutschland Gmbh
Priority date: 2017-09-25
Filing date: 2018-09-21
Publication date: 2019-03-28
Also published as: DE102017122099B3

Abstract

The invention relates to a clamping device (1) comprising a movable, driven slide arrangement (4) and a drive means (8) for the actuation thereof, the clamping device (1) comprising a clamping mechanism (5) arranged between the slide arrangement (4) and the drive means (8), which can be moved between a clamping position (6) and a release position (7) when the slide arrangement (4) is actuated. The clamping mechanism (5) moves into an inhibitive dead-centre position in the clamping position (6).

Description

jig

DESCRIPTION

The invention relates to a clamping device with the features in the preamble of the main claim. In practice, clamping devices are in

different embodiments known. They have a movable plunger assembly, which of a

Drive means is acted upon and actuated. The movable plunger assembly biases a workpiece. It is an object of the present invention to provide a

show improved clamping device.

The invention solves this problem with the features in the main claim.

The arranged between the plunger assembly and the drive means tension transmission transmits the from

Drive means introduced forces upon actuation of the plunger assembly. Upon actuation, the tensioner is moved between a cocking position and a release position. In the tensioning position, it assumes a retarding dead center position. The clamping device is self-holding. From the outside against the

Plunger assembly introduced forces can

Do not release the tensioning gear in this dead center position. The clamping device can only be opened again by actuation of the drive means and brought into the release position become. With the tension gear can also high

Tension forces are applied, for which thanks to an existing translation relatively weak drive means can be used. The claimed clamping device is easy to operate. This can be manual and / or motor,

especially remotely or automatically done. Furthermore, the claimed clamping device is small and compact. It also makes it difficult

Use installation situations. Also favorable are the low construction costs and the reliability as well

Easy maintenance of the clamping device.

The claimed clamping device can in

be used in different ways. The

Tappet arrangement can directly or indirectly on a

Work on the workpiece exciting. The clamping device is especially suitable for use with parallel grippers.

Here, e.g. an internal clamping and / or external clamping of workpieces possible. For the structural design and for the function of the clamping device, there are various possibilities.

The plunger assembly can act unilaterally and be pressed against an otherwise supported workpiece exciting. The clamping force is supported via the attachment of the clamping device and its body. The plunger assembly can also act multi-sided. In one embodiment, the tensioning device a

Spreader with an expandable plunger assembly and a spreading tensioning gear have. The expandable plunger assembly can be moved apart and contracted. Here, the clamping forces can act by spreading or by contraction. The

Tension forces can be exerted by the plunger assembly either as compressive forces and / or as tensile forces.

The clamping forces can be applied directly to the workpiece

be transmitted, e.g. by means of clamping jaws or the like., Which are attached to the output ends of the plunger assembly. The clamping forces can also be indirectly on the

Workpiece to be transferred by means of a

intermediate movable device, e.g. pliers or the like. These functions can be the

Clamping device with or without said spreading.

The tensioning gear is connected via a driving device with the plunger assembly. The driving device has cooperating carriers on the output side of the tensioning gear and on the plunger assembly. There are various possibilities for the design and function of the driving device.

The driving device can be designed such that it is resiliently evasive in case of overload.

As a result, e.g. strong in the dead center area

Rising forces are absorbed and the

Clamping device to be protected against overload and damage. Alternatively or additionally, the Carrying device compensate for different kinematics of tensioning gear and ram assembly. This is for example in the transmission of a rotating Abtriebsbewegun the plunger assembly on a translational, in particular linear, guided and moving plunger assembly advantage The cooperating carrier can to

Compensatory purposes a mutual relative

Have mobility. An education of

cooperating carrier as a preferred resilient claw and as engaging pin is special

advantageous.

The tensioning gear can be designed in different ways. In a particularly advantageous

Embodiment, it is designed as a link mechanism. The inhibiting dead center can be taken or formed by an extended position of the steering gear. Thereby, e.g. two articulated handlebars are aligned with their steering axles. The between the

Longitudinal axes formed respective hinge points can coincide exactly or deviate only slightly from each other at an angle. The force line passes through the hinge points or at least at a hinge point close by minimizing the moment.

The linkage can be designed differently It may have multiple links. In an advantageous embodiment, three links are present. The number of links may be less than or greater than two.

The handlebars are formed for example by a rotatable crank, a coupling and a rotatable swingarm. The crank is connected to at least one drive means. The rocker is connected to the plunger assembly. The

Coupling transfers the crank rotation to the swingarm. The driving crank turn turns into an abortive one

Swivel rotation implemented. In the stretch or

Dead center position, the crank arm and the coupling can be aligned. In another embodiment, the tensioning gear may e.g. be designed as a toggle mechanism. The formation of a tensioning gear, in particular one

Steering gear, with a driven side and preferably multi-armed rocker has the advantage that thereby a spreader can be particularly well realized.

The plunger assembly may include one or more movable plungers. When you press the tensioning device whose force and path is used for clamping. The ram (s) may project outwardly from the body of the tensioner on one or more sides. On

preferably located outside plunger area, in particular a plunger end, can serve for clamping. At a

Multiple arrangement of plungers, the individual plunger protrude in the same or different ways outward. In a ram, which protrudes from different sides of the body, either one or the other ram end can be used for clamping purposes.

The one or more plungers may have the same or different kinematics. They may be similar or dissimilar. The movement of the respective plunger can be rotational and / or be translational. Advantageously, a translational movement of the plunger, which is extended and

can be retracted. The plunger movements can be the same direction, in particular parallel. They can also be directed in different directions, in particular transversely and / or obliquely to each other.

A further advantage is the possibility that in a multi-part plunger assembly, the plunger can move in the same direction or in opposite directions, in particular retracted and extended. With an opposite mobility, a spread can be effected.

In an expandable clamping device can

Clamping be arranged between counter-movable plungers and can this in opposite

Energize directions. The reaction forces are transmitted between the plungers on the tensioning gear. A rotatable rocker is particularly favorable for this.

The one or more pestles can be single or

in groups, especially in pairs, with a the

Clamping force transmitting means, e.g. one

Clamping jaw to be connected. Furthermore, several may be on the same page or on different

especially opposite sides of the

Tensioning device emerging ram be connected with different clamping means. In this case, a tensioning movement can be generated by a mutual relative movement of the plunger and its clamping means. The

Clamping movement can be between the clamping devices in the sense a spread or contraction and / or against a relatively stationary counter-clamping element, such as a

Fixed stop, be addressed.

The claimed clamping device can

different application requirements are adjusted. The one or more plunger thereby protrude at one or more sides of the tensioning device at different distances from the body. This is in the one-sided and the multi-directional, in particular expandable,

Clamping possible. For example, the

Span width of the plunger assembly to be changed. This can e.g. by varying the ram length or the

Distance between two or more in different

Directions facing plungers done. Here, e.g. the rams are exchanged or installed inverted. Also, the junction between plunger and tension gear can be changed. The tensioning stroke or tappet stroke may also be e.g. by variation of the

Tension gear changed and adapted. In the subclaims are further advantageous

Embodiments of the invention indicated.

The invention is illustrated by way of example and schematically in the drawings. In detail show:

A tensioning device with a

Plunger assembly, a tensioning gear and a drive means in various perspective views,

The tensioning device of FIGS. 1 and 2 in an end view,

Various cuts through the

Clamping device according to section lines IV-IV, V-V, VI-VI and VII-VII,

A modified in terms of the tensioning chuck in

Central section and in clamping position and release position,

Figures 10 to 13: Various embodiments of the

Clamping device and her

Plunger assembly in solvent and

Clamping position and in side view and

Figure 14 to 16: an example of use of the clamping device in different views.

The invention relates to a tensioning device (1) and a tensioning method. The tensioning device (1) shown in the drawings comprises a movably driven plunger arrangement (4), a drive means (8) and a tensioning gear (5). These components of the tensioning device 1 can be arranged and mounted in or on a body (3), eg a housing. These components may be single or multiple. In particular, the

Clamping device (1) a plurality of drive means (8)

respectively . The plunger assembly (4) has one or more plungers

(9,10,11,12). The plunger assembly (4) or at least one plunger (9, 10, 11, 12) projects for clamping purposes on one or more sides, e.g. on opposite sides, out of the body (3). The body (3) may e.g. a

have cubic shape. It may also have a recess in one or more places, e.g. at the front side shown in Figure 2 and in the region of a plunger outlet point. The clamping device (1) can by means of the body (3) on a stationary or

transient device mounted or attached.

The tensioning gear (5) is between the one or more drive means (8) and the plunger assembly (4)

arranged and transmits the driving forces on the

Plunger assembly (4). The plunger assembly (4) can

one-sided or multi-sided. It can in particular be spreadable. The tensioning device (1) can be a

Spreader (2) with a spreadable

Tappet assembly (4) and an expandable tensioning gear (5). The tensioning gear (5) is over a Carrier (22) connected to the plunger assembly (4).

The tensioning gear (5) is in the operation of the

Plunger assembly (4) between a clamping position (6) shown in Figures 7 and 8 and one in Figure 9

shown release position (7) moves. The clamping position (6) can be a spread. The release position (7) may be a kinked position.

In the cocking position (6), the tensioning gear (5) assumes an inhibiting dead center position. In the dead center, the introduced via the plunger assembly (4)

Reaction forces in the tensioning gear (5) supported or reduced by a translation in the tensioning gear (5) such that the drive means (8) is not loaded or only so lightly loaded that it can hold the reaction forces or reaction moments.

The drive means (8) can be single or multiple

to be available. It can also be designed in different ways. In the embodiment shown, a drive means (8) as a manual actuator (27) and another drive means (8) as a motor drive (28) is formed. Under a motor drive all types of drives are understood with external energy. In the embodiment shown, the motor drive (28) is designed as a fluidic cylinder with a piston rod (29), in particular as a pneumatic cylinder. The drive movement of a drive means (8) can

be rotational and / or translational. The manual Actuator (27) is designed for example as a handwheel or as a rotary lever.

The tensioning gear (5) is shown in the

Embodiments designed as a link mechanism. It is arranged in the body (3). The illustrated tension gear (5), in particular the steering gear, has a rotatable crank (15), a rotatable rocker (20) and a

Coupling (18) on. The crank (15) is connected to the drive means (s) (8) and becomes rotating

driven. The rocker (20) is with the

Tappet assembly (4) connected. The connection takes place via the entrainment device (22). The coupling (18) is disposed between the crank (15) and the rocker (20) and is hingedly connected to both. The crank (15) has a crank arm (16) and a shaft (17), which is rotatably mounted in the body (3) about its longitudinal axis. The shaft (17) can be led out of the body (3) and here with a drive means (8), e.g. the manual actuator (27) shown, be connected.

Another drive means (8) may additionally or alternatively be present and may be connected to the crank (15) in a different way. In the

Embodiments, the motor drive (28) is mounted on the underside of the body (3) and is connected to the crank arm (16). There is e.g. a

Drive connection between the piston rod (29) and the crank arm (16) by means of a pin and a slot. The drive connection is located in the middle region of the crank arm (16).

The coupling (18) is e.g. formed rod-like. It is connected at one end via a hinge with the free end of the crank arm (16). At the other end it is also via a joint with the rocker (20)

connected. In the clamping position (6) or extended position (19) of the tensioning gear (5), the crank arm (16) and the coupling (18) are aligned with their longitudinal axes. The

Longitudinal axes are each between the

Hinged points of the coupling (18) and the pivot point and the shaft (17) of the crank arm (16) defined.

Figures 7 and 8 show this clamping position (6) or

Extended position (19). In Figure 9, the release position (7) is shown. This is e.g. a kinking of the

Tensioning gear (5), in particular steering gear.

The rocker (20) is rotatable about an axis of rotation (21) and is hereby mounted in the body (3). The axis of rotation (21) is arranged centrally on the elongate rocker (20). This can be a central or eccentric arrangement. The rocker (20) is one-armed or multi-armed

educated. In the embodiment shown it is

two - armed, with the swing arms on both sides of the

Swingarm (21) are arranged and aligned. The rocker (20) is pivotally connected to the coupling (18) at an end region of a rocker arm. The pivot points on the rocker (20) and on the crank arm (16) are each arranged at a distance from the axis of rotation or rocker axis (21) or to the shaft (17). As illustrated in FIGS. 6 to 8, the rockers (20) and the crank arm (16) are aligned at an angle to one another. The rocker axis or axis of rotation (21) and the shaft (17) or its axis of rotation can be located in a common plane. This level can be parallel to the

Main plane of the subsequently explained plunger assembly (4) to be aligned. FIGS. 7 to 9 illustrate the possibility of selectively connecting the coupling (18) to one or the other rocker arm. The plunger assembly (4) has shown in the

Embodiment, a plurality of plunger (9,10,11,12), which are rod-like and are aligned with their longitudinal axes parallel to each other. The pestles

(9,10,11,12) are mounted by means of a guide (14) in the body (3) displaceable in its longitudinal direction. In the embodiment shown, there are four plungers (9, 10, 11, 12). These are each arranged in pairs (9, 10 and 11, 12) above and below the pivot axis or axis of rotation (21). The longitudinal axes of the plunger (9,10,11,12) are arranged parallel to the common plane of the rocker axis (21) and the axis of rotation of the shaft (17).

The plungers (9,10,11,12) protrude on one or both sides of the body (3). You can do the same or

have different length. According to Figure 4, e.g. one, e.g. lower, ram (11,12) a larger one

Length as the other, eg upper, ram (9,10) have. Within the pairings, the ram length can be the same in each case. A pestle (9,10,11,12) can be attached to one or both

Ends a thread or other receptacle for a clamping means (31,32), e.g. a jaw, have. Figures 14 to 16 show such an arrangement. The

Cross-sectional shape of the preferably straight rod-like plunger is arbitrary. It can e.g. be circular, resulting in a cylindrical plunger shape.

The tensioning gear (5), in particular the output side rocker (20), is by means of the mentioned

Carrier (22) connected to the plungers (9,10,11,12). By the entrainment device (22) about the swing arm axis (21) rotating output motion in a linear plunger movement, in particular an input and

Extension movement, implemented. In the embodiment shown, a

Spreader (2) formed with an expandable plunger assembly (4) and a spreading tensioning gear

(5). Here, the plunger (9,10,11,12) are connected in pairs with different swing arms. The pair of plungers (9, 10) are connected to one upper swing arm and the other pair of plungers (11, 12) are connected to the other, lower swing arm. During a rotational movement of the rocker (20), the tappet pairs are moved in opposite directions. According to FIG. 7, this causes the clamping position to be taken

(6) swinging in the arrow direction, a movement of the lower plunger pair (11,12) to the left and a movement of the upper plunger pair (9,10) to the right. In the embodiment shown, the rocker axis (21) is centered between the joints of

Swing arm (20) and said ram pairs arranged. As a result, the tappet pairs are each moved by the swing arm by the same amount equal distances. Alternatively, the axle assembly may be off-center, resulting in different lever ratios

may result in distances.

The entrainment device (22) can be designed in different ways. In the shown

Embodiments, they are each of cooperative

Driver (23,24) formed. The drivers (23,24) can be designed such that the

Carrier (22) resilient under overload

is capable of evasive and / or different kinematics of tensioning gear (5) and ram assembly (4) compensates.

In the embodiments shown, both functions are realized.

The cooperating drivers (23, 24) are e.g. as a claw (23) with a slot-like and outwardly open mouth opening and as engaging in the mouth opening pin (24). In addition, on the body (3) has a guide (25) for a driver,

especially for the pin (24) available. It can limit the path length of the driver and can also provide for example a linear guidance of the driver. In the embodiments shown, the guide (25) is formed as a slot, which has a straight extension and is aligned along the ram axes. The assignment of the drivers (23,24) to the tappets

(9,10,11,12) and the tensioning gear (5), in particular to the rocker (20) is selectable. In the shown

Embodiments, the pin-like carrier (24) on the plungers (9,10,11,12) are arranged and the

Claws (23) are located on the rocker (20). The

Plungers (9, 10, 11, 12) can each have a common peg-shaped driver (24) in the said pairings (9, 10 and 11, 12). In such an arrangement, e.g. According to Figure 3 to 6 between the paired plungers (9,10) and the plungers (11,12) consist a lateral distance in which the crank arm (15), the coupling (18) and the rocker (20) are arranged.

The plungers (9,10,11,12) can one or more

Receivers (13) for the associated driver,

in particular the pin (24). At a

Multiple arrangement, the recordings (13) equal or different distances from the adjacent

End faces of the respective plunger (9,10,11,12)

respectively. By correspondingly changed position of the associated driver (24) different ram positions inside and outside of the body (3) may arise. Within the pairings of the plungers (9,10) and (11,12), the arrangement of the receptacles (13) may be the same. Between said pairings, it may vary according to Figure 4.

In particular, a plunger (9,10,11,12) depending on

Installation position and driver assignment on one or both sides protrude differently far out of the body (3) to the outside. This can be in the clamping position (6) and - ll - the release position (7) different spans

between the on opposite sides of the body (3) projecting end faces of the plunger (9,10,11,12) result. The plunger (9,10,11,12) can be changed in their installed position, in particular reversed. It is also possible, several shots (13) in one

to arrange line-shaped grid and depending on the use of one or the other receptacle (13) to change the plunger position relative to the body (3) and possibly relative to one or more other plungers. As a result, e.g. the span of the clamping device (1) can be varied.

The resilient avoidance capability in case of overload can occur with one or the other or both drivers (23, 24).

will be realized. In the embodiments shown, this function is realized on at least one swing-side driver (23), e.g. as springy

evasive claw (23) is formed.

The claw (23) is e.g. each frontally formed at the end of the swing arms. It is on the one hand by a step-like recess on the swinging edge and

on the other hand formed by an opposite spring holder (26). The pen is e.g. from a plate, which the recess at the swinging edge

overlaps. The plate is connected by means of a screw to the swing body, wherein a spring between the screw head and the plate is arranged. The

Pin-like carrier (24) is clamped in the claw (23) between the side wall of the swing-side recess and the said plate. The plate can be at the swinging rotation and when a

Dodge reaction force above the possibly prestressed spring force.

Figures 10 to 13 illustrate different

Embodiments of the clamping device (1) with the generation of different end positions and

Spans of the plunger assembly (4). Figures 10 and 11 illustrate a clamping device (1) according to Figure 1 to 7 and the arrangement and design of the tensioning gear (5) and the installation position of the plunger shown there

(9,10,11,12). FIGS. 12 and 13 show in comparison the end positions and spans according to FIGS. 8 and 9.

In the arrangement of Figures 10 and 11 protrude the plunger (9,10,11,12) in the clamping position (6) on one side the same distance from the body (3). At the other

Body side protrude only the plunger (11,12) of the lower pair in the opposite direction to the outside. In Figures 12 and 13, the page assignment is reversed.

FIGS. 14 to 16 show an application example of FIG

Clamping device (1) according to Figure 1 to 7 in different views. FIG. 16 shows a section according to section line XVI-XVI of FIG. The tensioning device (1) forms e.g. a parallel gripper.

The plungers (9,10) and (11,12) are each connected in pairs with a clamping means (31,32), wherein the

Clamping means (31,32) on the same cabinet side

are arranged and in the clamping position shown (6) flanges of a workpiece (30) with external attack between them. For clamping, the plunger pairs (9, 10) and (11, 12) according to FIG. 16 are moved in opposite directions with the spreading device (2), wherein a compressive force and the incoming plunger pair (11, 12) are provided by the extending plunger pair (9, 10). a tensile force is exercised.

In the example of Figures 14 to 16, the clamping means (31,32) are moved towards each other for external clamping. In another embodiment, the clamping means (31, 32) can be moved in opposite directions for internal clamping and be removed from each other. This is e.g. with a configuration of the tensioning device (1) according to Figure 8 and 9 possible.

In a further modification, a tensioning means (31, 32) can be mounted on a single plunger (9, 10, 11, 12) or on more than two plungers. Furthermore, clamping means can be arranged on different, in particular opposite, sides of the body (3) or the tappet arrangement (4).

Modifications of the shown and described

Embodiments and the variants mentioned are possible in various ways, in particular their features can be combined with each other and possibly also swapped.

The clamping device (1) can do without spreading. For this example, the rocker (20) may be connected only at one end of the arm with one or more plungers and move them in the same direction. In the tensioning device (1) are Multiple arrangements of their components, for example, several tensioning gear (5), drive means (8), etc. possible.

REFERENCE SIGN LIST

1 tensioning device

2 spreading device

3 corpus

4 ram assembly

5 tensioning gear, linkage

6 clamping position, spreading position dead center position

7 release position, kinking position

8 drive means

9 pestles above

10 pestles above

11 pestles below

12 pestles below

13 Pickup for driver

14 leadership

15 crank

16 crank arm

17 wave

18 paddock

19 extended position

20 swingarm

21 axis of rotation, swing axle

22 driving device

23 drivers, claw

24 drivers, tenons

25 guide, long hole

26 pen holder

27 actuators manually

28 motor drive, cylinder

29 piston rod workpiece

Clamping device, clamping jaw clamping device, clamping jaw

Claims

1.) Clamping device with a movable,

driven ram assembly (4) and a

Drive means (8) for the actuation thereof, characterized in that the tensioning device (1) has a between the plunger assembly (4) and the

Drive means (8) arranged clamping gear (5), which in the operation of the

Plunger assembly (4) between a clamping position (6) and a release position (7) is movable, wherein it assumes an inhibiting dead center position in the clamping position (6).

2.) Clamping device according to claim 1, characterized

in that the tensioning device (1) has a spreading device (2) with an expandable

Plunger assembly (4) and a spreading

Clamping gear (5).

3.) Clamping device according to claim 1 or 2, characterized

characterized in that the tensioning gear (5) via a driving device (22) with the

Plunger assembly (4) is connected.

4.) Clamping device according to claim 3, characterized

characterized in that the entrainment device (22) is designed such that it is resiliently evasive under overload and / or different

Kinematics of tensioning gear (5) and

Plunger assembly (4) compensates. Clamping device according to one of the preceding

Claims, characterized in that the tensioning gear (5) is designed as a link mechanism.

Clamping device according to claim 5, characterized

characterized in that the link mechanism in the clamping position (6) occupies an extended position (19) to form the inhibiting dead center position.

Clamping device according to one of the preceding

Claims, characterized in that the tensioning gear (5), in particular the linkage, a rotatable crank (15) connected to the drive means (8), a rotatable rocker (20) connected to the plunger assembly (4) and a link between the crank ( 15) and the rocker (20) arranged with hinged coupling (18).

Clamping device according to claim 7, characterized

characterized in that the coupling (18)

rod-like manner and with the rocker (20) and with a crank arm (16) of the crank (15) is pivotally connected in each case at a distance from their respective axis of rotation.

Clamping device according to claim 7 or 8, characterized in that in an extended position (19) of the tensioning gear (5), in particular

Steering gear, the coupling (18) and the crank arm (16) are aligned with their longitudinal axes in alignment.

10.) Clamping device according to one of the preceding

Claims, characterized in that the plunger assembly (4) has one or more movable plunger (9,10,11,12). 11.) Clamping device according to claim 10, characterized

characterized in that the plunger assembly (4) has a plurality of co-rotating and / or counter-rotating plunger (9,10,11,12).

12.) Clamping device according to claim 10 or 11, characterized in that the plunger assembly (4) a plurality of parallel and linearly guided and parallel retractable and extendable plunger

(9,10,11,12).

13.) A clamping device according to claim 10, 11 or 12,

characterized in that the span of the plunger assembly (4) is variable, in particular by varying the arrangement and / or the

Connection of one or more plungers

(9,10,11,12) with the tension gear (5). 14.) A clamping device according to claim 11, 12 or 13,

characterized in that the expanding tensioning gear (5) is arranged between counter-movable plungers (9, 10, 11, 12) and urges them in opposite directions.

15.) Clamping device according to claim 14, characterized

characterized in that the spreading

Clamping gear (5) comprises a rotatable rocker (20) having a central axis of rotation (21), wherein the rocker (20) at their ends in each case with one or more plungers (9,10,11,12) is connected and these in opposite directions impelling.

16.) Clamping device according to one of the preceding

Claims, characterized in that the drive means (8) as a manual actuator (27) and / or as a motor drive (28), in particular as a cylinder is formed.

17.) Clamping device according to one of claims 10 to 16, characterized in that one or more

Plunger (9,10,11,12) individually or in groups, each with one of the clamping force transmitting

Clamping means (31,32), in particular a clamping jaw, is connected / are.