WO2021177385A1 - Dispositif de serrage - Google Patents

Dispositif de serrage Download PDF

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Publication number
WO2021177385A1
WO2021177385A1 PCT/JP2021/008321 JP2021008321W WO2021177385A1 WO 2021177385 A1 WO2021177385 A1 WO 2021177385A1 JP 2021008321 W JP2021008321 W JP 2021008321W WO 2021177385 A1 WO2021177385 A1 WO 2021177385A1
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WO
WIPO (PCT)
Prior art keywords
clamp
hole
axial direction
output rod
ball
Prior art date
Application number
PCT/JP2021/008321
Other languages
English (en)
Japanese (ja)
Inventor
春名　陽介
Original Assignee
株式会社コスメック
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 株式会社コスメック filed Critical 株式会社コスメック
Priority to DE212021000326.5U priority Critical patent/DE212021000326U1/de
Priority to JP2022600091U priority patent/JP3239951U/ja
Priority to CN202190000341.2U priority patent/CN219925208U/zh
Priority to KR2020227000042U priority patent/KR20220001990U/ko
Publication of WO2021177385A1 publication Critical patent/WO2021177385A1/fr

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
    • B25J15/0408—Connections means
    • B25J15/0416—Connections means having balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • B23B31/10—Chucks characterised by the retaining or gripping devices or their immediate operating means
    • B23B31/107—Retention by laterally-acting detents, e.g. pins, screws, wedges; Retention by loose elements, e.g. balls
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23B—TURNING; BORING
    • B23B31/00—Chucks; Expansion mandrels; Adaptations thereof for remote control
    • B23B31/02—Chucks
    • 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
    • B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
    • B23Q1/0063—Connecting non-slidable parts of machine tools to each other
    • B23Q1/0081—Connecting non-slidable parts of machine tools to each other using an expanding clamping member insertable in a receiving hole
    • 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
    • B23Q3/12—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine for securing to a spindle in general
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • the present invention is suitable for firmly fixing an object to be fixed such as a work pallet, a work, a mold, a tool, etc. to a clamp pallet, a table, a tip of a robot arm, etc. as a base, and maintaining the fixed state. Clamping device.
  • Patent Document 1 International Publication No. 2013/122039.
  • the prior art is configured as follows.
  • a tubular plug part is projected upward from the housing.
  • the output rod is inserted into the tubular hole of the plug portion so as to be movable in the axial direction of the tubular hole.
  • An engaging ball is inserted into the peripheral wall of the plug portion, and the engaging ball is moved in the radial direction of the tubular hole by a drive mechanism via an output rod.
  • a mounting hole is provided in the work pallet so that the plug portion can be inserted.
  • the locking portion provided in the mounting hole can come into contact with the engaging ball.
  • the drive mechanism has a clamp chamber to which compressed air is supplied and discharged.
  • a holding spring is installed in the clamp chamber.
  • the clamp state of the clamp device is maintained by the urging force of the holding spring.
  • the urging force of the holding spring force to maintain the clamped state
  • An excessive external force may act in the direction of separating the housing and the work pallet. Even in such a case, there is room for improvement in preventing the work pallet from being removed from the clamping device by an external force.
  • An object of the present invention is to propose a clamp device for improving the above points.
  • the clamp device is configured as follows.
  • a tubular plug portion 2 is projected from the housing 1.
  • the output rod 3 is inserted into the tubular hole 2a of the plug portion 2 so as to be movable in the axial direction of the tubular hole 2a.
  • the engaging member 31a and the locking member 31b are inserted into the through hole 30 formed in the peripheral wall of the plug portion 2.
  • Support portions 36, 36A are formed on the outer peripheral wall of the output rod 3 so as to be able to come into contact with the lock member 31b.
  • Mounting holes 42 are provided in the clamp objects WP and W so that the plug portion 2 can be inserted.
  • the locking portion 44 of the mounting hole 42 can come into contact with the engaging member 31a and the locking member 31b.
  • an external force acts in a direction in which the housing 1 and the clamp target objects WP and W are separated from each other in a clamped state in which the engaging member 31a is engaged with the locking portion 44, the locking member 31b is supported by the supporting portion.
  • the clamps 36 and 36A By receiving the clamps 36 and 36A, a state in which a part of the lock member 31b protrudes outward from the outer peripheral surface of the plug portion 2 is maintained from the through hole 30.
  • the above invention has the following effects.
  • the clamp object is unintentionally removed from the plug portion (clamp device) by the lock member. Can be prevented.
  • the present invention preferably has the following configurations (1) to (8).
  • the lock member 31b is made larger than the engaging member 31a.
  • the receiving of the lock member by the support portion is stable, and it is possible to further prevent the clamp object from being unintentionally removed from the plug portion.
  • the support portions 36, 36A are formed parallel to the axial direction.
  • the support portion can be easily formed.
  • a groove 38 extending along the axial direction is formed on the outer peripheral wall of the output rod 3.
  • the support portion 36 is a bottom wall of the groove 38 having an arc-shaped cross section perpendicular to the axial direction, and is composed of a bottom wall extending parallel to the axial direction.
  • the receiving of the lock member by the support part is stable.
  • a groove 38 extending along the axial direction is formed on the outer peripheral wall of the output rod 3.
  • the support portion 36 is the bottom wall of the groove 38 having an arc-shaped cross section perpendicular to the axial direction, and the support portion 36 extends outward in the radial direction toward the clamp driving direction with respect to the axial direction. It consists of a sloping bottom wall.
  • the receiving of the lock member by the support part is stable.
  • the support portion 36 is a recess into which the lock member 31b is fitted.
  • the receiving of the lock member by the support part is stable.
  • the recess is a virtual straight line (L) extending in the radial direction of the output rod 3 from the center of the recess. ) Is symmetrical.
  • the lock member moves the output rod in the axial direction of the tubular hole so that the lock member coincides with the center of the recess, and after the movement, the relative movement between the lock member and the output rod is restricted, and the support portion.
  • the reception of the lock member is more stable.
  • the lock member 31b is a sphere, and the recess is formed in a spherical shape.
  • the number of contact points between the lock member and the support portion increases, or the contact range between the lock member and the support portion becomes wider, so that the support portion receives the lock member more stably.
  • the clamp device is configured as follows.
  • Housing 1 has a guide cylinder portion 78.
  • the engaging member 31a and the locking member 31b are inserted into the through hole 30 formed in the peripheral wall of the guide cylinder portion 78.
  • the engaging member 31a and the locking member 31b are moved in the through hole 30 by the drive mechanism D.
  • the tubular piston 5 constitutes the drive mechanism D.
  • the piston 5 is arranged outside the guide cylinder portion 78.
  • Support portions 36, 36A are formed on the inner peripheral wall of the piston 5 so that they can come into contact with the lock member 31b.
  • Protrusions 82 are provided on the clamp target objects WP and W so that they can be inserted into the guide cylinder portion 78.
  • the protrusion 82 has a locking portion 44 that can come into contact with the engaging member 31a and the locking member 31b.
  • the above invention has the following effects.
  • the clamp object By maintaining a state in which a part of the lock member protrudes inward from the inner peripheral surface of the guide cylinder portion from the through hole, the clamp object is not intended to be clamped from the guide cylinder portion (clamp device) by the lock member. It can be prevented from being removed.
  • the present invention preferably has the following configurations (1) to (3).
  • the lock member 31b is made larger than the engaging member 31a.
  • the receiving of the lock member by the support portion is stable, and it is possible to further prevent the clamp object from being unintentionally removed from the guide cylinder portion.
  • the support portions 36, 36A are formed parallel to the axial direction of the tubular hole 78a of the guide tubular portion 78.
  • the support portion can be easily formed.
  • a groove 38 extending along the axial direction is formed on the inner peripheral wall of the piston 5.
  • the support portion 36 is a bottom wall of the groove 38 having an arc-shaped cross section perpendicular to the axial direction, and is composed of a bottom wall extending parallel to the axial direction.
  • the receiving of the lock member by the support part is stable.
  • FIG. 1 is a schematic cross-sectional view showing a first embodiment of the present invention and showing an unclamped state of a clamping device.
  • FIG. 2 is an operation explanatory view of the clamp device, and is a cross-sectional view similar to FIG.
  • FIG. 3 is a cross-sectional view showing a clamped state of the clamping device, which is similar to FIG.
  • FIG. 4 is an enlarged view of a portion A in FIG. 3, showing a support portion and the like provided in the clamp device.
  • FIG. 5 is a cross-sectional view taken along the line CC in FIG.
  • FIG. 6 is an enlarged view showing a first modification of the support portion shown in FIG. 4, and is similar to FIG. 4 above.
  • FIG. 1 is a schematic cross-sectional view showing a first embodiment of the present invention and showing an unclamped state of a clamping device.
  • FIG. 2 is an operation explanatory view of the clamp device, and is a cross-sectional view similar to FIG.
  • FIG. 7 is an enlarged view showing a second modification of the support portion shown in FIG. 4, which is similar to FIG. 4 above.
  • FIG. 8 is an enlarged view showing a third modification of the support portion shown in FIG. 5, which is similar to FIG. 5 above.
  • FIG. 9 shows a second embodiment of the present invention and is a schematic cross-sectional view showing a clamped state of the clamping device.
  • FIG. 10 shows a third embodiment of the present invention and is a schematic cross-sectional view showing an unclamped state of the clamping device.
  • FIG. 11 is a cross-sectional view showing a clamped state of the clamp device, which is similar to FIG. 10.
  • FIG. 12 is an enlarged view of a portion B in FIG. 10, and is a view showing a holding valve provided in the clamp device.
  • FIG. 13 is an enlarged view of a portion C in FIG. 11 and is a diagram showing a holding valve provided in the clamp device.
  • FIG. 14 is an operation explanatory view showing the holding valve of the clamp device, and is a view similar to FIG.
  • FIG. 15 shows a fourth embodiment of the present invention and is a schematic cross-sectional view showing a clamped state of the clamping device.
  • a clamp device for fixing a work pallet (clamp object) WP as a movable block to a clamp pallet CP as a reference block is illustrated.
  • the housing 1 of the clamp device is fixed to the clamp pallet CP by a plurality of bolts (not shown).
  • a tubular plug portion 2 is integrally projected upward from the housing 1.
  • the upper rod portion 3a of the output rod 3 is inserted into the tubular hole 2a of the plug portion 2 so as to be movable in the vertical direction (axial direction of the tubular hole 2a).
  • a cylinder hole 4 is provided in the housing 1, and a drive mechanism D is provided in the cylinder hole 4.
  • the drive mechanism D moves the output rod 3 in the vertical direction.
  • the drive mechanism D is configured as follows.
  • the first piston 5 fixed to the lower part of the output rod 3 is inserted into the large diameter hole 4a of the cylinder hole 4 so as to be movable in the vertical direction.
  • An annular second piston 6 is vertically (cylinder hole) between the small diameter hole 4b of the cylinder hole 4 formed above the large diameter hole 4a of the cylinder hole 4 and the outer peripheral surface of the lower rod portion 3b of the output rod 3. It is inserted so as to be movable in the axial direction of 4).
  • the second piston 6 is hermetically inserted into the small diameter hole 4b via the outer sealing member 7, and is hermetically fitted to the lower rod portion 3b of the output rod 3 via the inner sealing member 8.
  • a clamp chamber 10 is formed between the first piston 5 and the second piston 6.
  • the first unclamp chamber 11 is formed between the first piston 5 and the bottom wall of the mounting hole of the clamp pallet CP as the lower wall 9 of the housing 1, and the second piston 6 and the upper wall 1a of the housing 1 are formed.
  • a second unclamp chamber 12 is formed between the two.
  • the second unclamp chamber 12 and the first unclamp chamber 11 are communicated with each other by a communication passage 13 formed inside the lower rod portion 3b of the output rod 3.
  • the clamp chamber 10 communicates with the compressed air supply / discharge port 15 via the supply / discharge passage 14 formed in the housing 1.
  • the second unclamp chamber 12 communicates with a compressed air supply / discharge port (not shown) via a supply / discharge passage 16 formed in the housing 1.
  • a holding spring 17 is mounted between the first piston 5 and the second piston 6 in the clamp chamber 10.
  • the holding spring 17 is composed of a compression coil spring and urges the first piston 5 and the second piston 6 in a direction in which they are separated from each other.
  • the holding spring 17 is configured so that the lower end of the spring is received by the first piston 5 and the upper end of the spring is received by the second piston 6.
  • the stopper 51 of the second piston 6 provided in the cylinder hole 4 is projected inward in the radial direction so that the lower end of the spring is received by the stopper 51 and the upper end of the spring is received by the second piston 6.
  • the holding spring 17 other types of springs such as a disc spring can be used instead of the illustrated compression coil spring.
  • the structure for connecting the first unclamp chamber 11 and the second unclamp chamber 12 may be a communication hole provided in the body of the housing 1 instead of the communication passage 13 provided in the output rod 3. Further, it may be a pipe provided on the outside of the housing 1.
  • the booster mechanism 20 is arranged in the second unclamp chamber 12.
  • the boosting mechanism 20 is configured such that the compressed air supplied to the clamp chamber 10 reverses the force pushing the second piston 6 upward to a downward force, converts the boosting force, and transmits the boosting force to the output rod 3. ..
  • the booster mechanism 20 described above is configured as follows. That is, the receiving cylinder 21 projects downward from the upper wall 1a toward the inside of the second unclamp chamber 12. Four lateral grooves are formed in the lower portion of the receiving cylinder 21 at predetermined intervals in the circumferential direction.
  • the receiving portion 22 is formed by the bottom wall of each lateral groove. Further, four recesses are formed on the outer peripheral wall of the lower rod portion 3b of the output rod 3 at predetermined intervals in the circumferential direction.
  • the transmission portion 23 is formed by the bottom wall of each recess. The transmission portion 23 is inclined so as to approach the axis of the output rod 3 (the depth of the recess becomes deeper) as it goes upward.
  • a wedge space 24 is formed between the receiving portion 22 and the transmitting portion 23 so as to become narrower toward the inside of the cylinder hole 4 in the radial direction (see FIG. 2).
  • the engaging ball 25 is inserted into the wedge space 24.
  • the engaging ball 25 is formed in a tapered shape on the inner peripheral wall of the second piston 6 so as to push the engaging ball 25 inward in the radial direction so that the boosting portion 26 narrows as it goes downward.
  • a pushing portion 27 is provided in a tapered shape on the upper side of the boosting portion 26.
  • Six through holes 30 are formed in the upper portion of the peripheral wall of the plug portion 2 at predetermined intervals in the circumferential direction. Each through hole 30 movably supports the ball 31 between the radial inner position shown in FIG. 1 and the radial outer position shown in FIG. 3 (outer position). Three of the six balls 31 are engaging balls 31a, and the remaining three balls are locking balls 31b. Engagement balls 31a and lock balls 31b are alternately inserted into the through holes 30. In this embodiment, the six through holes 30 are arranged on the peripheral wall of the plug portion 2 so as to be at the same height position in the axial direction.
  • the dimension of the plug portion 2 in the height direction can be reduced as compared with the case where the balls 31a and 31b are arranged at different height positions in the axial direction on the peripheral wall of the plug portion 2.
  • the clamp device can be made compact.
  • the pressing surface 32 and the retracting groove 33 are vertically connected to each other so as to correspond to the engaging ball 31a.
  • the pressing surface 32 is formed so as to expand upward.
  • the retracting groove 33 is at a position facing the engaging ball 31a, and by moving to a retracting position where the ball 31a can be inserted, the engaging ball 31a has a diameter larger than the outer peripheral surface of the plug portion 2. It becomes possible to move inward in the direction.
  • a support surface formed straight in the vertical direction on the outer peripheral wall of the upper rod portion 3a of the output rod 3 in correspondence with the locking ball (lock member) 31b.
  • the (support portion) 36 and the evacuation groove 37 are formed so as to be connected vertically.
  • the support surface 36 is formed parallel to the axial direction of the tubular hole 2a.
  • the axial direction of the output rod 3 and the axial direction of the tubular hole 2a are the same directions.
  • the support surface 36 is formed on the outer peripheral wall of the upper rod portion 3a so as to be perpendicular to the axial direction of the through hole 30.
  • a groove 38 extending along the axial direction of the output rod 3 (cylinder hole 2a) is formed on the outer peripheral wall of the rod portion 3a of the output rod 3, and the support surface 36 is formed by the bottom wall of the groove 38. ing.
  • the bottom wall of the groove 38 has an arcuate cross section perpendicular to the axial direction of the output rod 3 (cylindrical hole 2a).
  • the bottom wall of the groove 38 extends parallel to the axial direction of the output rod 3 (cylinder hole 2a).
  • the locking ball 31b can be fitted as in the first modification of the present embodiment shown in FIG.
  • the support surface 36 may be formed by a spherical surface. That is, the support surface 36 may be formed in a spherical shape.
  • the support surface 36 is not limited to a spherical surface.
  • the support surface 36 may be a recess having a flat bottom. That is, the support surface 36 may be a recess into which the locking ball 31b is fitted, as a broader concept.
  • the recess (support surface 36) extends in the radial direction of the output rod 3 from the center of the recess in a cross-sectional view parallel to the axial direction of the output rod 3, as in the present embodiment. It is preferable that the shape is symmetrical with respect to the virtual straight line L. As a result, the ball 31b moves the output rod 3 in the axial direction so that the ball 31b coincides with the center of the recess, and after the movement, the relative movement between the ball 31b and the output rod 3 is restricted, and the recess (support). The reception of the ball 31b by the surface 36) becomes more stable.
  • the support surface 36 extends outward in the radial direction of the output rod 3 as it goes toward the clamp drive direction of the output rod 3 ( It may be inclined with respect to the axial direction of the tubular hole 2a).
  • the clamp drive direction of the output rod 3 is the downward direction in FIG. 7.
  • the support surface is inclined by ⁇ (°) with respect to the axial direction of the tubular hole 2a of the plug portion 2 and expands (moves away from the axial center) toward the lower side (the direction in which the output rod 3 is driven by the clamp). 36 is formed.
  • a groove 38 extending along the axial direction of the output rod 3 (cylinder hole 2a) is formed on the outer peripheral wall of the rod portion 3a of the output rod 3, and the support surface 36 has a support surface 36. It is composed of the bottom wall of the groove 38.
  • the bottom wall of the groove 38 has an arcuate cross section perpendicular to the axial direction of the output rod 3 (cylindrical hole 2a).
  • the bottom wall of the groove 38 is oriented with respect to the axial direction of the output rod 3 (cylindrical hole 2a) so as to expand outward in the radial direction of the output rod 3 toward the clamp drive direction of the output rod 3. It is tilted.
  • the support surface 36 is ⁇ (°) with respect to the axial direction of the tubular hole 2a of the plug portion 2. ) Is inclined, and is formed so as to expand (move away from the axial center) toward the upper side (the direction in which the output rod 3 is driven by the clamp, the upward direction in FIG. 11).
  • FIG. 8 shows a third modification of the support surface 36.
  • the support surface 36 is formed by the bottom wall of the groove 38 having an arcuate cross section perpendicular to the axial direction of the output rod 3 (cylindrical hole 2a).
  • the support surface 36A is flat.
  • the support surface 36A is formed parallel to the axial direction of the output rod 3 (cylinder hole 2a).
  • the support surface 36A formed of a flat surface is such that the output rod 3 expands outward in the radial direction of the output rod 3 toward the clamp drive direction of the output rod 3. It may be inclined with respect to the axial direction of (cylindrical hole 2a).
  • the pressing surface 32A corresponding to the pressing surface 32 in the first embodiment or the like is also made flat.
  • a recess 40 is opened on the lower surface of the work pallet WP.
  • a ring member 41 is attached to the recess 40, and the ring member 41 is fixed to the work pallet WP by a plurality of bolts.
  • the mounting hole 42 is formed by the inner peripheral hole of the ring member 41, and the plug portion 2 can be inserted into the mounting hole 42 (see FIG. 2).
  • the mounting hole 42 is formed in the ring member 41, but as in the third embodiment shown in FIGS. 10 to 14 described later, the inner peripheral hole of the recess 40 of the work pallet WP is used.
  • the mounting hole 42 may be configured.
  • the locking portion 44 is formed in the mounting hole 42 of the ring member 41 in a tapered shape so as to expand upward.
  • the seating surface 45 is formed by the lower surface of the ring member 41. The seating surface 45 can come into contact with the seating surface 46 formed on the upper wall 1a of the housing 1 (see FIG. 2).
  • a seating detection ejection hole 47 is opened in the seating surface 46, and compressed air is supplied to the ejection hole 47.
  • the above clamp device operates as follows.
  • compressed air is discharged from the clamp chamber 10 and compressed air is supplied to the first unclamp chamber 11 and the second unclamp chamber 12.
  • the compressed air in the first unclamp chamber 11 pushes the first piston 5 upward to bring the first piston 5 into contact with the stepped portion 50 of the cylinder hole 4.
  • the compressed air in the second unclamp chamber 12 pushes the second piston 6 downward to bring the second piston 6 into contact with the stopper 51 provided in the cylinder hole 4.
  • the stopper 51 is, for example, a retaining ring 51. Therefore, a slight gap can be formed in the vertical direction between the pushing portion 27 of the second piston 6 and the engaging ball 25, or between the receiving portion 22 and the engaging ball 25 (FIG. FIG. Not shown).
  • the engaging ball 31a can be moved to the retracted position in the retracting groove 33, and the locking ball 31b is in the retracting groove 37. It is possible to move to the evacuation position of.
  • the work pallet WP is carried above the clamp device in the unclamped state shown in FIG.
  • the compressed air in the first unclamp chamber 11 and the second unclamp chamber 12 is discharged and the compressed air is supplied to the clamp chamber 10 in the unclamped state of FIG. Then, first, the compressed air in the clamp chamber 10 pushes the first piston 5 downward and the second piston 6 upward.
  • the push portion 27 of the second piston 6 is received by the receiving portion 22 of the receiving cylinder 21 and the outer peripheral surface of the lower rod portion 3b via the engaging ball 25, so that it is above the second piston 6. Movement to is restricted. Therefore, at the initial stage of the clamp drive stroke, the output rod 3 is lowered by the first piston 5.
  • the boosting portion 26 of the second piston 6 strongly pushes the engaging ball 25 inward in the radial direction.
  • the upward thrust acting on the second piston 6 is converted downward through the boosting portion 26, the engaging ball 25, the receiving portion 22, and the transmitting portion 23, and the output rod 3 is downwardly converted. It will be driven. Therefore, the output rod 3 is strongly driven downward by the resultant force of the pushing force by the boosting mechanism 20 and the pushing force by the first piston 5.
  • the clamping device is switched from the unclamped state of FIG. 1 to the clamped state of FIG.
  • the locking ball 31b faces the support surface 36 of the output rod 3 formed straight in the vertical direction, and is between the ball 31b and the support surface 36, or between the ball 31b and the locking portion.
  • a sliding gap of about 0.05 to 0.1 mm is formed between the rod and the 44. Therefore, unlike the ball 31a, the ball 31b does not press the locking portion 44 downward.
  • the compressed air of the clamp chamber 10 is discharged and compressed into the first unclamped chamber 11 and the second unclamped chamber 12 in the clamped state. Supply air. Then, first, the compressed air in the second unclamp chamber 12 lowers the second piston 6. At this time, immediately after the start of the upward movement of the output rod 3, the ascending of the output rod 3 is restricted by the transmitting portion 23, the engaging ball 25, the receiving portion 22, and the boosting portion 26 of the piston 6. As the second piston 6 descends, a gap is formed between the engaging ball 25 and the boosting portion 26, or between the engaging ball 25 and the transmitting portion 23, so that the first unclamping is performed. The compressed air in the chamber 11 raises the first piston 5 and the output rod 3.
  • the supply of compressed air to the clamp device may be stopped due to some cause, for example, an emergency stop of the system including the clamp device.
  • the clamped state of the clamping device is maintained by the urging force of the holding spring 17.
  • an external force exceeding the urging force of the holding spring 17 may act on the work pallet WP in a direction away from the clamp pallet CP.
  • the external force tends to push the output rod 3 upward (unclamping direction) via the locking portion 44, the engaging ball 31a, and the pressing surface 32.
  • the locking ball 31b pushed by the locking portion 44 is received by the support surface 36.
  • the locking ball 31b and the engaging ball 31a are maintained in a state in which a part of each of the locking ball 31b and the engaging ball 31a protrude outward from the outer peripheral surface of the plug portion 2 from the through hole 30.
  • the work pallet WP is prevented from being unintentionally removed from the clamp pallet CP.
  • FIG. 9 shows a second embodiment of the present invention.
  • the same reference numbers are assigned to the same members (or similar members) as the constituent members of the first embodiment.
  • the locking ball 31b is made larger than the engaging ball 31a. According to this, the receiving of the ball 31b by the support surface 36 is stable, and it is possible to further prevent the work pallet WP from being unintentionally removed from the plug portion 2.
  • the contact area between the support surface 36 and the ball 31b becomes large. As a result, even if a large load acts on the contact portion, the contact portion is prevented from being worn or damaged, and as a result, the durability of the contact portion is improved.
  • the through hole 30 into which the ball 31b is inserted is made larger than the through hole 30 into which the ball 31a is inserted.
  • the through hole 30 into which the ball 31b is inserted and the through hole 30 into which the ball 31a is inserted may have the same size.
  • FIG. 10 to 14 show a third embodiment of the present invention.
  • the same members (or similar members) as the constituent members of the first embodiment will be described with the same reference numbers in principle.
  • a clamping device for fixing a work (clamping object) W as a movable block to a table T as a reference block is exemplified.
  • the difference between this third embodiment and the above-mentioned first embodiment is as follows.
  • FIGS. 10 and 11 the ring member 41, the second piston 6, the second unclamp chamber 12, the holding spring 17, the boosting mechanism 20, and the like in the first embodiment of FIG. 1 are omitted.
  • the upper rod portion 3a of the output rod 3 outputs the balls 31a and the balls 31b by moving the output rod 3 downward (retracting side) in the axial direction by the drive mechanism D.
  • the rod 3 is pushed outward in the radial direction and clamp-driven.
  • the output rod 3 is moved upward (advanced side) in the axial direction by the drive mechanism D, so that the upper rod portion 3a of the output rod 3 becomes the ball 31a and the ball 31b. Is pushed outward in the radial direction of the output rod 3 and clamp-driven.
  • the housing 1 of the clamp device is fixed to the table T by a plurality of bolts (not shown).
  • the output rod 3 inserted into the tubular hole 2a of the plug portion 2 of the housing 1 is moved in the vertical direction by the drive mechanism D.
  • the drive mechanism D is provided in the cylinder hole 4 formed in the housing 1.
  • the drive mechanism D is configured as follows.
  • the piston 5 connected to the output rod 3 is inserted into the cylinder hole 4 so as to be movable in the vertical direction.
  • a clamp chamber 10 is formed on the lower side of the piston 5, and an unclamp chamber 52 is formed on the upper side of the piston 5. Further, the clamp chamber 10 communicates with the compressed air supply / discharge port 15 via the supply / discharge passage 14 formed in the housing 1.
  • the unclamp chamber 52 communicates with the compressed air supply / discharge port 53 via the supply / discharge passage 16 formed in the housing 1.
  • a holding valve 60 is provided in the middle of the above supply / discharge passage 14, and the holding valve 60 shuts off and opens the supply / discharge passage 14.
  • the holding valve 60 is configured as follows, as shown in FIGS. 12 to 14 (FIGS. 10 and 11).
  • a mounting hole 61 is formed in the upper wall 1a of the housing 1 in the left-right direction.
  • the casing 62 of the holding valve 60 is screwed into the female screw portion of the mounting hole 61.
  • a valve hole 63 is formed in the casing 62 in the left-right direction.
  • the valve hole 63 has a medium-diameter hole 63a, a small-diameter hole 63b, and a large-diameter hole 63c in this order from the left side.
  • a valve seat 64 is formed at a step portion formed between the medium-diameter hole 63a and the small-diameter hole 63b.
  • the valve seat 64 is formed in a tapered shape so as to taper toward the right.
  • the valve member 65 is inserted into the medium-diameter hole 63a so as to be movable in the left-right direction.
  • a groove is formed in the outer peripheral wall of the valve member 65 in the circumferential direction, and an O-ring as a sealing member is mounted on the groove.
  • the valve surface 66 is formed by the outer peripheral portion of the O-ring, and the valve surface 66 can come into contact with the valve seat 64.
  • a valve closing spring 68 is mounted between the bottom surface of the recess 67 formed on the left wall of the valve member 65 and the bottom surface of the valve hole 63 (mounting hole 61), and the valve closing spring 68 attaches the valve member 65 to the valve seat 64. We are urging towards.
  • a communication groove 65a is formed in the outer peripheral wall of the valve member 65 in the left-right direction, and a through hole 65b is formed in the valve member 65 so as to communicate the communication groove 65a and the recess 67.
  • a pressure relief hole 65c opened on the right end surface of the valve member 65 is opened in the peripheral wall of a groove formed in the valve member 65 in the circumferential direction.
  • the groove-side opening of the pressure relief hole 65c is sealed by an O-ring as a sealing member.
  • the operating member 69 is movable in the left-right direction and is inserted in a tightly packed manner in the above-mentioned large-diameter hole (valve hole 63 on the opposite side of the valve seat 64 with the valve seat 64 in between) 63c.
  • a protrusion 69b is projected from the main body 69a of the operating member 69 toward the valve member 65. The left end surface of the protrusion 69b can come into contact with the right end surface of the valve member 65.
  • a valve chamber 70 is formed on the left side of the operating member 69 in the large diameter hole 63c, and a pressure receiving chamber is formed on the right side of the operating member 69 (the end surface side opposite to the end surface of the operating member 69 facing the valve member 65). 71 is formed.
  • the pressure receiving chamber 71 is communicated with the unclamp chamber 52 by a communication passage 74 and a through hole 76 formed in the peripheral wall of the casing 62. Further, a through hole 75 is formed in the peripheral wall of the casing 62. The through hole 75 communicates the valve chamber 70 on the left side of the operating member 69 with the compressed air source side flow path 14a of the supply / discharge passage 14. Further, the clamp chamber side flow path 14b of the supply / discharge passage 14 communicates with the medium diameter hole 63a of the valve hole 63.
  • the through hole 75, the valve hole 63, the communication groove 65a, the through hole 65b, the pressure relief hole 65c or the valve opening gap, the recess 67, and the like form a part of the supply / discharge passage 14. ..
  • the ball 31 is movably supported in the through hole 30 of the plug portion 2.
  • the evacuation groove 33 and the pressing surface 32 are vertically connected to each other on the outer peripheral wall of the upper rod portion 3a of the output rod 3 so as to correspond to the engaging ball (engaging member) 31a.
  • the evacuation groove 33 and the pressing surface 32 are formed in order from the lower side on the outer peripheral wall of the output rod 3, but in the present embodiment, the evacuation groove 33 is formed.
  • the pressing surface 32 are formed in order from the upper side. Further, the pressing surface 32 is formed so as to expand downward.
  • a support surface (support portion) 36 formed straight in the vertical direction with the retracting groove 37 corresponding to the lock ball (lock member) 31b. are formed in a row above and below. Similar to the pressing surface 32, in the present embodiment, the support surface 36 is formed on the lower side of the evacuation groove 37.
  • a mounting hole 42 is formed in the lower wall of the work W, and the plug portion 2 can be inserted into the mounting hole 42 (see FIG. 11).
  • the locking portion 44 is formed in the mounting hole 42 in a tapered shape so as to expand upward.
  • the seating surface 45 is formed by the lower surface of the work W. The seating surface 45 can come into contact with the seating surface 46 formed on the upper wall 1a of the housing 1 (see FIG. 11).
  • the above clamp device operates as follows.
  • the compressed air supplied to the unclamped chamber 52 is supplied to the pressure receiving chamber 71 of the holding valve 60 via the communication passage 74 and the gangway 76 formed in the housing. ing.
  • the compressed air in the pressure receiving chamber 71 moves the valve member 65 to the left via the operating member 69, so that the holding valve 60 is opened.
  • the compressed air of the unclamping chamber 52 is discharged and compressed in the unclamped state.
  • Compressed air from the air source is supplied to the valve chamber 70 of the holding valve 60 through the compressed air source side flow path 14a of the supply / discharge passage 14 and the through hole 75.
  • the compressed air in the valve chamber 70 moves the operating member 69 to the right and maintains the state in which the valve member 65 is moved to the left limit position (the valve opening state of the holding valve).
  • the compressed air in the valve chamber 70 is supplied to the clamp chamber 10 through the valve opening gap of the holding valve 60, the communication groove 65a, the through hole 65b, the recess 67, and the clamp chamber side flow path 14b of the supply / discharge passage 14 in this order.
  • the compressed air in the clamp chamber 10 pushes the first piston 5 upward.
  • the extrusion portion 33a forming a part of the evacuation groove 33 of the output rod 3 pushes the engaging ball 31a to an outward position in the radial direction, and the extrusion portion 33a forming a part of the evacuation groove 37 of the output rod 3 is extruded.
  • the portion 37a pushes the locking ball 31b to an outward position in the radial direction.
  • the engaging ball 31a presses the locking portion 44 of the work W downward.
  • the seating surface 45 of the work P is received by the seating surface 46 of the housing 1.
  • the clamping device is switched from the unclamped state of FIG. 10 to the clamped state of FIG.
  • the locking ball 31b faces the support surface 36 of the output rod 3 formed straight in the vertical direction. Since a sliding gap of about 0.05 to 0.1 mm is formed between the ball 31b and the support surface 36, or between the ball 31b and the locking portion 44, the locking ball 31b is a work. Do not press the locking portion 44 of W downward.
  • the retracting groove 33 and the retracting groove 37 of the output rod 3 descend to the height positions facing the balls 31a and 31b.
  • the balls 31a and 31b are inside the retracting groove 33 and the retracting groove 37, and can move inward in the radial direction of the output rod 3.
  • the work W can be smoothly removed from the plug portion 2.
  • the supply of compressed air to the clamp device may be stopped due to some cause, for example, an emergency stop of the system including the clamp device.
  • the compressed air in the clamp chamber 10 of the clamp device tries to be discharged to the outside through the clamp chamber side flow path 14b of the supply / discharge passage 14, but the valve hole 63 from the clamp chamber 10 is discharged.
  • the holding valve 60 is closed by the compressed air acting on the medium-diameter hole 63a (the recess 67 formed in the left wall of the valve member 65) moving the valve member 65 to the right. Will be done.
  • the pressure of the clamp chamber 10 of the clamping device is held by the holding valve 60, and the clamped state of the clamping device is maintained. Further, in the clamped state, an external force exceeding the pressure of the compressed air in the clamp chamber 10 held by the holding valve 60 may act on the work W in a direction away from the table T. In this case, an external force attempts to push the output rod 3 downward (unclamping direction) via the locking portion 44 of the work W, the engaging ball 31a, and the pressing surface 32. However, the locking ball 31b pushed by the locking portion 44 is received by the support surface 36.
  • the ball 31b and the ball 31a are maintained in a state in which a part of each of the ball 31b and the ball 31a protrudes outward from the outer peripheral surface of the plug portion 2 from the through hole 30.
  • the work W is prevented from being unintentionally removed from the plug portion 2.
  • the output is output even when the supply of compressed air is stopped, as in the above embodiment.
  • the output rod 3 and the pistons 5 and 6 may be maintained in a clamped state due to a frictional force generated between the sealing member mounted on the rod 3 and the pistons 5 and 6 and the cylinder hole and the like. Also in this case, when an external force exceeding the above frictional force acts on the work pallet WP or the like in a direction away from the clamp pallet CP or the like, the work pallet WP presses against the locking portion 44 and the engaging ball 31a. The output rod 3 is pushed in the unclamping direction via the surface 32.
  • the locking ball 31b that the locking portion 44 pushes inward in the radial direction of the output rod is received by the support surface 36. Therefore, similarly to the first and second embodiments, the ball 31b and the ball 31a are maintained in a state in which a part of each of the ball 31b and the ball 31a protrudes outward from the outer peripheral surface of the plug portion 2 from the through hole 30. , The work pallet WP can be prevented from being unintentionally removed from the clamp pallet CP.
  • FIG. 15 shows a fourth embodiment of the present invention.
  • the same members (or similar members) as the constituent members of the first and third embodiments described above will be described with the same reference numbers in principle.
  • the housing 1 of the clamp device is fixed to the clamp pallet CP by a plurality of bolts 77.
  • the housing 1 includes a guide cylinder portion 78 having a flange portion whose seating surface 46 is formed on an end surface in the axial direction, a tubular block portion 79 having supply / discharge passages 14, 16 and the like formed inside, and a guide cylinder portion. It is composed of a ring member 80 that seals the space between the 78 and the block portion 79.
  • Six through holes 30 are formed in the axial direction of the peripheral wall of the guide cylinder portion 78 at predetermined intervals in the circumferential direction. Each through hole 30 movably supports the ball 31 between a radial inner position and a radial outer position of the peripheral wall. Three of the six balls 31 are engaging balls 31a, and the remaining three balls are locking balls 31b. Engaging balls 31a and locking balls 31b are alternately inserted into the through holes 30 in the circumferential direction of the guide cylinder portion 78.
  • a cylinder hole 4 is provided in the housing 1, and a drive mechanism D is provided in the cylinder hole 4.
  • the drive mechanism D moves the ball 31 in the through hole 30.
  • the drive mechanism D is configured as follows.
  • the tubular piston 5 is inserted into the outside of the guide cylinder portion 78 (inside the cylinder hole 4) so as to be movable in the vertical direction.
  • the unclamp chamber 52 is formed on the lower side of the piston 5, and the clamp chamber 10 is formed on the upper side of the piston 5.
  • the clamp chamber 10 communicates with the compressed air supply / discharge port 15 via the supply / discharge passage 14 formed in the block portion 79.
  • the unclamp chamber 52 communicates with the compressed air supply / discharge port 53 via the supply / discharge passage 16 formed in the block portion 79.
  • the piston 5 has a tubular operating portion 81, and a pressing surface 32 and a retracting groove 33 are vertically connected to each other on the inner peripheral wall of the operating portion 81 so as to correspond to the engaging ball 31a.
  • the pressing surface 32 is formed so as to narrow as it goes upward.
  • the retracting groove 33 is at a position facing the engaging ball 31a, and by moving to a retracting position where the ball 31a can be inserted, the engaging ball 31a is moved from the inner peripheral surface of the guide cylinder portion 78. Can also be moved outward in the radial direction.
  • the inner peripheral wall of the operation portion 81 of the piston 5 has a support surface (support portion) formed straight in the vertical direction in correspondence with the locking ball (lock member) 31b. ) 36 and the retracting groove 37 are vertically connected to each other.
  • the support surface 36 is formed parallel to the axial direction of the cylinder hole 78a of the guide cylinder portion 78.
  • the axial direction of the pull stud 82 and the axial direction of the tubular hole 78a, which will be described later, are the same directions.
  • the support surface 36 is formed on the inner peripheral wall of the operating portion 81 so as to be perpendicular to the axial direction of the through hole 30.
  • a groove 38 extending along the axial direction of the piston 5 is formed on the inner peripheral wall of the operating portion 81 of the piston 5 to support the piston 5.
  • the surface 36 is formed by the bottom wall of the groove 38.
  • the bottom wall of the groove 38 has an arcuate cross section perpendicular to the axial direction of the piston 5 (cylinder hole 78a).
  • the bottom wall of the groove 38 extends parallel to the axial direction of the piston 5 (cylinder hole 78a).
  • the locking ball 31b By moving the support surface 36 to a position facing the locking ball 31b, the locking ball 31b is moved to an inner position protruding inward in the radial direction from the inner peripheral surface of the guide cylinder 78. Is maintained. A state in which a part of the ball 31b protrudes from the through hole 30 is maintained inward from the inner peripheral surface of the guide cylinder portion 78. By moving the retracting groove 37 to a retracting position where the locking ball 31b can be inserted facing the locking ball 31b, the locking ball 31b is radially outward from the inner peripheral surface of the guide cylinder 78. It becomes possible to move to.
  • a recess 40 is opened on the lower surface of the work pallet WP.
  • a pull stud (protrusion) 82 is attached to the recess 40, and the pull stud 82 is fixed to the work pallet WP by a bolt.
  • the pull stud 82 can be inserted into the guide cylinder portion 78 constituting the housing 1.
  • the locking portion 44 is formed in a tapered shape on the outer peripheral surface of the pull stud 82 so as to narrow as it goes upward.
  • the above clamp device operates as follows.
  • the compressed air in the unclamping chamber 52 is discharged and the compressed air is supplied to the clamp chamber 10 in the unclamped state. Then, the compressed air in the clamp chamber 10 pushes the piston 5 downward.
  • the extruding portion 33a forming a part of the retracting groove 33 of the operating portion 81 constituting the piston 5 pushes the engaging ball 31a to the inward position in the radial direction, and the retracting groove 37 of the operating portion 81
  • the extruded portion 37a forming a part pushes the locking ball 31b to an inward position in the radial direction. Then, the engaging ball 31a presses the locking portion 44 of the pull stud 82 downward.
  • the clamping device is switched from the unclamped state to the clamped state of FIG.
  • the locking ball 31b faces the support surface 36 of the operating portion 81 formed straight in the vertical direction. Since a sliding gap of about 0.05 to 0.1 mm is formed between the ball 31b and the support surface 36, or between the ball 31b and the locking portion 44, the locking ball 31b is a work. Do not press the locking portion 44 of the pallet WP downward.
  • the supply of compressed air to the clamp device may be stopped due to some cause, for example, an emergency stop of the system including the clamp device.
  • an external force may act on the work pallet WP in a direction away from the clamp pallet CP.
  • the external force tends to push the piston 5 upward (unclamping direction) via the locking portion 44 of the pull stud 82, the engaging ball 31a, and the pressing surface 32.
  • the locking ball 31b pushed by the locking portion 44 is received by the support surface 36.
  • the locking ball 31b and the engaging ball 31a are maintained in a state in which a part of each of the locking ball 31b and the engaging ball 31a protrude inward from the inner peripheral surface of the guide cylinder portion 78 from the through hole 30.
  • the work pallet WP is prevented from being unintentionally removed from the clamp pallet CP.
  • the support surface 36 may be a recess into which the locking ball 31b is fitted, as in the first modification of the support portion of the first embodiment shown in FIG.
  • the recess (support surface 36) is symmetrical with respect to a virtual straight line extending in the radial direction of the piston 5 from the center of the recess in a cross-sectional view parallel to the axial direction of the piston 5, as in the case of FIG. It may be in the shape of. Further, the concave portion may be formed in a spherical shape.
  • the support surface 36 is inclined with respect to the axial direction of the piston 5 (cylinder hole 78a) so as to narrow inward in the radial direction of the piston 5 toward the clamp driving direction of the piston 5. You may be doing it.
  • the clamp driving direction of the piston 5 is the downward direction in FIG.
  • This modification of the fourth embodiment corresponds to the second modification of the support portion of the first embodiment shown in FIG. 7.
  • the support surface 36 is formed so as to expand outward in the radial direction of the output rod 3 toward the clamp drive direction of the output rod 3.
  • the support surface 36 is formed so as to narrow inward in the radial direction of the piston 5 toward the clamp drive direction of the piston 5.
  • the support surface 36 When the support surface 36 is formed so as to narrow inward in the radial direction of the piston 5 toward the clamp drive direction of the piston 5, the support surface 36 has a groove having an arcuate cross section, as in the embodiment shown in FIG. It may be composed of 38 bottom walls.
  • the bottom wall of the groove 38 is inclined with respect to the axial direction of the piston 5 (cylinder hole 78a) so as to narrow inward in the radial direction of the piston 5 toward the clamp driving direction of the piston 5.
  • the locking ball 31b may be made larger than the engaging ball 31a as in the second embodiment shown in FIG.
  • the reference block may be a mounting block attached to the tip of the robot arm instead of the clamp pallet CP, the machining center, or the table T of various machines.
  • the movable block may be a tool block that is detachably attached to the attachment block of the robot arm instead of the work pallet WP or the work W.
  • the above-mentioned reference block and movable block may be arranged upside down, or may be connected horizontally or diagonally instead of being connected in the above-exemplified vertical direction.
  • the unclamp chambers 11, 12, and 52 may be equipped with a return spring in addition to being configured to be able to supply and discharge the unclamping pressure fluid.
  • the transmission unit 23 and the reception unit 22 are preferably provided in three or four in the circumferential direction, but may be two or less or five or more.
  • the pressing surface 32 and the retracting groove 33, or the supporting surface 36 and the retracting groove 37 are preferably provided in three or four in the circumferential direction, but may be two or less or five or more. Further, the number of arrangements of the pressing surface 32 and the support surface 36 may not be the same, and the arrangement positions may not be provided at equal intervals.
  • the pressing surface 32 and the supporting surface 36 are arranged at the same position in the axial direction of the output rod 3 or the axial direction of the piston 5.
  • the pressing surface 32 and the supporting surface 36 may be arranged at offset positions in the axial direction of the output rod 3 or the axial direction of the piston 5.
  • the ball 31 (ball 31a and ball 31b) is not limited to the illustrated ball (sphere), and may be a member having another shape, for example, a columnar or rectangular member. Further, the engaging ball 31a and the locking ball 31b of the above embodiment are balls 31 having the same shape and the same dimensions, but the present invention is not limited to this, and members having different shapes or different dimensions may be used.
  • the pressure fluid for clamping and unclamping may be nitrogen gas or the like or a liquid such as pressure oil instead of compressed air.
  • clamping device of the present invention is not limited to the use of clamping work pallets and workpieces, and can also be used for fixing devices such as molds and attachments, support devices, and tool changers.
  • the external force acts on the housing side or the clamp object side so as to separate the clamp object from the housing of the clamp device. That is, there are cases where an external force acts on the object to be clamped with respect to the housing fixed to the table or the like, and there are cases where the external force acts on the housing side while being fixed to some member.
  • Housing 2 Plug part
  • 2a Cylinder hole 3: Output rod
  • 5 Piston
  • 30 Through hole
  • 31a Ball (engagement member)
  • 31b Ball (lock member)
  • 36 Support surface ( Support part)
  • 36A Support surface (support part)
  • 38 Groove
  • 42 Mounting hole
  • 44 Locking part
  • 78 Guide cylinder part
  • 78a Tube hole
  • 82 Pull stud (projection)
  • D Drive Mechanism
  • L Virtual straight line
  • WP Work pallet (clamp object)
  • W Work (clamp object).

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Jigs For Machine Tools (AREA)

Abstract

Trou traversant (30) étant formé dans une paroi périphérique d'une partie bouchon (2) d'un logement (1). Un élément de mise en prise (31a) et un élément de verrouillage (31b) sont insérés dans le trou traversant (30). Une partie de support (36) est formée sur une paroi périphérique externe d'une bielle de sortie (3). Dans le dispositif de serrage dans un état serré, lorsqu'une force externe agit dans la direction de séparation du logement (1) et d'une palette de travail (WP), l'élément de verrouillage (31b) est reçu par la partie de support (36), de telle sorte qu'un état dans lequel une partie de l'élément de verrouillage (31b) fait saillie à partir du trou traversant (30) vers l'extérieur à partir de la surface périphérique externe de la partie bouchon (2) est maintenu.
PCT/JP2021/008321 2020-03-06 2021-03-04 Dispositif de serrage WO2021177385A1 (fr)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE212021000326.5U DE212021000326U1 (de) 2020-03-06 2021-03-04 Klemmvorrichtung
JP2022600091U JP3239951U (ja) 2020-03-06 2021-03-04 クランプ装置
CN202190000341.2U CN219925208U (zh) 2020-03-06 2021-03-04 夹紧装置
KR2020227000042U KR20220001990U (ko) 2020-03-06 2021-03-04 클램프 장치

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2020-039394 2020-03-06
JP2020039394 2020-03-06

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KR (1) KR20220001990U (fr)
CN (1) CN219925208U (fr)
DE (1) DE212021000326U1 (fr)
WO (1) WO2021177385A1 (fr)

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023053761A1 (fr) * 2021-09-28 2023-04-06 パスカルエンジニアリング株式会社 Dispositif d'accouplement et dispositif de serrage
WO2024070394A1 (fr) * 2022-09-26 2024-04-04 株式会社コスメック Dispositif de serrage

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Publication number Priority date Publication date Assignee Title
JPH03501368A (ja) * 1987-01-27 1991-03-28 ケンナメタル インコーポレイテッド 工具ホルダを保持する錠止ロットならびに装置
JPH0617833U (ja) * 1992-08-14 1994-03-08 株式会社牧野フライス製作所 傾斜テーブルにおけるパレット落下防止装置
JPH1190708A (ja) * 1997-09-20 1999-04-06 Hitachi Seiki Co Ltd 工作機械のツールロック装置
JP2001225236A (ja) * 2000-02-14 2001-08-21 Nabeya Iron & Tool Works Ltd 締結装置
US20160059424A1 (en) * 2014-08-20 2016-03-03 Ati Industrial Automation, Inc. Safe robotic tool changer

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JP5826134B2 (ja) 2011-11-08 2015-12-02 富士フイルム株式会社 着色組成物及びインクジェット記録用インク
CN104105890B (zh) 2012-02-16 2016-02-24 克斯美库股份有限公司 带助力机构的缸装置

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Publication number Priority date Publication date Assignee Title
JPH03501368A (ja) * 1987-01-27 1991-03-28 ケンナメタル インコーポレイテッド 工具ホルダを保持する錠止ロットならびに装置
JPH0617833U (ja) * 1992-08-14 1994-03-08 株式会社牧野フライス製作所 傾斜テーブルにおけるパレット落下防止装置
JPH1190708A (ja) * 1997-09-20 1999-04-06 Hitachi Seiki Co Ltd 工作機械のツールロック装置
JP2001225236A (ja) * 2000-02-14 2001-08-21 Nabeya Iron & Tool Works Ltd 締結装置
US20160059424A1 (en) * 2014-08-20 2016-03-03 Ati Industrial Automation, Inc. Safe robotic tool changer

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2023053761A1 (fr) * 2021-09-28 2023-04-06 パスカルエンジニアリング株式会社 Dispositif d'accouplement et dispositif de serrage
WO2024070394A1 (fr) * 2022-09-26 2024-04-04 株式会社コスメック Dispositif de serrage

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KR20220001990U (ko) 2022-08-12
CN219925208U (zh) 2023-10-31

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