• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    Improved pneumatic gripper for stamping press with transfer system. The invention refers to an improved pneumatic gripper for a stamping press or servo press with a transfer system, wherein the gripper is of the type that holds by means of two gripping tips, spaced apart, to a sheet or workpiece, close from the edge of the workpiece, and where said pneumatic gripper differs from those already known in that it allows to ensure with complete reliability that the two clamping points apply the same effort on the sheet, which guarantees a perfect clamping (i.e. without slipping) of the sheet by the gripper during the operations of picking up the sheet in a first station, transferring it to the next station and leaving it in this next station. (Machine-translation by Google Translate, not legally binding)
    公开号:ES2798024A1
    申请号:ES201930502
    申请日:2019-06-04
    公开日:2020-12-04
    发明作者:Trilla Miquel Sarabia
    申请人:Trilla Miquel Sarabia；
    IPC主号:
    专利说明:

    [0002] ENHANCED PNEUMATIC GRIPPER FOR STAMPING PRESS WITH SYSTEM
    [0004] The present invention refers to an improved pneumatic gripper for a stamping press or servo press with a transfer system, wherein the gripper is of the type that holds by means of two gripping tips, spaced apart, to a sheet or workpiece, close to the edge of the workpiece, and where said pneumatic gripper differs from those already known in that it allows to ensure with complete reliability that the two clamping points apply the same effort on the sheet, thus achieving that the transfer press is more reliable and productive, among other advantages that will be described later.
    [0006] Background of the invention
    [0008] Stamping presses are used in industry to shape metal parts, such as shaped sheets used in the automotive industry. These presses include an automatic sheet positioning and transfer system, commonly called a "transfer system", which allows the sequential punching of a sheet along a plurality of dies placed in the press.
    [0010] The aforementioned automated positioning and transfer system, hereinafter referred to as the "transfer system", includes a plurality of pneumatic grippers that are distributed along a pair of gripper-holder profiles located substantially parallel to each other and on both sides of the stamping dies. of the press. Both clamp-holder profiles are coupled to bars belonging to the transfer of the press capable of performing a back and forth movement in the direction of advance of the sheets to be stamped, so that a group of clamps associated with a The same die is capable of holding a sheet to be stamped, transferring it to the next die, and going back to its original die, while the sheet stamping operation is taking place.This process is repeated with the subsequent sheets to be stamped or stamped.
    [0012] The aforementioned pneumatic grippers for stamping press with transfer system generally comprise arms for clamping the sheet to be stamped and a support body that is provided with an internal cavity where a pneumatic cylinder is housed. This cylinder has the function of operating a clamping arm of the gripper that is attached articulated to the support body. Each of the clamps includes tubes to feed the pneumatic circuit of the cylinder and electrical cables that feed one or more sensors for the presence of the sheet to be stamped. These clamping arms can be of different types, for example one fixed and the other mobile or two mobile arms.
    [0014] In operation, all gripper devices are synchronized so that they simultaneously remove a workpiece from one workstation and transfer the workpiece to the next workstation.
    [0016] The stamping processes with presses that include a transfer system seek to increase production (that is, pieces per minute) by increasing the working speed of the system. As the working speed increases, the acceleration and deceleration of the transfer movement of the gripper with the clamped plate also increases. However, it has been found that the higher the speed of the system, the more effort the clamp must exert on the sheet to be stamped to prevent it from sliding or rotating due to the difference in efforts at each clamping point during the transfer movement to the plate. next workstation (i.e. to the next die).
    [0018] A first problem that can occur when trying to increase the working speed of the transfer process of the parts between dies is the loss of grip of a workpiece and the workpiece falling off. Another problem that can occur is the slippage (without falling) of the sheet held by one or more clamps, altering the entire stamping process and can trigger an accident, which can be very serious, for example when placing incorrectly the sheet in the next die. This incident of faulty positioning of the sheet in the next die can stop the entire stamping process, which has a very negative impact on the performance of the entire press (not only that of that work station), and can also reach to damage the workstation itself.
    [0020] This problem of an inadequate clamping of the sheets by the clamps is magnified and becomes even more relevant when they are used in presses where the sheets are cantilevered (that is, they are held on one side and free on the other. ), since the clamping force of the clamp must still be greater to be able to counteract the weight of the sheet. In the case of processes involving cantilevered sheets, it is possible to double the production, since two sheets can be stamped facing each other at the same time, each one held on one side. For this reason, Cantilever sheet metal stamping provides great advantages for the industry, as well as being a challenge in designing pneumatic clamping pliers capable of optimally holding such sheets.
    [0022] The Spanish Utility Model ES1140856U is known from the same owner, which describes an improved gripper for stamping press with transfer system. However, this clamp has the drawback that in the embodiment of the mobile upper arm provided with two spaced apart clamping points, said clamping points have a free end into which a profiled ball joint is inserted that protrudes slightly from the end of the clamp. said tips and configured to be able to rotate slightly and to make contact with the upper surface of the sheet. This profiled free end (which is able to rotate freely about 9 °) has the drawback that when there are two clamping points separated by a certain distance, a small unwanted misalignment of said points is created due to the vertical position where the respective points are mounted. The lower ends of each profiled ball joint are not exactly the same, which does not guarantee that the same effort is exerted on the upper surface of the sheet at each point. In addition, it must be taken into account that the plates sometimes have irregularities and slight inclinations that make the task of clamping the tips even more difficult.
    [0024] This misalignment between the positions in the vertical plane of the two lower ends of each point inevitably causes mechanical indeterminacy (which means that it is not possible to know with complete accuracy whether the two profiled ball joints of the points exert the same effort or not) , which causes clamping failure of the caliper.
    [0026] On the other hand, the clamp described in the Spanish Utility Model ES1140856U has pneumatic and electrical connections arranged in a fixed position on the side of the support body, which sometimes makes it difficult for the installer to position the pipes or cables in Said connections in the connection operation of the same because a specific position must be sought and sometimes the pneumatic connections and / or electrical cables feeding the plate presence sensor can be installed bent or in very forced positions, being able to be strangled , which causes an undesired limitation of the air passage.
    [0028] On the other hand, the clamp described in the Spanish Utility Model ES1140856U has a fixed lower arm 3b on which the lower surface of the sheet rests and which has a short length, which does not allow an optimal support of the lower surface of the The plate, especially in cases where the sheet is supported cantilevered (that is, only on one side).
    [0030] Furthermore, the clamp described in the Spanish Utility Model ES1140856U has a support body 4 that is expensive to manufacture.
    [0032] In view of the above, it is clear the need to obtain pneumatic grippers for stamping presses with transfer system capable of exerting an equal force for each clamping point on the sheet to stamp, in order to ensure total reliability in terms of the perfect clamping of the sheet during the operations of picking up the sheet, transferring it to the next work station and leaving it at said next station (even when these operations are carried out at high accelerations), and thus being able to increase the speed of the press ( cycles per minute) and achieve an increase in production (sheets per minute).
    [0034] Description of the invention
    [0036] The aim of the present invention is to provide an improved pneumatic gripper for a stamping press or servo press with a transfer system, wherein the gripper is held by two separate clamping tips to a sheet or workpiece, which makes it possible to ensure that the two clamping points apply the same effort on the sheet, among other advantages that will be described later.
    [0038] Preferably, although not limiting, this clamp of the invention is intended to hold sheets or workpieces arranged in a cantilever, that is, one or more clamps is attached to a sheet or workpiece but only on one of its sides. However, the clamp of the invention can also be used satisfactorily to clamp a sheet or workpiece on both sides, that is to say by providing at least one clamp on each side of the sheet, in order to provide greater clamping stability.
    [0040] According to this objective, according to a first aspect, the present invention provides a pneumatic gripper comprising a first arm and a second arm between which the sheet or part to be stamped is clamped and also comprises a support body that is provided, as minimum, of an interior cavity where a fluid-dynamic cylinder for actuating the first arm is housed, said cylinder being capable of actuating the first clamping arm of the gripper which is articulated to said support body.
    [0041] Unlike the pneumatic grippers of the state of the art, at least the first articulated clamping arm of the gripper of the invention comprises the following elements:
    [0042] - an arm element, the body of which extends in the direction of a longitudinal axis Y-Y '; - a compensation arm pivotally fixed to the front end of the arm element, where the compensation arm is arranged transversely to the Y-Y 'axis, and where said compensation arm comprises two through holes spaced a certain distance from each other, equidistant from the Y-Y 'axis, one at each end of the compensation arm, to receive inside each clamping point, and wherein said compensation arm and the arm element are joined by means of tilting means so that the compensation arm can tilt slightly from an X-X 'axis transverse to the Y-Y' axis; and
    [0043] - respective clamping points arranged inside each through hole of the compensation arm, each clamping point provided with a nut or the like for fixing each points to the compensation arm.
    [0045] Preferably, the clamping tips comprise a respective ball joint provided with a contoured outer surface that protrudes slightly below its lower ends. In this way, the grip of the tips to the upper surface of the workpiece is substantially improved.
    [0047] Thanks to this slight tilting of the tilting arm, it is achieved that the two clamping points are able to support perfectly by their respective lower profiled ends on the irregular upper surface of each different work plate, exerting the same effort on each point, which is why which results in a higher quality gripper capable of holding the workpiece to be stamped much more securely, which translates into the possibility of safely accelerating the transfer system movement and, thus, increasing productivity from the press.
    [0049] The clamp of the present invention, in addition to providing a greater holding capacity, which is its main objective, provides other advantages that are described below.
    [0051] The clamp of the invention can be of the type in which the first arm is a mobile arm that is hingedly connected to the support body and the second arm is a fixed clamping arm that is integrated into the support body extending forward.
    [0052] Alternatively, the gripper of the present invention can also be of the type in which both the first arm and the second arm are respective movable arms that are hingedly attached to said support body. In this second case, one or both of the mobile arms could have the tilting arm system that is the object of the present invention.
    [0054] Preferably, the first clamping arm is of the type that comprises at the end opposite the pivoting arm of the first clamping arm a groove that serves as a guide for an actuator bearing, which is integrally connected to the rod of the actuating cylinder of the first arm. However, an actuator bushing (eg treated steel bushing) can also be used as a replacement for the bearing. The bearing has the advantage over the bushing that the clamping force of the caliper is increased substantially (around 290%). These two solutions (bearing and actuator bushing) are already known on the market.
    [0056] According to a preferred embodiment of the invention, the first clamping arm comprises the following elements:
    [0057] • an arm element with a front end that has two flat side walls, and furthermore the arm element has a longitudinal hole in its front surface with a diameter and depth such to house a part of an inner shaft;
    [0058] • a compensating arm provided on its rear surface with a central hole extending in the longitudinal direction X-X 'to the body of the compensating arm with a diameter and depth such to house a part of the inner shaft and also provided on this surface rear of a recess that defines a fitting surface with at least two flat side walls and where the distance between said flat walls is slightly greater than the distance between the two flat side surfaces of the arm element, so that the front end of the arm element it fits perfectly into this engagement surface but with a slight tilt play (with a rotation angle between 0 and 10 ° of the compensation arm with respect to the longitudinal axis Y-Y 'of the arm element), and also the compensation arm It comprises two lateral through holes spaced a certain distance from each other, equidistant from the axis of rotation, one at each end of the arm of c compensation, to receive each clamping point inside;
    [0059] • respective clamping points arranged inside each through hole of the compensation arm, each clamping point provided with a nut to fix them to the compensation arm and provided with a profiled ball joint that protrudes slightly from its lower ends; and
    [0060] • the inner axis arranged inside both holes of the compensation arm and the arm element, so that the compensation arm and the arm element are joined through the inner axis and at the same time this inner axis allows a slight rotation of a of the two pieces around said inner shaft.
    [0062] Preferably, the inner shaft is fixed by means of a nut with a rear extension that is arranged inside the front end of the shaft and when mounted it abuts the front face of the compensating arm.
    [0064] Preferably, the profiled ball joint inserted at each lower end of the clamping tips is configured with dimensions such as to allow its rotation through a maximum angle of 9 °.
    [0066] Preferably, the compensation arm has a distance between the two holes for the tips of between 19 and 70 mm, for example 20 mm or 50 mm. The greater this distance between points, the greater the stability of the plate clamping.
    [0068] Preferably, the second clamping arm comprises an extended surface that extends forwardly beyond the vertical plane where the clamping tips of the part are disposed. The provision of this extended surface enables the sheet to be conveniently supported on said extended surface, thereby substantially improving the holding of the sheet. By way of example, the extended surface extends forward a length between 12 and 60 mm.
    [0070] Preferably, the second clamping arm comprises, on said extended surface, a grooved surface in at least each zone where the tips rest, and where this (s) grated surface (s) comprise (s) grooves or grooves that extend transversely to the longitudinal axis Y-Y 'of the support body (that is, they extend in the direction of advancement of the transfer). Preferably, a grooved surface in the area where a tip rests occupies an area at least equal to the area of the lower part of the tip.
    [0072] According to an embodiment of the invention, a grooved surface can be provided in each area where the tips rest, or else a single grooved surface for both tips extending transversely.
    [0074] According to one embodiment of the invention, this grooved surface has regular grooves of equal depth that extend downward and that have a preferably trapezoidal or triangular section.
    [0076] The applicant has carried out, among others, the following three empirical tests that verify that the lateral retention necessary to make the sheet slide or rotate that is held by the clamp of the invention in the closed position can increase up to 423.5% compared to the clamps already known on the market:
    [0078]
    [0081] This large increase, of up to 241.3%, in the lateral retention necessary to make the sheet held by the clamp of the invention slide or rotate in the closed position with respect to the clamps already known on the market is truly surprising and unexpected.
    [0082] Optionally, the clamp of the invention can comprise, unlike conventional clamps, a rotatable ring that is externally held in a specific position of the support body but with the possibility of rotating (preferably totally) around the support body, where the rotatable ring comprises fluid inlet and outlet intakes, and wherein the ring is configured to be externally coupleable to an outer part of the support body. Preferably, the rotatable ring further comprises a channel for passing the electrical connections of the sheet metal presence sensor. This ring allows to facilitate the insertion of the fluid inlet and outlet sockets and electrical wiring, that is to say, to gain in versatility in positioning the fluid inlet and outlet sockets and the electrical connections, as the ring can be rotated 360 ° around the support body, as appropriate in each case. This translates into a reduction in the installation time of the fluid inlet and outlet ports and the electrical connections by the installer and also in a reduction in assembly errors and possible problems with the supply of fluid to the clamp due to the arrangement of bent or strained connections or cables. Therefore, the provision of the ring results in an increase in productivity.
    [0084] In order to be able to engage the ring, the improved clamp of the invention preferably has a rear portion of the support body that has a grooved surface that facilitates the engagement of the rotatable ring without being removable, but rotatable. This grooved surface has a plurality of grooves at different points along the length of the support body and the purpose of which is to insert in them respective O-rings to channel the air conduits and also to help hold the ring in the specific position. working, and with the possibility of turning. In order to ensure that the ring cannot be removed or moved in the longitudinal direction from its working position, the portion of the support body may comprise a non-return flap that prevents removal of the ring by the user.
    [0086] Preferably, the improved clamp of the invention has a rear end configured to be fixed by any known mechanical means to a clamp-holder piece.
    [0088] On the other hand, and optionally, the support body of the improved caliper of the invention has, at least one outer part, substantially cylindrical in shape. This means that the manufacturing cost of the support body is significantly reduced, as it is much easier to machine than a prismatic part, while requiring the use of less amount of material, so that ultimately the total cost of manufacturing the support body decreases. Preferably, both the rear part of the support body and the front part have a substantially cylindrical outer part.
    [0090] Advantageously, the first clamping arm is hingedly connected to the support body of the gripper at an articulation point which is arranged substantially aligned with the second clamping arm. In this way, shorter clamping tips can be used, helping to reduce the overall weight of the arm.
    [0092] Preferably, the improved gripper of the invention comprises a collised groove that serves as a guide for an actuator bearing that is integral with the rod of the actuating cylinder of said articulated arm. The holder of the present invention has observed that this actuator bearing contributes to lengthening the useful life of the caliper.
    [0094] In relation to the support body, according to a preferred embodiment, the rear chamber of the cylinder for the inlet and outlet of fluid can comprise a damping element that acts as a stop for the cylinder piston, said damping element being dimensioned to absorb kinetic energy from the movement of the first articulated gripper clamping arm and contributes to obtaining an upper arm speed. The provision of this damping element allows, advantageously, to reduce very significantly the noise made by the gripper while working, which allows improving the environmental conditions of the workplace.
    [0096] Advantageously, the clamp can comprise a sensor for the presence of the piece to be stamped that includes a supply cable for said sensor integrated in the portion of the support body that defines the second arm. This feature helps reduce the overall height of the gripper, thus saving space.
    [0098] Said fluid-dynamic cylinder is a pneumatic fluid cylinder with a diameter greater than 20 mm, for example, a diameter of 25 mm or 32 mm, which contributes to obtaining a gripper with a greater clamping force.
    [0100] According to a preferred embodiment, preferably, the gripper comprises two inlet and outlet intakes for the supply fluid of the fluid-dynamic cylinder (for example, pneumatic), which are preferably arranged in the ring.
    [0102] Thanks to the aforementioned characteristics, an improved clamp with a simple and compact design is obtained that has the following advantages compared to the clamps of the state of the art:
    [0104] • Its lateral retention to slide or rotate the sheet held by the clamp of the invention is 423.5% higher.
    [0105] • Greater clamping security, that is, reduction of clamping failures.
    [0106] • The support body has 16% less weight.
    [0107] • Less time and cost to manufacture the support body.
    [0108] • Greater versatility regarding the positioning of the pneumatic and electrical connections of the gripper.
    [0110] All these advantages result in greater lateral retention while said clamping is more reliable, so that the productivity and reliability of the stamping press is significantly increased.
    [0112] Brief description of the figures
    [0114] For a better understanding of what has been explained, some drawings are attached in which, schematically and only as a non-limiting example, some practical cases of realization are represented.
    [0116] Figures 1 to 8 are drawings representing a first embodiment of the two-prong clamp object of the present invention. Specific:
    [0118] • Figures 1 and 2 show perspective views of the first embodiment of the two-prong clamp object of the present invention, in the closed and open position, respectively.
    [0120] • Figure 3 shows a side elevation view of the first embodiment of the two-prong clamp object of the present invention, in the closed position.
    [0122] • Figure 4 shows a top plan view of the clamp of previous figures 1 to 3, in the closed position.
    [0123] • Figures 5 and 6 show front and rear elevation views of the clamp of previous Figures 1 to 4, respectively, in the closed position.
    [0125] • Figures 7 and 8 show longitudinal sections of the clamp of previous figures 1 to 6, in closed and open position, respectively.
    [0127] Figures 9 to 15 are drawings representing a second embodiment of the two-prong clamp object of the present invention. Specific:
    [0129] • Figures 9 and 10 show perspective views of the second embodiment of the two-prong clamp object of the present invention (in this case with a distance between prongs greater than the first embodiment), in the closed and open position, respectively. .
    [0131] • Figure 11 shows a top plan view of the second embodiment of the clamp, in the closed position.
    [0133] • Figures 12 and 13 show front and rear elevation views of the second embodiment of the clamp, respectively, in the closed position.
    [0135] • Figures 14 and 15 show longitudinal sections of the second embodiment of the clamp, in closed and open position, respectively.
    [0137] Figures 16 to 19 are drawings representing the first clamping arm of the first embodiment of the two-prong clamp object of the present invention, where:
    [0139] • Figure 16 shows a perspective view of said first assembled clamping arm.
    [0141] • Figure 17 shows an exploded perspective view of said first clamping arm.
    [0143] • Figures 18 and 19 show views in two different perspectives of the rocker arm of said first clamping arm.
    [0144] Figure 20 shows the same figure in front elevation of the gripper of the second embodiment, where the existing small play of rotation angle at 1 between the rocker arm and the arm element has been represented.
    [0146] Figure 21 shows a perspective view of a third embodiment of the two-prong clamp object of the present invention, in the closed position, similar to the second embodiment but in this case where the grooved surface of the second fixed arm occupies the entire the extended surface. In this figure 21 3 different details have been represented: detail 1 that refers to the grooved surface, detail 2 that refers to the lower end of the tip provided with a sphere (which is called in the jargon of the sector as a ball joint) which is profiled to provide friction with the surface of the sheet (not shown), and finally detail 3 which refers to the zigzag shaped profile of the grooved surface. In detail 2 it is shown how the tip is formed by a screw 21 provided with a lower hole where the profiled ball joint 22 is inserted.
    [0148] And the last figures 22a, 22b and 22c show the arrangement of the clamp of the first embodiment once it is installed in a clamp-holder support and it runs along a profile.
    [0150] Description of preferred embodiments of the invention
    [0152] In the following, several different embodiments of the pneumatic gripper 1, 100, 200 for a stamping press or servo press with transfer system of the present invention are described with reference to the accompanying figures 1 to 22.
    [0154] In all the embodiments shown in the attached figures, the pneumatic gripper 1, 100, 200 includes two arms 3a, 3b for holding a piece to be stamped (not shown in any of the attached figures) and a support body 4a, 4b that it is provided with an internal cavity 27 where a fluid-dynamic cylinder 26 is housed (see figures 7, 8, 14 and 15). This fluid-dynamic cylinder 26 operates the first upper clamping arm 3a, which is mobile and is articulated to an axis 25 of the support body 4a, 4b. This action of the fluid dynamic cylinder 26 is effected by means of an actuator bearing 31 associated with the rod 28 of the cylinder 26.
    [0156] In all the embodiments described in the figures, the rear chamber 27 of the pneumatic cylinder 26 comprises a damping element 29 that acts as a stop for the piston 30 cylinder. This damping element 29 absorbs the kinetic energy from the movement of the first clamping arm 3a, thereby reducing the noise produced by the pneumatic gripper 1, 100, 200 during its operation.
    [0158] The pneumatic gripper 1 described in the first embodiment has a supporting body 4a, 4b made of treated steel and a pneumatic cylinder diameter of 25 or 32 mm.
    [0160] The second clamping arm 3b, which corresponds to the lower arm and is fixed, is also integrated into the support body 4 of the pneumatic gripper 1, 100, 200, extending from a front portion 4a of the support body 4 itself, as It is observed in the attached figures.
    [0162] The first movable arm 3a has in all cases two clamping points 2a, 2b for the sheet to be stamped. In the first embodiment of the pneumatic gripper 1 shown in Figures 1 to 8, the two clamping tips 2a, 2b are quite close to each other, about 20 mm, while in the second embodiment 100 and in the third 200 of the caliper are further apart, approximately 60 mm.
    [0164] The pneumatic gripper 1, 100, 200 of the present invention is characterized by the fact that the first mobile articulated clamping arm 3a is formed by an arm element 19 and fixed transversely with a slight play to its front end a compensation arm 10 , wherein said compensation arm 10 comprises two through holes 13 spaced a certain distance from each other, one at each end of compensation arm 10 to receive inside each clamping point 2, and a respective set of nuts 12a, 12b and screw to fix superiorly each clamping point 2 inside each hole 13, and wherein said compensation arm 10 and arm element 19 are configured with tilting means so that the compensation arm 10 can be slightly tilted with respect to the axis longitudinal arm element 19.
    [0166] The particular and advantageous configuration of the first mobile articulated clamping arm 3a, which is formed by an arm element 19 and fixed transversely by means of a slight play to its front end a compensation arm 10, is clearly shown in figure 16. In the same It can be seen that the arm element 19 has a front end that presents two flat lateral surfaces 33, and furthermore the arm element 19 has a longitudinal hole 18 that begins on its front surface with a dimension and length such to house a inner shaft 13 (shown, for example, in Figures 7, 15 or 17).
    [0167] In said figures 7 and 15 it is observed how the longitudinal hole 18 has a length slightly greater than the length of the inner shaft 13, once it is correctly assembled inside and fixed by means of a nut 20.
    [0169] On the other hand, the compensation arm 10, which is shown separately in Figures 17, 18 and 19, has an elongated body of a certain thickness provided on its rear surface with a central hole 22 (see Figures 18 and 19) that extends in a transverse direction to the compensation arm 10 with a dimension such as to house part of the shaft 13 and also provided on this rear surface with a recess 23 that defines an engaging surface with at least two flat side walls 33 and where the distance between said flat walls is slightly greater than the distance between the two flat lateral surfaces of the arm element 19, so that the arm element 19 is perfectly fitted in this recess 23 but has a slight angle tilt play between 0 and 10 ° of the compensation arm 10 with respect to the longitudinal axis of the first arm.
    [0171] In figure 20 this play of the compensation arm 10 is represented schematically, between 0 and 10 ° above or below the longitudinal axis of the arm element. In other words, there would be 5 ° above and 5 ° below with respect to the longitudinal axis X-X 'of the arm element 19.
    [0173] On the other hand, once assembled, the inner shaft 13 is arranged inside both holes 22, 18 of the compensation arm 10 and the arm element 19, and where the compensation arm 10 is joined through the inner shaft 13 and the arm element 19 and at the same time the axis allows the slight tilting of one of the two pieces 10, 19 around said inner axis 13.
    [0175] Another characteristic of the pneumatic gripper 1, 100, 200 of the present invention lies in the particular configuration of the outer surface of the support body 4a, 4b which, as can be seen in Figures 1 to 15, is substantially cylindrical. It has a cylindrical rear portion 4a, which extends frontally forming another front portion 4b, also substantially cylindrical.
    [0177] Another optional feature of the pneumatic gripper 1, 100, 200 of the present invention is found in the provision of an extended surface 15 of the second clamping arm 3b, wherein said extended surface 15 comprises a part or all of its upper surface in form of grooves 14. In all the embodiments shown in the figures adjoined, these two grated surfaces 14 are formed by a plurality of homogeneous grooves extending transversely to the longitudinal axis of the support body 4a, 4b. In the case of Figure 21, these two grated surfaces 14 occupy the entire surface of the extended section 15, while in the case of Figures 1 to 15 they only occupy a part (that is to say not all) of said extended sections 15.
    [0179] As can be seen in details 1 and 3 of figure 21, said two grated surfaces 14 have regular grooves of equal depth and the same section (in this case a section in the form of a zigzag with a triangular profile). In detail 3, which corresponds to a groove, it can be seen that its depth is around 0.5 mm, the distance between the tips of the ridges is 1mm and the angle between two contiguous ridge planes is 90 ° . This specific configuration of the plurality of grooves has been shown by the owner to be very advantageous, in order to provide optimum friction with the inner surface of the sheet, which rests on the lines of the different ridges that make up this grooved surface.
    [0181] The applicant of this invention has shown (see the results obtained by the tests shown in the table above) that the combination between the grip exerted by the tips held by the rocker arm together with the grooved extended lower surface gives truly surprising results and not obvious to an expert in the material.
    [0183] In this same figure 21 a detail 2 can be seen in which the configuration of the lower part of the screw 21 that configures the tip 2b or 2a and whose lower end has a profiled spherical ball joint 22 inserted inside said lower end. Said ball joint shaped spherical 22 has the ability to rotate about 9 ° with respect to the body of the screw 21.
    [0185] In the last figures 22a, 22b and 22c the clamp of the first embodiment is shown once it is installed in a possible clamp-holder support and it runs along some profiles (here only one of the two profiles 32 is shown) . As can be seen, the ring 11 can be manually rotated by the user acquiring the different desired angular positions, for example pointing towards the left side in figure 22a, upwards in the next figure 22b or towards the right side in the last Figure 22c.
    [0187] In particular, this first embodiment of the invention described has been found that the piston diameter caliper 1 provides a clamping force of up to 180 decaNewtons (daN) for a working pressure of 6 bar.
    [0189] Although reference has been made to specific embodiments of the invention, it is evident to a person skilled in the art that the pneumatic gripper 1, 100, 200 described, in its various variants, is susceptible to numerous variations and modifications, and that all the aforementioned details may be replaced by other technically equivalent ones, without departing from the scope of protection defined by the appended claims.
    权利要求:
    Claims (18)
    [1]
    1. Pneumatic clamp 1, 100, 200 for a stamping press or servo press with transfer system, in which one or more clamps hold a sheet or part at one end, and in which the pneumatic clamp 1, 100, 200 comprises a first arm 3a and a second arm 3b between which the sheet or piece to be stamped is held and a support body 4, 4a, 4b that is provided with an internal cavity where a fluid-dynamic cylinder 26 is housed, said cylinder 26 being susceptible to actuating the first clamping arm 3a of the pneumatic gripper 1, 100, 200 which is articulated to said support body 4a, 4b, characterized in that, at least, the first articulated clamping arm 3a comprises:
    - an arm element 19 extending in the direction of a longitudinal axis Y-Y ';
    - a compensation arm 10 fixed in a swingable manner to the front end of the arm element 19, where the compensation arm 10 is arranged transversely to the Y-Y 'axis, and where said compensation arm 10 comprises two through holes 13 separated by a certain distance from each other, equidistant from the Y-Y 'axis, one at each end of the compensation arm 10 to receive inside each clamping point 2a, 2b, where said compensation arm 10 and arm element 19 are joined by means of tipping means so that the compensation arm 10 can tilt slightly from an axis X-X 'transverse to the longitudinal axis Y-Y'; and
    - respective clamping points 2a, 2b arranged inside each through hole 21 of the compensation arm 10, each clamping point 2a, 2b provided with a nut 12a, 12b to fix each points 2a, 2b to the compensation arm 10.
    [2]
    2. Pneumatic gripper 1, 100, 200 according to claim 1, in which the first arm 3a is a mobile arm that is articulated to said support body 4 and the second arm 3b is a fixed clamping arm that is integrated into support body 4.
    [3]
    Pneumatic gripper 1, 100, 200 according to claim 1, in which both the first arm 3a and the second arm 3b are respective movable arms that are connected articulated to said support body 4.
    [4]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, in which the first arm 3a comprises:
    - an arm element 19 with a front end presenting two flat lateral surfaces, and furthermore the arm element 19 has a longitudinal hole 18 on its front surface with a diameter and depth such as to house a part of an inner shaft 13;
    - a compensation arm 10 provided on its rear surface with a central hole extending in the longitudinal direction X-X 'to the body of the compensation arm 10 with a diameter and depth such as to house a part of the inner shaft 13 and also provided on this rear surface of a recess that defines a fitting surface 23 with at least two flat side walls and where the distance between said flat walls is slightly greater than the distance between the two flat side surfaces of the arm element 19, so that the arm element 19 is perfectly embedded in this recessed surface 23 but with a slight tilt play of a rotation angle between 0 and 10 ° of the compensation arm 10 with respect to the longitudinal axis Y-Y 'of the arm element 19, and also the compensation arm comprises two lateral through holes spaced a certain distance from each other, equidistant from the axis of rotation, one at each end of the arm d e compensation, to receive each clamping point inside;
    - respective clamping points 2a, 2b arranged inside each through hole of the compensation arm, each clamping point 2a, 2b provided with a nut to fix them to the compensation arm and provided with a profiled ball joint that protrudes slightly from its ends lower; and - the inner shaft 13 arranged inside both holes 22, 18 of the compensation arm 10 and the arm element 19, so that the compensation arm 10 and the arm element 19 are joined through the inner shaft 13 and at the same time the inner shaft 13 allows the slight rotation of one of the two pieces 10 or 19 around said inner shaft 13.
    [5]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, in which the compensation arm 10 has an equidistant distance between the two holes for the tips of between 19 and 70 mm.
    [6]
    Pneumatic clamp 1, 100, 200 according to any one of the preceding claims, in which it further comprises nut 20 with a rear extension to fix the inner shaft 13 and being configured to be arranged inside the front end of the inner shaft 13 and when mounted, it abuts the front face of the compensation arm 19.
    [7]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, in which the second clamping arm 3b comprises an extended surface 15 that extends forwardly beyond the vertical plane where the clamping tips 2 of the the piece.
    [8]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, in which the extended surface 15 extends forward for a length comprised between 12 and 60 mm.
    [9]
    9. Pneumatic gripper 1, 100, 200 according to the preceding claim, in which the extended surface 15 of the second clamping arm 3b comprises at least one grooved surface 14 in each area where the tips 2 rest, and where the grated surface comprises stripes that extend transversely to the longitudinal axis of the support body 4.
    [10]
    Pneumatic gripper 1, 100, 200 according to the preceding claim, in which the grooved surface 14 in the area where the tips 2a, 2b bear, occupies an area at least equal to the surface of the lower part of the tip 2a, 2b .
    [11]
    Pneumatic gripper 1, 100, 200 according to claim 7 or 8, in which the grooved surface 14 has regular grooves of equal depth and triangular section.
    [12]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, in which it has a substantially cylindrical support body 4a, 4b.
    [13]
    Pneumatic gripper 1, 100, 200 according to any one of the preceding claims, wherein it comprises a rotatable ring 11 around the longitudinal axis of the body of support 4a, 4b, wherein the rotatable ring 11 comprises two fluid inlet and outlet intakes 15, and wherein the ring 11 is configured to be externally attachable to a rear part 4a of the support body.
    [14]
    Pneumatic clamp 1, 100, 200 according to the preceding claim, in which the rotatable ring 11 further comprises a channel 17 for passing the electrical connection (s) 18.
    [15]
    Pneumatic gripper 1, 100, 200 according to preceding claims 9 or 10, in which a rear portion 4a of the support body has a surface with a plurality of grooves at different points to facilitate the coupling of the rotatable ring 11 in position Concrete work without the possibility of extraction but with the possibility of turning.
    [16]
    16. Pneumatic gripper 1, 100, 200 according to claim 1, in which the opposite end of the first clamping arm 3a comprises a groove 24 that serves as a guide for an actuator bearing 31 that is integrally attached to the rod 28 of the cylinder 26 of actuation of said articulated arm 3a.
    [17]
    17. Pneumatic gripper 1, 100, 200 according to claim 1, wherein said fluid dynamic cylinder 26 is a pneumatic cylinder with a diameter greater than 20 mm.
    [18]
    Pneumatic gripper 1, 100, 200 according to claim 1, in which the clamping tips 2a, 2b comprise a respective ball joint 22 with a contoured outer surface projecting slightly below their lower ends.
    类似技术:
    公开号 | 公开日 | 专利标题
    ES2213839T3|2004-09-01|TRANSFER CLAMPS OF MODULAR PRINTED PARTS.
    ES2359275T3|2011-05-20|CUTTING INSERT AND COMBINATION OF CUTTING INSERT AND A PORTA-INSERTO.
    ES2716468T3|2019-06-12|Fixing device with a fixing mandrel and with a work support that can be fixed to it in a removable way
    ES2527317T3|2015-01-22|Tool exchanger with two fingers
    ES2547760T3|2015-10-08|Clamping jaw or clamping element
    JP5487514B2|2014-05-07|monkey wrench
    ES2247570T3|2006-03-01|MATRIX FOR A TOOL SET FOR MECHANICAL ASSEMBLY.
    ES2345722T3|2010-09-30|CLAMPING CLAMP AND CLAMPING DEVICE WITH A CLAMP CLAMP OF THIS TYPE.
    ES2601186T3|2017-02-14|Cutting tool and cutting insert for it
    CN1788900B|2010-04-28|Saw bit clamping device
    ES2798024B2|2021-05-13|IMPROVED PNEUMATIC GRIPPER FOR STAMPING PRESS WITH TRANSFER SYSTEM
    CN103465465A|2013-12-25|Tool holder, tool, and work station with tool holder and tool attached thereto
    JP2013519533A|2013-05-30|Tool for machining and method for orienting the cutting insert of such a tool
    ES2358821B2|2013-02-11|SET OF BITS AND SET SYSTEM OF BITS WITH ARTICULATED ARMS OF THE BITS FOR USE IN A PRESSING TOOL.
    JP5212830B2|2013-06-19|Clamping device
    ES2278357T3|2007-08-01|HOLDING DEVICE.
    CN110636925A|2019-12-31|Workpiece clamping device
    ES2668371T3|2018-05-17|Improved clamp for printing press with transfer system
    CN104440149A|2015-03-25|Screw head wedge clamp assembly for cutting tool
    CN210549564U|2020-05-19|Multistation axle class precision finishing anchor clamps
    KR102065517B1|2020-01-13|Kit type vise
    TWI571367B|2017-02-21|Clamping mechanism
    JP2011020235A|2011-02-03|Cutting tool
    US8075001B2|2011-12-13|Chuck and rotary orienting device
    KR20150087536A|2015-07-30|Apparatus for tool magazine
    同族专利:
    公开号 | 公开日
    WO2020245487A1|2020-12-10|
    ES2798024B2|2021-05-13|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    US6048013A|1996-10-07|2000-04-11|Phd, Inc.|Modular stamped parts transfer gripper|
    US20030151266A1|2001-03-16|2003-08-14|Moilanen Steven M.|Article sensor assembly|
    ES1140856U|2015-06-08|2015-07-06|Miquel SARABIA TRILLA|Improved clamp for press release with transfer system |
    CN208542861U|2018-06-05|2019-02-26|广州市恒宇印铁制罐有限公司|A kind of thin plate feeding device|
    DE729654C|1940-12-21|1942-12-19|Wilhelm Thienes|vice|
    DE4222741A1|1991-09-30|1993-04-01|Horst Warneke|Production line for sheet metal shuttering for concrete - has stamping, folding and welding machines arranged in line|
    DE202010010687U1|2010-07-27|2010-09-30|Krahn, Heinrich|Universal balancing clamping element|
    CN109676049A|2019-01-04|2019-04-26|济南凯丰数控机械有限公司|Four side folding brakes clamp rotation feeder|
    法律状态:
    2020-12-04| BA2A| Patent application published|Ref document number: 2798024 Country of ref document: ES Kind code of ref document: A1 Effective date: 20201204 |
    2021-05-13| FG2A| Definitive protection|Ref document number: 2798024 Country of ref document: ES Kind code of ref document: B2 Effective date: 20210513 |
    优先权:
    申请号 | 申请日 | 专利标题
    ES201930502A|ES2798024B2|2019-06-04|2019-06-04|IMPROVED PNEUMATIC GRIPPER FOR STAMPING PRESS WITH TRANSFER SYSTEM|ES201930502A| ES2798024B2|2019-06-04|2019-06-04|IMPROVED PNEUMATIC GRIPPER FOR STAMPING PRESS WITH TRANSFER SYSTEM|
    PCT/ES2020/070373| WO2020245487A1|2019-06-04|2020-06-03|Pneumatic clamp for plates with tilting jaws|
    [返回顶部]