• 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:
    TIGHTENING APPLIANCE HAVING BAG MEMBERS FILLED WITH A GRANULAR SUBSTANCE. The present invention relates to a clamping apparatus (1) which includes a clamping portion (2) for clamping a workpiece (50). This clamping portion (2) has i) tongue portions (4,5) having compression portions (4b, 5b) that compress the workpiece (50), and ii) contact portions (6), each of which which having an inner bag (11) made of elastic material, and a granular substance (12) that is filled in the inner bag (11). The contact portions (6) are affixed to portions of the compression portions (4b, 5b) that contact the workpiece (50) and harden the granular substance (12), while maintaining it in an appropriate shape by increasing a ratio volume of the granular substance (12) to an internal volume of the inner bags (11). Retention portions (10) having concave-convex shapes are formed on the display surfaces (4g) which are portions of the compression portions (4b, 5b) to which the contact portions (6) are attached.
    公开号:BR112012027305B1
    申请号:R112012027305-1
    申请日:2011-04-19
    公开日:2021-04-27
    发明作者:Hirofumi Matsuoka；Masayuki Tamura
    申请人:Toyota Jidosha Kabushiki Kaisha；
    IPC主号:
    专利说明:

    BACKGROUND OF THE INVENTION 1 . Field of the Invention
    [001] The present invention relates to the technology of a clamping apparatus capable of reliably tightening any one of a plurality of types of workpieces of different shapes. two . Description of the Related Art
    [002] When handling a plurality of types of workpieces of different shapes with a clamping device that clamps a workpiece or a product or the like, it is problematic to replace a contact portion, that is, a portion of the apparatus clamp that directly contacts the workpiece or similar, for a portion corresponding to the shape of each workpiece. Therefore, it was hoped that a clamping device capable of flexibly handling a variety of types of workpieces having different external shapes would be developed. Thus, several technologies for clamping devices that are capable of successfully clamping a variety of types of workpieces having different external shapes have been examined. Japanese Patent Application Publication No. 9-123082 (JP-A-9—123082), for example, described below, describes exactly this technology.
    [003] JP-A-9-123082 describes a clamping device provided with a contact portion capable of handling various external formats by encapsulating a large amount of granular substance within a flexible membrane and reducing the pressure in the membrane using a vacuum pump or similar, or canceling that pressure reduction. With this clamping device, a contact portion is arranged at a pointed end of a support device, such as a robotic arm or the like. Also, with a clamping operation by the robotic arm or similar, the contact portion is made to be confined against the workpiece or similar and conform to the shape of the workpiece or similar. Then, the large amount of granular substance within the membrane is held firmly, and the shape of the contact portion is kept in line with the shape of the workpiece. Also, with this clamping device, the contact portion is returned to its normal shape by canceling the state of reduced pressure in the contact portion. Also, using a related clamping device like this allows the shape of the contact portion to match the external shapes of various workpieces and the like. As a result, when handling a plurality of workpieces having different external shapes, the workpieces can be tightened stably.
    [004] If the contact portion is displaced (become deflected) with respect to the robotic arm or similar, the positioning accuracy will be unable to be ensured. Therefore, the contact portion of the related technique is firmly fixed by a method, such as adhesion, so that it is not displaced with respect to the robotic arm or the like. As a result, however, it is not easy to replace the contact portion if it becomes damaged due to abrasion or cut or the like. Therefore, it is difficult to apply a clamping apparatus having a contact portion like that of the technique related to a workpiece that has multiple edge portions or to a workpiece to which the cutting dust is adhered.
    [005] In addition, it is pointed out that the document US3318629A describes a gripping device having a plurality of jaws, at least one of the jaws is provided with a deformable damper that comprises a deformable container substantially filled with a displaceable substance in it. The deformable container of each damper is attached to its respective jaw by a flexible canvas support, the ends of which are attached to the upper end of the jaw by a metal strip and cap screws. The container comprises a flexible cylinder with molded rubber end walls. Each end wall is provided with an opening located centrally to receive a metal tube. The container contains coarse sand, sawdust, granular plastic material, granular rubber or other granular material that is introduced and removed through one or the other of the tubes. Each tube can be closed by a valve. Compressed air or other fluid can be admitted into the containers through the valve-controlled tubes to loosen the compacted granular material. The container, in turn, can be made of fabric or metallic mesh. SUMMARY OF THE INVENTION
    [006] The invention thus provides a clamping device i) which is provided with a contact portion which is very resistant to abrasion and cut, which can maintain a good grip and which can be replaced easily, and ii) which is capable to prevent the contact portion from being displaced with respect to a portion to which the contact portion is attached, although the contact portion is easy to replace.
    [007] A first aspect of the invention relates to a clamping apparatus that includes a clamping portion for clamping a workpiece. This clamping portion includes: i) tongue portions having a plurality of compression portions that compress the workpiece, and ii) contact portions, each of which having a bag member made of elastic material, and a granular substance that is populated from the bag member. The contact portions are affixed to the portions of the compression portions that contact the workpiece, and harden the granular substance while keeping the granular substance in an appropriate shape by increasing a volume ratio of the granular substance to an internal volume of the limb bag. A retaining portion having a concave-convex shape is formed in a portion of each of the tongue portions to which the corresponding contact portion is attached.
    [008] In accordance with this aspect of the invention, it is possible to prevent the contact portions from being displaced with respect to the compression portions, when clamping the workpiece with the clamping portion.
    [009] In the aspect described above, each of the contact portions may include an outer bag that is made of aramid fiber and that covers the bag member.
    [010] This structure makes it possible to prevent the contact portions from being displaced with respect to the compression portions, while ensuring the resistance of the contact portions to abrasion and cutting.
    [011] Also, the bag member can be housed within the outer bag in a relatively displaceable state with respect to the outer bag.
    [012] According to this structure, the bag member is able to accurately conform to the shape of the retaining portions, so that the contact portions are able to be even more reliably prevented from being displaced with respect to the portions of compression.
    [013] Also, the granular substance can be fragments of ceramics, in which a shape of grains that make up the granular substance is another shape besides being generally spherical.
    [014] With this structure, the contact portions can be made even harder when they are hardened, so that the contact portions are able to be prevented even more reliably from being displaced with respect to the compression portions.
    [015] Also, the granular substance can be such that the grains are formed by artificial ceramic (the so-called synthetic mullite) including at least Al2O3 and SiO2, which has been ground so that an average grain diameter is approximately 0.4 to 0.5 mm, inclusive, and conform to edge portions.
    [016] Therefore, the granular substance allows the contact portions to be made even harder when they are hardened. Also, the granular substance has a stable chemical property, so that it prevents the contact portions and the workpiece from running. Furthermore, the granular substance has a small specific gravity, so that it allows the contact portions to be light weight. SUMMARY OF THE INVENTION
    [017] The precedent and other features and advantages of the invention will become evident from the following description of example modalities with reference to the associated drawings, in which equal numbers are used for the representation of like elements, and in which :
    [018] figure 1 is a view showing a frame format of the general structure of a clamping apparatus according to a first example embodiment of the invention;
    [019] figures 2A, 2B and 2C are views showing frame formats of the clamping apparatus according to the first example embodiment of the invention, with figure 2A being a front view of a clamping portion, figure 2B being a sectional view taken along line AA in figure 2A, and figure 2C being a sectional view taken along line BB in figure 2A;
    [020] figures 3A and 3B are views showing frame shapes of the clamping apparatus according to the first example embodiment of the invention by clamping a workpiece, with figure 3A being a front view and figure 3B being a view flat;
    [021] figure 4 is a partial detailed view showing a frame format of a clamping portion of the clamping apparatus according to the first exemplary embodiment of the invention;
    [022] figures 5A and 5B are side views showing frame shapes of a retaining portion according to the first example embodiment that is formed on a display surface of a tongue portion, with figure 5A being a view in side section showing a state in which screws are detached, and figure 5B being a sectional view taken along line CC in figure 4 showing a state in which the screws are screwed;
    [023] figures 6A and 6B are partial views showing frame shapes of retaining portions according to other example embodiments that are formed on the display surface of the tongue portion, with figure 6A being a front view of a retaining portion according to a second exemplary embodiment of the invention and a sectional view taken along the DD line, and figure 6B being a front view of a retaining portion according to a third exemplary embodiment of the invention and a sectional view taken along the EE line;
    [024] figure 7 is a view showing a frame shape of a contact portion of the clamping apparatus according to the first example embodiment of the invention;
    [025] figure 8 is a view showing a frame shape of an inner bag that forms part of the contact portion of the clamping apparatus according to the first example embodiment of the invention;
    [026] figure 9 is a view showing a frame shape of an external bag that forms part of the contact portion of the clamping apparatus according to the first example embodiment of the invention;
    [027] figure 10 is a partial front view showing a frame format of the contact portion affixed to the compression portion;
    [028] figure 11 is a partial side sectional view showing a frame shape of the contact portion affixed to the compression portion;
    [029] figures 12A and 12B are views that illustrate a method for selecting granular substances, with figure 12A being a perspective view showing a frame format of the overall structure of a tester, and figure 12B being a table of measurement results according to the tester;
    [030] figures 13A and 13B are views showing frame shapes of a transport apparatus provided with the clamping apparatus of the invention, with figure 13A being a view of the general structure of the transport apparatus, and figure 13B being a view of a state in which an apparatus is connected to the clamping apparatus of the transport apparatus;
    [031] figures 14A and 14B are views showing frame shapes of a scenario in which a workpiece is clamped by the clamping apparatus, with figure 14A being a view of a state before the workpiece is clamped, and figure 14B being a view showing a state in which it is being tightened (prior to creating a vacuum);
    [032] figure 15 is a side sectional view showing a frame shape of a deformed state of the contact portion, when the workpiece is being tightened by the clamping apparatus;
    [033] figures 16A and 16B are views showing frame formats of a scenario in which the workpiece is clamped by the clamping apparatus, with figure 16A being a view of a state in which the workpiece is being clamped (after creating a vacuum), and figure 16B being a view of a state in which the clamping on the workpiece has been relieved (after the vacuum is stopped); and
    [034] figure 17 is a side sectional view showing a frame shape of a state in which the contact portion is retained by the retaining portion when the workpiece is being tightened by the clamping apparatus. DETAILED DESCRIPTION OF MODALITIES
    [035] In the following, exemplary embodiments of the invention will be described. First, the general structure of the clamping apparatus according to a first example embodiment of the invention will be described with reference to figures 1 to 3. As shown in figure 1, a clamping apparatus 1 according to the first example embodiment of the invention is an apparatus for clamping and maintaining a workpiece or the like, and includes a clamping portion 2, a control device 7 and a vacuum generating equipment 8 and the like. The clamping portion 2 is a portion of the clamping apparatus 1 that directly clamps the workpiece, and includes a driving portion 3, a plurality of tongue portions 4 and 5, and a plurality of contact portions 6 and the like.
    [036] As shown in figures 1 and 2A, 2B and 2C, the drive portion 3 is an apparatus that is provided with slide portions 3a and 3b of two systems, and is able to move independently and reciprocally each of these slide portions 3a and 3b in the same axial direction. An electric actuator or similar that is provided with an alternative mechanism formed by a ball screw and nut, and a motor or similar can be used as the drive portion 3.
    [037] The tongue portions 4 and 5 are a pair of portions provided for compressing the workpiece. That is, the portions of tongue 4 and 5 are portions that compress and hold a workpiece arranged in a position between them. Incidentally, the shapes of the tongue portions 4 and 5 are regulated taking into account the shape and size of the workpiece to be subjected, and the amount of travel of the slide portions 3a and 3b and the like.
    [038] As shown in figure 2B, the tongue portion 4 includes a support portion 4a and two compression portions 4b that project from the support portion 4a. The compression portions 4b are arranged at a predetermined distance from each other. Also, the surface of the tongue portion 4 on the side to which the contact portion 6 is affixed serves as an affixing surface 4g. The support portion 4a of the tongue portion 4 is attached to the slide portion 3a. The control device 7 operates the drive portion 3 to slide the slide portion 3a so that the compression portions 4b alternately move in the direction of slide of the slide portion 3a (see figure 1).
    [039] Also, as shown in figure 2C, the tongue portion 5 includes a support portion 5a and a compression portion 5b protruding from the support portion 5a. Also, the surface of the tongue portion 5 on the side to which the contact portion 6 is attached serves as an attachment surface 5g. The support portion 5a of the tongue portion 5 is attached to the slide portion 3b. The control device 7 operates the drive portion 3 to slide the slide portion 3b so that the compression portion 5b alternately moves in the direction of slide of the slide portion 3b (see figure 1).
    [040] The contact portion 6 is a portion of the clamping apparatus 3 that directly contacts the workpiece. The contact portion 6 is able to assume two opposite shapes, that is, one in which the shape of the contact portion 6 is able to deform flexibly, and another in which the shape of the contact portion 6 is firmly maintained , with a single member. The contact portion 6 includes an elastic bag-like member and a granular substance that is filled into this bag-like member. Normally, the contact portion 6 takes the form in which its shape is capable of flexibly deforming.
    [041] As shown in figures 1 and 2A, 2B and 2C, the contact portion 6 is affixed to the compression portions 4b and 5b of the tongue portions 4 and 5, and is connected to the vacuum creating equipment 8. The equipment vacuum-creating 8 is a means for making the contact portion 6 hard and soft in the clamping apparatus 1, and includes a vacuum pump 8a, vacuum ducts 8b and an electromagnetic valve 8c and the like. The vacuum ducts 8b are connected to bag-shaped portions of the contact portions 6. Incidentally, in this example embodiment, the vacuum pump 8a is provided in the vacuum creating equipment 8, but a structure in which another means of creation of vacuum in addition to the vacuum pump 8a (such as an ejector or similar) is provided is also possible. In addition, in the clamping apparatus of the invention, the means for making the contact portion hard and soft is not necessarily limited to vacuum generating equipment. That is, any one of several ways capable of making the contact portion hard and soft can be employed.
    [042] When the interior of the bag-shaped portion is reduced in pressure by the operation of the vacuum pump 8a, the contact portion 6 becomes hard, due to the grains that constitute the granular substance that is filled within the shaped portion bag being held more tightly. Therefore, at this time, the contact portion 6 takes the form in which its shape is firmly maintained.
    [043] When this contact portion 6 is pressed, in a flexible state, against the workpiece by the compression pressure of the tongue portions 4 and 5, the contact portion 6 is able to adapt to the concave portions and around of the convex portions on the surface of the workpiece, thus allowing the contact portion 6 to conform to the shape of the external surface of the workpiece.
    [044] Also, the contact portion 6 is capable of being made into a shape corresponding to the shape of the external surface of the workpiece by activating the vacuum creating equipment 8, while the contact portion 6 is shaped to the shape the outer surface of the workpiece. Therefore, the hard contact portion 6 that corresponds to the shape of the external surface of the workpiece can be formed.
    [045] Also, as shown in figures 3A and 3B, with the clamping portion 2 according to this example embodiment, a workpiece 50 can be firmly clamped at three points by the contact portions 6 which are attached to the portions of compression 4b and 5b. Thus, a stable clamping state that is capable of supporting the workpiece 50 being oscillated can be achieved by a simple structure with few component parts. Incidentally, in this example embodiment, a method is described, in which the workpiece 50 is supported at three points by the clamping portion 2. However, the number of points at which the workpiece is supported in the clamping apparatus of the invention is not limited to this. For example, the number of points on which the workpiece is supported can also be two, or four or more.
    [046] Next, the structure of the tongue portions 4 and 5 will be described in greater detail with reference to figures 4 to 6. As shown in figures 4 and 5A, the tongue portion 4 has the display surface 4g formed on the side on which the contact portion 6 is affixed. Also, screw holes 4c that are opened for the display surface 4g are formed in the compression portion 4b of the tongue portion 4.
    [047] As shown in figures 4 and 5B, screws 9 are screwed into screw holes 4c. A retaining portion 10 is formed by the screws 9 by screwing the screws 9 and adjusting them so that the pointed ends of the screws 9 protrude from the screw holes 4c by a predetermined amount from the display surface 4g. Also, the screws 4d that serve as portions to detach the contact portion 6 projected from the display surface 4g in the compression portions 4b. Incidentally, here, the structure of the compression portions 4b of the tongue portion 4 is described. However, a similar retaining portion 10, not shown, is also formed in the compression portion 5b of the tongue portion 5 by forming an arrangement surface, forming a plurality of screw holes opened in the arrangement surface, and screwing a plurality of screws are made in these screw holes.
    [048] The retaining portion 10 is a portion having a concave-convex shape formed on the display surface 4g that serves as a portion of the compression portion 4b on which the contact portion 6 is arranged. Incidentally, in this example embodiment, the retaining portion 10 which has a plurality of projected portions (i.e., the pointed ends of the plurality of screws 9) dispersed around the display surface 4g is given as an example, but the portion holding device of the clamping device of the invention is not limited to this mode.
    [049] That is, other modes of the retention portion are also possible. For example, a retaining portion 20 having a concave portion generally shaped like a cross 4e formed on the display surface 4g, as shown in figure 6A, or a retaining portion 30 in which a convex portion usually shaped like a cross 4f it is formed on the display surface 4g, as shown in figure 6B, it is also possible. That is, the retaining portion of the clamping apparatus of the invention can take a variety of forms capable of limiting the displacement of the contact portion 6 in two directions orthogonal to each other parallel to the display surface 4g. A retaining portion with a convex portion or a concave portion formed in an inclined direction with respect to the length direction and the width direction of the compression portions 4b, or with a plurality of portions designed in a random arrangement is also possible .
    [050] Next, the structure of the contact portion 6 will be described in greater detail with reference to figures 7 to 11. The tongue portions 4 and 5 are typically made of a material of a predetermined hardness, such as steel, because it is necessary to ensure rigidity in order to obtain a predetermined compression force. As a result, when tongue portions 4 and 5 directly contact the workpiece, tongue portions 4 and 5 can damage the workpiece. Also, the workpieces are made in a variety of formats, so that the shape of the portions of the tongue portions 4 and 5 that contact the workpiece must conform to the shape of the workpiece, in order to obtain a steady state of subjection. Therefore, the contact portions 6 are affixed to the portions of the compression portions 4b and the compression portion 5b, i.e., the compression portions of the clamping portion 2 that contact the workpiece.
    [051] As described above, the contact portion 6 is a portion that is capable of assuming two opposite shapes, that is, one in which the shape of the contact portion 6 is able to deform flexibly and another in the which the shape of the contact portion 6 is firmly maintained, with a single member. This contact portion 6 is formed by an inner bag 11 and an outer bag 13 covering the inner bag 11, and the like, as shown in figure 7.
    [052] As shown in figure 8, the inner bag 11 is a member that is capable of assuming two opposite shapes, that is, one in which the shape of the inner bag 11 is able to deform flexibly and another in which shape of the inner bag 11 is firmly maintained, with a single member. This inner bag 11 includes a bag member 11a and a connection window 11b and the like. Bag member 11a is a member made of nitrile rubber (NBR) which is elastic and air tight. The bag member 11a is formed in a bag shape by folding a generally rectangular sheet made of NBR in half and by vulcanizing the bonding of the combination surfaces on the three peripheral sides, except for the side that is folded upwards. Also, an orifice portion 11f is generally formed in the central portion of the folded side of the bag member 11a, and the connecting window 11b that serves as a member for communicating from the inside of the bag member 11a to the outside of the bag member 11a is arranged in the orifice portion 11f. The connection window 11b is affixed to the orifice portion 11f while ensuring that the orifice portion 11f is air tight by inserting seal members 11d and fixing them by bolting nuts 11c. Also, the vacuum duct 8b is connected to the connection window 11b, and a filter 11e is disposed on an end portion of the connection window 11b which is internal to the bag member 11a.
    [053] Then, granular substance 12 is filled in bag member 11a. Also, the inner bag 11 is configured to prevent the granular substance 12 from leaving the connection window 11b through the filter 11e.
    [054] Incidentally, in this example embodiment, a case is described in which nitrile rubber (NBR) is used as the material of the inner bag 11 (i.e., the bag member 11a). However, the material from which the inner bag 11 is made is not limited to this. As long as the material is elastic and airtight, any one of a variety of materials can be used, depending on the conditions, such as the operating environment and the like.
    [055] As shown in figure 9, the outer bag 13 is a member for covering and protecting the inner bag 11, and includes a bag body 13a and anchoring portions 13b and the like. The bag body 13a is a member made of aramid fiber that is resistant to abrasion and cut. The bag body 13a is formed into a bag shape by superimposing two generally rectangular aramid fiber sheets and sewing them together on three sides. The size of the interior of the bag body 13a is large enough to be able to displacably accommodate the inner bag 11. Also, the anchoring portions 13b and the like that serve as portions for hanging the outer bag 13 are affixed to a area close to the open side, where the bag body 13a is not sewn. In this example embodiment, a simple structure employing metal eyelets for the anchoring portions 13b is used.
    [056] In this example embodiment, an aramid fiber is used as the material of the outer bag 13 (i.e., the bag body 13a). An aramid fiber is a material that has extremely good resistance to abrasion and cutting, so that, if it is able to reliably protect the inner bag 11 against abrasion and cutting. Also, the aramid fiber is flexible enough to conform to the shape of the workpiece, so that the inner bag 11 that is housed in the outer bag 13 is able to accurately conform to the shape of the workpiece it contacts via the outer bag 13. Therefore, the aramid fiber is suitable as a material for forming the outer bag 13 (i.e., the bag body 13a). At this time, the aramid fiber in an appropriate way can be used, whether woven, knitted or non-woven, etc. However, in order to obtain sufficient flexibility and durability, a woven aramid fiber is preferably used. Incidentally, in this example embodiment, a case is described in which the aramid fiber is used as the material of the outer bag 13. However, the material from which the outer bag 13 is made is not limited to this. Any of a variety of materials can be used, as long as it has excellent resistance to abrasion and cutting, and is flexible enough to conform to the shape of the workpiece.
    [057] That is, the contact portion 6 is formed with the inner bag 11 housed inside the outer bag 13, as shown in figure 7. This configuration makes it possible to simply and reliably prevent the inner bag 11 from wearing out due to repeated use, or from being cut by cutting dust or the like that adhered to the workpiece. As a result, the product life of the inner bag 11 can be extended.
    [058] Also, the contact portion 6 is such that the inner bag 11 and the outer bag 13 are formed by separate bodies, and the inner bag 11 and the outer bag 13 are capable of being displaced relative to each other. As a result, deformation of the inner bag 11 will not be stopped or prevented by the outer bag 13. Therefore, the inner bag 11 is able to accurately conform to the shape of the workpiece through the outer bag 13, so that the portion contact 6 is able to accurately conform to the shape (that is, the concave-convex portion) of the workpiece. That is, having the inner bag 11 and the outer bag 13 being separate bodies allows a firmer clamping state to be achieved with the contact portion 6, compared to a contact portion that has a bag body with a structure of double layer in which the inner bag and the outer bag are integrated. Furthermore, with the contact portion 6, it is possible to replace only the inner bag 11, if the inner bag 11 becomes damaged, or to replace only the outer bag 13, if the outer bag 13 becomes damaged. As a result, the contact portion 6 is also very economical.
    [059] As shown in figures 10 and 11, the counting portion 6 is hung by the anchoring portions 13b of the outer bag 13 from the screws 4d of the compression portions 4b. Then, the nuts 14 are fastened through washers 15 on the screws 4d, while the contact portion 6 (i.e., the outer bag 13) is hung from the anchoring portions 13b, so that the contact portion 6 is affixed easily and reliably to the compression portions 4b. With this type of structure, the contact portion 6 is easily replaced. Therefore, the contact portion 6 can be easily introduced into a real production line where abrasion and cutting are anticipated.
    [060] Also, the contact portion 6 that is affixed in this way contacts the retaining portion 10 on the surface on the side that contacts the affixing surface 4g.
    [061] Incidentally, here a case is described, in which the contact portion 6 is affixed to the compression portions 4b of the tongue portion 4. However, screws also protrude into the compression portion 5b of the tongue portion 5 of the the same way, and the contact portion 6, not shown, is affixed in a similar way here when it is hung on these screws and fixed in place using nuts and washers and the like.
    [062] Incidentally, in this example embodiment, the contact portions 6 are affixed to the compression portions 4b and 5b using the nuts and bolts and the like. However, the invention is not limited by the way in which the contact portions 6 are affixed to the compression portions 4b and 5b. For example, the contact portions 6 can be affixed using bands of resin, or the contact portions 6 can be attached so as to be able to easily detach by touch hooks. That is, any of a variety of attachment methods can be used, provided that the contact portions 6 are capable of being affixed to the retaining portions 10, and the contact portions 6 can be easily detached without falling off the compression portions. 4b and 5b.
    [063] Next, the method for selecting the granular substance 12 that forms part of the contact portion 6 will be described with reference to figures 12A and 12B. Granular substance 12 is filled within contact portion 6 (i.e., more specifically, bag member 11a). The bag member 11a and the granular substance 12 are hardened into a suitable shape in an integrated state by reducing the pressure within the bag member 11a, so that the grains forming the granular substance 12 are held tightly together.
    [064] The contact portion 6 preferably has properties, such as 1) having good hardness, when hardened, and 2) being light weight, but the hardness of the contact portion 6, when hardened and the weight of the contact portion 6 change, according to several changes in the specifications of the granular substance 12. Therefore, in this example embodiment, the hardness when hardened with granular substances of various specifications was measured using a tester, such as the one shown in figure 12A, and the granular substance to be filled in the contact portion 6 was selected based on the measurement results.
    [065] As shown in figure 12A, a tester 40 includes an envelope 41 for filling the granular substance, an elastic membrane member 42 that seals an open position of the envelope 41, and a push and pull meter 43 for hardness measurement, when hardened, is similar. Incidentally, in this example embodiment, a plastic container with a volume of approximately 20 x 20 x 15 mm was used as the enclosure 41 and a resin sheet was used with the membrane member 42. Also, the push and pull meter 43 that was used had a push portion 43a with a diameter of 6 mm (the push area is approximately 28.3 mm2).
    [066] The test procedure with the 40 tester will now be described. First, housing 41 was filled with a granular substance, and then an open portion 41a of housing 41 was sealed with membrane member 42. Then, the interior of housing 41 was placed under vacuum, so that the granular substance within housing 41 has hardened. Then, the push and pull meter 43 was pushed against the hardened granular substance through the membrane member 42, and the compressive strength was measured. Also, the peak value of the compression force measured at that time was recorded as the hardness index. Incidentally, in this test, the hardness of each type of granular substance was evaluated after measuring the peak value for each type of granular substance three times.
    [067] Figure 12B is a table of measurement results after measuring the hardness of each type of granular substance with the tester 40. In figure 12B, the measurement results for 20 typical types of granular substances, from , among those selected, be shown. Incidentally, the hardness column shows the minimum to maximum values of the three measurement results.
    [068] From the test results shown in figure 12B, it is determined that seven types of granular substances, ie salt (No. 3), metal powders (No. 4 to 7), ceramic fragments (large ) (N ° 18) and abrasive grain (GF24) (N ° 20), have good hardness in which all three hardness measurement values exceed 10 kgf (98.06 N).
    [069] However, it is also desirable for the granular substance filled in the contact portion 6 to be light weight, so that of the types with the seven top hardness measurement results, the metal powders and the abrasive grain, which are of iron or similar and have a great specific gravity, they were eliminated as candidates for the selection This left salt and fragments of ceramics (large) as candidates for selection.
    [070] Here, salt is problematic, because it becomes hard, when it contains moisture and can cause corrosion, if it were to leak, for example. Therefore, taking into account the stability of the chemical property and the shape, it was finally determined that the (large) ceramic fragments (N ° 18) were the most suitable for the granular substance to be filled in the contact portion 6, so that they were selected.
    [071] The ceramic fragments (large) form a granular substance in which the grains that are formed by artificial ceramics (the so-called synthetic mullite) including at least Al2O3 and SiO2 that have been ground so that the average grain diameter is approximately 0.4 to 0.5 mm, inclusive, are formed with edge portions. These ceramic fragments (large) are suitable for the granular substance in view of its hardness, the stability of the chemical property and the light weight (that is, a small specific gravity).
    [072] Incidentally, what comes next can be considered from the test results shown in the table in figure 12B. When looking at granular substances with low hardness measurement results, it is evident that the shape of the grains forming each of these granular substances is generally spherical. That is, it is difficult to obtain good hardness of the granular substance that is filled in the contact portion 6, if the shape of the grains that form that granular substance is generally spherical. Here, it is thought that the reason that the contact portion 6 becomes hard when the pressure is reduced is because adjacent grains that are in contact with each other more firmly anchor in each other, so that grains that are generally spherical without edge portions or flat surfaces anchor each other less firmly. Incidentally, the term generally spherical here refers to a shape in which there are no edge portions or flat portions or concave-convex portions that are capable of locking together with other grains or the like, on the outside. This term does not necessarily mean completely spherical, but it is a concept that also includes shapes such as elliptical spheres and barrel shapes.
    [073] Because of this, likewise, it can be determined that it is preferable to select a granular substance to be filled in contact portion 6, in which the shape of the grains that make up the granular substance is other than generally spherical, and has edge portions and flat portions.
    [074] Next, a case in which the workpiece is transported using the clamping device 1 according to the first example embodiment of the invention will be described with reference to figures 13 to 17. As shown in figure 13A , in this example embodiment, the clamping portion 2 of the clamping apparatus 1 is arranged on a pointed portion 16a of a robotic arm 16. The clamping portion 2 is subjected to the workpiece 50, and the robotic arm 16 carries the workpiece workpiece 50. Workpiece 50 is placed in a predetermined position in a workpiece positioning portion 16c, positioned by positioning portions 16b formed by the positioning of pins or the like, for example.
    [075] As shown in figure 13B, the control device 7 of the clamping device 1 is connected to the robotic arm 16, and information, such as the positioning and angle and the like of the tip portion 16a of the robotic arm 16 is introduced on the control device 7.
    [076] As shown in figures 13A, 13B and 14A, the robotic arm 16 places the clamping portion 2 in a predetermined position with respect to the workpiece 50 by adjusting the position and angle and similar to the point portion 16a. Then, a sign indicating that the clamping portion 2 has been positioned in the predetermined position with respect to the workpiece 50 is introduced into the control device 7 from the robotic arm 16. At this time, the control device 7 positions the clamping portion 2 so that the workpiece 50 is arranged between the tongue portions 4 and 5, and the concave-convex portions 50a, 50b and 50c, which are portions of the workpiece 50 that are suitable for tightening, are dispersed placed in positions facing the contact portions 6.
    [077] Then, the control device 7 adjusts the distance between the tongue portions 4 and 5 to be equal to or less than the width of the workpiece 50 by adjusting the stroke of the slide portions 3a and 3b, as shown in figures 13B and 14B. Then, the tongue portions 4 and 5 tighten the workpiece 50 with a predetermined compression pressure.
    [078] As shown in figure 15, at this moment, the contact portions 6 are pressed against the concave-convex portions 50a and 50b of the workpiece 50 and deform according to the shapes of the concave-convex portions 50a and 50b. Also, at this point, the contact portions 6 are also pressed onto the display surface side 4g and thus also deformed following the shape of the retaining portions 10 (that is, the tip end portions of the screws 9) formed on 4g display surfaces.
    [079] Here, each contact portion 6 is such that the inner bag 11 is housed inside the outer bag 13 made of aramid fiber, and the inner bag 11 and the outer bag 13 are able to deform in relation to each other . Therefore, the outer bag 13 will not prevent deformation of the inner bag 11. As a result, with the clamping portion 2, the contact portions 6 are able to reliably conform to the shapes of the retaining portions 10 and the concave portions. convex 50a, 50b and 50c of workpiece 50.
    [080] Next, while the tongue portions 4 and 5 are compressing the workpiece 50 at the predetermined compression pressure, a control signal is extracted from the control device 7 for the vacuum pump 8a for the creating a vacuum within the inner bags 11 of the contact portions 6, as shown in figures 13B and 16A.
    [081] As shown in figure 17, at this moment, the contact portions 6 harden in a state conformed to the shape of the concave-convex portions 50a and 50b of the workpiece 50. Also, at this moment, the contact portions 6 harden in a state conforming to the shape of the retaining portion 10. Incidentally, the retaining portions 10 are able to adjust the holding force (i.e., the frictional force) with respect to the contact portions 6 by adjusting the amount that the screws 9 protrude from the display surfaces 4g.
    [082] Here, with the contact portions 6, the granular substance 12, that is, the ceramic fragments (that is, the ceramic fragments (large) (N ° 18) in figure 12B), is filled in the inner bags 11, so that the shapes conforming to the retaining portions 10 and the concave-convex portions 50a and 50b, and 50c of the workpiece 50 are able to be reliably maintained in a sufficient hardness. Therefore, the contact portions 6 will not be displaced with respect to the workpiece 50, and will be retained by the retaining portions 10 and thus will not be displaced with respect to the compression portions 4b either, so that a state of firm grip can be created by the clamping portion 2. As a result, when transporting the workpiece 50, the workpiece 50 can be reliably prevented from being displaced with respect to the tongue portions 4 and 5, so that the workpiece 50 can be transported, while ensuring positioning accuracy.
    [083] If the contact portions 6 become displaced with respect to the workpiece 50 or the compression portions 4b, the workpiece 50 that had been positioned by the positioning pins (i.e., the positioning pins 16b) it can be damaged by the positioning pins when the workpiece 50 is tightened and raised. However, the clamping portion 2 is capable of tightening the workpiece 50, while accurately maintaining the position relationship between the workpiece 50 and the tongue portions 4 and 5, so that the workpiece 50 does not is damaged by the positioning pins, and the positioning accuracy after transport can be precisely ensured.
    [084] That is, the clamping apparatus 1 according to the first example embodiment of the invention includes the clamping portion 2 for clamping the workpiece 50. The clamping portion 2 includes the tongue portions 4 and 5 having a plurality of compression portions 4b and 5b which compress the workpiece 50, and the contact portions 6. Each of the contact portions 6 includes the inner bag 11 which is a bag member made of an elastic material and the substance granular 12 which is filled in the inner bag 11. The contact portions 6 are affixed to the portions of the compression portions 4b and 5b that contact the workpiece 50. The contact portions 6 harden the granular substance 12 while maintaining it in a shape appropriate (for example, conforming to the concave-convex portions 50a, 50b and 50c of the workpiece 50) by reducing the pressure inside the inner bags 11 to increase the volume ratio of the granular substance 12 to the inner volume of the inner bags 11. The portions retaining brackets 10 having concave-convex shapes are formed on the attachment surfaces 4g which are portions of the compression portions 4b and 5b to which the contact portions 6 are affixed. According to this type of structure, the contact portions 6 are prevented from being displaced with respect to the compression portions 4b and 5b, when the clamping portion 2 tightens the workpiece 50.
    [085] Also, in the clamping apparatus 1 according to the first example embodiment of the invention, each of the contact portions 6 has the outer bag 13 which covers the inner bag 11 and is made of aramid fiber. This type of structure makes it possible to prevent the contact portions 6 from being displaced with respect to the compression portions 4b and 5b, while ensuring abrasion and cut resistance of the contact portions 6.
    [086] Also, in the clamping apparatus 1 according to the first example embodiment of the invention, the inner bag 11 is housed inside the outer bag 13 in a relatively displaceable state with respect to the outer bag 13. This type of structure allows that the inner bag 11 accurately conforms to the shape of the retaining portion 10, and thus makes it possible to more reliably prevent the contact portions 6 from being displaced with respect to the compression portions 4b and 5b.
    [087] Also, in the clamping apparatus 1 according to the first example embodiment of the invention, the granular substance 12 is formed by ceramic fragments (i.e., ceramic fragments (large) (No. 18) in figure 12B) , in which the shape of the grains that make up the granular substance 12 is another shape besides being generally spherical. This type of structure makes it possible to reliably prevent the contact portions 6 from being displaced with respect to the compression portions 4b and 5b.
    [088] Also, after transporting the workpiece 50 to a predetermined position using the robotic arm 16, the control device 7 adjusts the distance between the tongue portions 4 and 5 so that it is greater than the width of the workpiece 50 by adjusting the stroke of the slide portions 3a and 3b, as shown in figure 16B. Then, the workpiece 50 is released from being clamped by the tongue portions 4 and 5.
    [089] When handling a workpiece having a different shape than the workpiece 50, the control device 7 extracts a command signal to the electromagnetic valve 8c to open the electromagnetic valve 8c, thus breaking the vacuum state in the contact portions 6, so that the contact portions 6 can return to their normal state. As a result, it is possible to flexibly manipulate a plurality of various workpieces having various shapes with the clamping apparatus 1 which has a single clamping portion 2. Therefore, the problem is similar to changing the contact portions 6 in a manner that they match the shape of the workpiece each time the type of workpiece changes are eliminated, so that productivity can be improved.
    [090] Also, when handling a workpiece having the same shape as the workpiece 50, after the bag member 11a has finished being placed under vacuum, the command signals are extracted from the control device 7 for the vacuum pump 8a and the electromagnetic valve 8c, for stopping the vacuum pump 8a and closing the electromagnetic valve 8c. As a result, the reduced pressure state within the bag member 11a is maintained, allowing the contact portions 6 to be easily maintained in the hardened state.
    [091] Therefore, even after the tongue portions 4 and 5 have released the grip on the workpiece 50, the contact portions 6 can be maintained in the hardened state in a form suitable for tightening the workpiece 50, provided that the state of reduced pressure in the bag member 11a is maintained. Therefore, when transporting a plurality of branching endings 50 in succession, the branching endings 50 can be reliably tightened and transported while ensuring a positioning accuracy, through the contact portions 6 that are in a shape suitable for tightening the workpiece 50.
    [092] Incidentally, in this example embodiment, a case is described in which the clamping device 1 is applied to a transport device, but the use of the clamping device 1 is not limited to this. For example, the clamping device 1 can also be used as a tool to temporarily clamp a workpiece while assembling a product, or as a tool to steadily maintain a workpiece having an unstable shape for storage or the like .
    [093] Although the invention has been described with reference to exemplary modalities thereof, it is to be understood that the invention is not limited to the described modalities or constructions. On the contrary, the invention is intended to cover various equivalent modifications and arrangements. In addition, although the various elements of the example modalities are shown in various combinations and configurations, other combinations and configurations, including more, less or just a single element, are also within the scope of the invention.
    权利要求:
    Claims (5)
    [0001]
    1. A clamping apparatus comprising: a clamping portion for clamping a workpiece (50), the clamping portion including i) tongue portions (4, 5) having a plurality of compression portions (4b, 5b) which compress the workpiece, and ii) contact portions (6), each of which has a bag member (11) made of elastic material, and a granular substance (12) that fills the bag member, the portions of contact (6) being affixed to portions of the compression portions (4b, 5b) and arranged in use to contact the workpiece, and harden the granular substance, while maintaining the granular substance in an appropriate shape by increasing a volume ratio of the granular substance by an internal volume of the bag member; characterized by the fact that a retaining portion (10) that has a concave-convex shape is formed in a portion of each of the tongue portions (4, 5), which the corresponding contact portion (6) is posted; and wherein when the tongue portions (4, 5) compress the workpiece (50), the contact portions are pressed against the workpiece (50) and the granular substance is hardened in a state in which the portions of contact are deformed following the shape of the workpiece (50) and the shape of the retaining portions, thereby hardening the contact portions in a state conformed to the shape of the workpiece (50) and the shape of the retaining portions to grip the workpiece (50).
    [0002]
    2. Clamping apparatus according to claim 1, characterized by the fact that each of the contact portions includes an external bag (13) which is made of aramid fiber and which covers the bag member.
    [0003]
    3. Clamping apparatus according to claim 2, characterized by the fact that the bag member is housed within the outer bag in a relatively displaceable state with respect to the outer bag.
    [0004]
    Clamping apparatus according to any one of claims 1 to 3, characterized by the fact that the granular substance is made of ceramic fragments in which a grain shape that constitutes the granular substance is another shape besides being generally spherical.
    [0005]
    5. Clamping apparatus according to claim 4, characterized by the fact that the grains of the granular substance are formed by artificial ceramics, including at least Al2O3 and SiO2, which has been ground so that an average grain diameter is approximately 0.4 to 0.5 mm, inclusive, are formed with edge portions.
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    同族专利:
    公开号 | 公开日
    PL2563555T3|2017-02-28|
    US20130033050A1|2013-02-07|
    BR112012027305A2|2017-10-24|
    WO2011135450A1|2011-11-03|
    CN102858502B|2014-12-17|
    CN102858502A|2013-01-02|
    JP5130320B2|2013-01-30|
    JP2011230260A|2011-11-17|
    EP2563555A1|2013-03-06|
    EP2563555B1|2016-08-10|
    US8651543B2|2014-02-18|
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    法律状态:
    2018-12-26| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-11-12| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2020-11-10| B06A| Patent application procedure suspended [chapter 6.1 patent gazette]|
    2021-03-09| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-04-27| B16A| Patent or certificate of addition of invention granted [chapter 16.1 patent gazette]|Free format text: PRAZO DE VALIDADE: 10 (DEZ) ANOS CONTADOS A PARTIR DE 27/04/2021, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
    申请号 | 申请日 | 专利标题
    JP2010104329A|JP5130320B2|2010-04-28|2010-04-28|Gripping device|
    JP2010-104329|2010-04-28|
    PCT/IB2011/001139|WO2011135450A1|2010-04-28|2011-04-19|Grasping apparatus having bag members filled by a granular substance|
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