Method and apparatus for positioning a workpiece between two vices
Patent Information
- Application Number
- EP2022735180
- Authority / Receiving Office
- EP · EP
- Patent Type
- Applications
- Current Assignee / Owner
- Filing Date
- 2022-06-24
- Publication Date
- 2025-04-16
AI Technical Summary
Existing clamping devices for workpieces in machine tools face challenges such as limited space for robot arms, high investment costs, and suboptimal clamping conditions for asymmetrical workpieces, leading to reduced manufacturing precision and inefficiencies.
A method and device that positions a first vice with a workpiece on a carrier, allowing the workpiece's unclamped end to be aligned between the jaws of a second vice, enabling optimal clamping and allowing for the use of vices with fixed jaws, which reduces costs and improves precision by allowing additional movement of carriers relative to each other.
This approach provides sufficient space for universal grippers, reduces investment costs, and enables precise clamping of asymmetrical workpieces, enhancing manufacturing precision and efficiency.
Smart Images
Figure 1.1
Abstract
Description
[0001] P188220PC00 1
[0002] Method and device for clamping a workpiece between two vices
[0003] Technical area
[0004] The invention relates to a method for clamping a workpiece between two vices, a clamping device for clamping a workpiece between two vices and a set comprising the clamping device according to the preambles of the independent claims.
[0005] State of the art
[0006] From the documents WO 2021 / 156038 A1 and WO 2010 / 039032 A1, methods and clamping devices are known in which a workpiece is transferred between two vices which serve to hold the workpiece during machining in a machine tool.
[0007] According to WO 2010 / 039032 A1, a first vice with a workpiece clamped therein, which workpiece has already been machined at the non-clamped end, is arranged by a robot arm on a support of a clamping device, which is opposite a second vice at a distance. The second vice is then moved towards the first vice with the clamping device, and the workpiece clamped in the first vice is clamped at its already machined end in the second vice. The workpiece is then released by the first vice and thereby transferred to the second vice. The second vice with the workpiece clamped therein is then removed from the clamping device by the robot arm and fed to a machine tool for further machining of the workpiece.
[0008] The transformer device disclosed here according to the prior art has the disadvantage that
[0009] MUE / June 22, 2022 P188220PC00 2 compact design, there is relatively little space available to arrange the first vice with the workpiece clamped in it on the support of the clamping device, which is particularly problematic when using robot arms with universal grippers or multiple grippers. A further disadvantage is that this clamping device necessarily requires center-clamping vices, which can be undesirable in some applications and entails relatively high investment costs for the vices of an automated production line. Yet another disadvantage of the clamping device shown here is that reclamping of highly asymmetrical workpieces is only possible to a limited extent and, if possible at all, usually leads to suboptimal clamping conditions on the second vice.It also almost inevitably leads to an overdetermined transformer situation, which has a detrimental effect on manufacturing precision.
[0010] According to WO 2021 / 156038 A1, a workpiece to be reclamped is arranged with a first vice on a guide of a clamping device and placed on a support surface between the jaws of an open second vice, which is arranged on a support of the clamping device. The workpiece is held there by means of a pressure ram of the clamping device, while the first vice is opened and removed. The second vice is then closed and the workpiece is thereby clamped therein. The second vice with the workpiece clamped therein is subsequently removed from the clamping device and fed to a machine tool for further machining of the workpiece.
[0011] The prior art clamping device disclosed here has the disadvantage that the workpiece is temporarily clamped neither in the first nor in the second vice during the clamping process, which has a detrimental effect on the manufacturing precision.
[0012] MUE / June 22, 2022 P188220PC00 3 A further disadvantage here is that the clamping device necessarily requires center-clamping vices, which may be undesirable in some applications and entails relatively high investment costs for the vices of an automated production line. Another disadvantage of the clamping station shown here is that reclamping of highly asymmetrical workpieces is only possible to a limited extent and, if at all possible, usually leads to suboptimal clamping conditions on the second vice.
[0013] Description of the invention
[0014] The task therefore arises to provide a technical solution with which the previously mentioned disadvantages of the state of the art can be at least partially avoided.
[0015] This problem is solved by the subject-matter of the independent patent claims.
[0016] According to these, a first aspect of the invention relates to a method for clamping a workpiece between two vices.
[0017] A first vice with a workpiece clamped therein is provided and arranged on a first receiving surface of a first support of a clamping device, preferably by means of a robot arm. Preferably, the workpiece, clamped in this first vice, has previously been machined at its unclamped end (unclamped body contour as claimed) in a machine tool.
[0018] A second vice, which is intended to hold the workpiece, is also provided on a second receiving surface of a second carrier of the clamping device.
[0019] The two supports with the first and second vices arranged on them are in a first
[0020] MUE / 06 / 22 / 2022 P188220PC00 4
[0021] Direction transverse, preferably perpendicular to the closing direction of the second vice, moved relative to each other in such a way that the workpiece clamped in the first vice is arranged with its unclamped free end (unclamped body contour according to the claim) between the jaws of the second vice.
[0022] In this state, the workpiece is clamped in the second vice by closing the jaws of this vice and then the first vice is opened with the workpiece clamped in the second vice to transfer the workpiece to the second vice.
[0023] According to the invention, in addition to the movement of the two supports in the first direction relative to one another, preferably prior to or simultaneously with the movement of the two supports in the first direction relative to one another, the two supports are moved in a second direction relative to one another, which direction runs transversely, in particular perpendicularly, to the first direction.
[0024] This additional movement of the supports relative to each other in the second direction makes it possible to influence the position of the unclamped free end of the workpiece between the jaws of the second vice, thus enabling an optimal clamping situation in the second vice even with asymmetrical workpieces. It also makes it possible to relocate the loading of the clamping device with the first vice, i.e., the arrangement of the first vice with the workpiece clamped therein on the receiving surface of the first support, to an area outside the actual clamping zone, so that even with a compact design of the clamping device, sufficient space is available to use robot arms with universal grippers or multiple grippers. A further advantage is that this enables the use of vices with a fixed jaw, which is useful for various applications.
[0025] MUE / 22.06.2022 P188220PC00 5 can be desired and enables significant savings in the investment costs for the vices of an automated production line.
[0026] According to the invention, in order to position the two vices relative to one another in such a way that they are in the desired transfer or takeover positions, they are moved or displaced relative to one another in two transverse, preferably perpendicular, first and second directions, with at least one of these two directions of movement running transversely, in particular perpendicular to the closing direction of the second vice. This movement is brought about either by only one of the two vices with the associated support of the clamping device being moved in both directions relative to the other stationary vice, or by each of the two vices with its respective support being moved in one of the two directions relative to the other vice.
[0027] In other words, the invention relates to a method for clamping a workpiece between two vices, wherein a first vice with a workpiece clamped therein is provided and arranged on a first receiving surface of a first carrier of a clamping device. A second vice is also provided on a second receiving surface of a second carrier of the clamping device. The two carriers with the vices arranged thereon are moved towards one another in a first direction transverse to the closing direction of the second vice in such a way that the workpiece clamped in the first vice is arranged with its unclamped free end between the jaws of the second vice. In this state, the workpiece is clamped in the second vice and then the first vice is opened to transfer the workpiece to the second vice. Invention
[0028] MUE / 22.06.2022 P188220PC00 6 In addition to moving the two beams in the first direction relative to each other, the beams are moved in a second direction relative to each other, which direction is transverse to the first direction.
[0029] It should be explicitly mentioned here that the terms “first vice” and “second vice” each also include arrangements comprising a plurality of first and second vices, respectively, which can be arranged, for example, on pyramid-shaped, tower-shaped or cube-shaped support bodies. Thus, instead of using a single first vice, the method according to the invention can also be carried out using a first vice arrangement comprising a plurality of first vices in which workpieces are clamped, which workpieces are then reclamped in the clamping device according to the method onto a plurality of individual second vices or onto one or more second vice arrangements comprising a plurality of second vices. It is of course also provided for the workpieces of a plurality of individual first vices to be reclamped onto the second vices of one or more second vice arrangements. For example, ifIf vice arrangements with vices arranged on pyramid-shaped, tower-shaped or cube-shaped support bodies are used, the receiving surfaces of the supports of the transformer device are preferably additionally equipped with devices for rotating the support bodies.
[0030] In a preferred embodiment of the method according to the invention, the first carrier with the first vice arranged thereon and the workpiece clamped therein is moved in the second direction from a loading position, in which the first vice with the workpiece clamped therein is arranged on its receiving surface, to a transfer position in which the second vice is opposite the first vice at a distance. Then or simultaneously, the second carrier with the attached
[0031] MUE / 22.06.2022 P188220PC00 7 arranged second vice to move in the first direction towards the workpiece provided with the first vice in the transfer position, into its takeover position.
[0032] It is preferred that the first carrier with the first vice arranged thereon with the workpiece clamped therein is moved in the second direction in a first plane into its transfer position, which can be done e.g. along an arcuate, in particular circular arcuate, first path or along a linear first axis.
[0033] It is also preferred that the second carrier with the second vice arranged thereon is moved in the first direction towards the workpiece provided with the first vice in the transfer position in a second plane into its takeover position, which can be done e.g. along an arcuate, in particular circular arcuate second path or along a linear second axis.
[0034] For example, circular arc paths can be generated by using turntables, while movement along linear axes can be generated by using linear guides.
[0035] It is further preferred that the first plane and the second plane or the first axis and the second axis run perpendicular to each other.
[0036] The previously mentioned process variants enable the use of cost-effective, robust and high-precision guides, such as linear guides or turntables, for guiding the movement of the first and second carriers.
[0037] After the workpiece has been transferred to the second vice, in preferred process variants the vice, together with the workpiece clamped therein, is removed from the clamping device and thus from the second carrier and, for example, fed to a machine tool for further machining of the workpiece.
[0038] MUE / 06 / 22 / 2022 P188220PC00 8
[0039] Furthermore, it is preferred that the first vice, with the workpiece clamped therein, be arranged on the first receiving surface of the first carrier in a loading position in which the first carrier and the second carrier (or the second vice arranged thereon) do not face each other. In this way, the first vice, with the workpiece clamped therein, can be arranged outside the actual clamping zone, so that ample space can be made available and the use of robot arms with multiple grippers as well as vice arrangements with several vices becomes possible.
[0040] The positioning of the first vice with the workpiece clamped therein on the receiving surface of the first support and / or the removal of the second vice with the workpiece clamped therein from the second support is advantageously carried out automatically, preferably by means of a robot arm. In this way, the advantages of the invention become particularly apparent.
[0041] In order to promote a fast, precise and automated execution of the process, it is advantageous that the receiving surfaces of the carriers each provide a pairing half of a zero-point clamping system and the first vice and the second vice are fastened to the respective receiving surface by means of an associated pairing half of the zero-point clamping system.
[0042] In yet another preferred embodiment of the method according to the invention, in which the first carrier with the first vice arranged thereon and the workpiece clamped therein is moved in the second direction in a first plane along an arcuate, in particular circular arcuate, first path or along a linear first axis into its transfer position, it is further preferred that
[0043] MUE / 22.06.2022 P188220PC00 9 the first vice with the workpiece clamped therein is additionally moved in a third direction along an arcuate, in particular circular arc-shaped third path or along a linear third axis in the first plane, which in particular runs perpendicular to the first axis, before the workpiece is clamped in the second vice with the first carrier.
[0044] In an alternative preferred embodiment of the method according to the invention, in which the first carrier with the first vice arranged thereon with the workpiece clamped therein is moved in the second direction in a first plane along an arcuate, in particular circular arc-shaped first path or along a linear first axis into its transfer position, it is further preferred that the second vice, before the workpiece is clamped in it, is additionally moved with the second carrier in a third direction along an arcuate, in particular circular arc-shaped third path or along a linear third axis in a third plane, which third plane is in particular parallel to the first plane, wherein the third axis preferably runs perpendicular to the first axis.
[0045] This additional third axis allows the flexibility of the process to be significantly increased with regard to the transfer of different and / or asymmetrically shaped workpieces.
[0046] In a further preferred embodiment of the method, at least the second vice has a fixed jaw and a movable jaw.
[0047] In a first variant of the process, the workpiece clamped in the first vice is pressed against the fixed jaw of the second vice with the first vice before this workpiece is clamped in the second vice.
[0048] In a second variant of the process, the fixed jaw of the second vice is clamped
[0049] MUE / 22.06.2022 P188220PC00 10 of the workpiece in this with the second vice pressed against the workpiece.
[0050] These process variants have the advantage that expensive center-clamping vices are no longer required.
[0051] In yet another preferred embodiment of the method, the first vice with the workpiece clamped therein is provided in the transfer position so as to be displaceable along the closing direction of the second vice when the workpiece is clamped in the second vice, so that the first vice with the workpiece clamped therein can be displaced along the closing direction of the second vice together with the first carrier by the second vice when the workpiece is clamped in the second vice in a potentially over-determined re-clamping situation.
[0052] In an alternative further preferred embodiment of the method, the second vice is provided displaceably along its closing direction in the takeover position when the workpiece is clamped therein, so that the second vice can be displaced along its closing direction together with the second carrier through the workpiece when the workpiece is clamped therein in a potentially overdetermined re-clamping situation.
[0053] This makes it possible to avoid over-determined transformer situations and thus significantly increase manufacturing precision.
[0054] In a further advantageous variant of the method, the first and second vices are mechanical vices and their opening and closing takes place by means of vice drives provided by the clamping device, advantageously in an automated manner.
[0055] In another advantageous variant of the method, the first and second vices are fluid-operated vices, in particular via compressed air or
[0056] MUE / 22.06.2022 P188220PC00 11 vices operated by hydraulic fluid, and their opening and closing is accomplished by means of fluid energy, in particular by means of compressed air or hydraulic fluid, which is provided via supply openings arranged in the region of the receiving surfaces of the first and second carrier.
[0057] While mechanical vices have the advantage of being more cost-effective than fluid-operated vices, the latter have the advantage of not requiring mechanical drives.
[0058] A second aspect of the invention relates to a clamping device for clamping a workpiece between two vices using the method according to the first aspect of the invention.
[0059] The clamping device comprises a first carrier with a first receiving surface for a first vice and a second carrier with a second receiving surface for a second vice.
[0060] In a first alternative, one of the two supports is movable relative to the other support both in a first direction and in a second direction, which first and second directions run transversely, in particular perpendicular to each other, for positioning the vices relative to each other such that the first vice is in a transfer position and the second vice is in a takeover position.
[0061] In a second alternative, one of the two supports is movable in a first direction relative to the other of the two supports, and the other of the two supports is movable in a second direction relative to the first-mentioned support, wherein these first and second directions run transversely, in particular perpendicular to each other, for positioning the vices relative to each other in such a way that the first screw
[0062] MUE / 22.06.2022 P188220PC00 12 stock is in a transfer position and the second vice is in a takeover position.
[0063] The inventive design of the clamping device, which, compared to known solutions, enables an additional travel movement of the supports relative to one another in the second direction, makes it possible to influence the position of the unclamped free end of the workpiece between the jaws of the second vice and thus to enable an optimal clamping situation in the second vice even with asymmetrical workpieces. It also makes it possible to load the clamping device with the first vice, i.e. to arrange the first vice with the workpiece clamped therein on the receiving surface of the first support, in an area outside the actual clamping zone, so that even with a compact design of the clamping device there is sufficient space available to use robot arms with universal grippers or multiple grippers.A further advantage is that it enables the use of vices with a fixed jaw, which may be desirable for various applications and enables significant savings in the investment costs for the vices of an automated production line.
[0064] The first carrier of the transformer device is preferably movable in the second direction in a first plane, preferably along an arcuate, in particular circular arcuate, first path or along a linear first axis.
[0065] The second carrier of the transformer device is preferably movable in the first direction towards the second carrier in a second plane, preferably along an arcuate, in particular circular arcuate second path or along a linear second axis.
[0066] MUE / 06 / 22 / 2022 P188220PC00 13
[0067] It is further preferred that the first plane and the second plane or the first axis and the second axis run perpendicular to each other.
[0068] The first carrier and the second carrier can preferably be positioned relative to one another in such a way that the first receiving surface and the second receiving surface are spaced apart from one another, the spacing being variable by moving the second carrier in the first direction along the second axis, in order to enable, during normal operation, a transfer of a workpiece between a first vice arranged on the first receiving surface and a second vice arranged on the second receiving surface.
[0069] The previously mentioned process variants enable the use of cost-effective, robust and high-precision guides and drives for moving the first and second carriers.
[0070] In order to promote a fast, precise and automated implementation of the method, it is advantageous that the first and second receiving surfaces of the carriers each have a mating half of a zero-point clamping system to form a zero-point clamping connection with a first or second vice to be arranged thereon, which has a corresponding complementary mating half of the zero-point clamping system.
[0071] It is further preferred that the first and second supports each comprise a locking mechanism of the zero-point clamping system, and in particular that this locking mechanism is fluid-powered, in particular hydraulically or pneumatically actuated. This facilitates automated vice changing.
[0072] In a preferred embodiment of the transformer device, in which the first carrier of the transformer device in the second direction in a first
[0073] MUE / 06 / 22 / 2022 P188220PC00 14
[0074] Plane is movable along a first axis, the first carrier can also be moved from the transfer position along the first axis into a loading position in such a way that the first carrier and the second carrier do not face each other. This makes it possible to load the clamping device with the first vice, i.e. the arranging of the first vice with the workpiece clamped therein on the receiving surface of the first carrier, in an area outside the actual clamping zone, so that even with a compact design of the clamping device there is enough space available to use robot arms with universal grippers or multiple grippers.
[0075] In a further preferred embodiment of the clamping device, in which the first carrier with the first vice arranged thereon and the workpiece clamped therein can be moved in the second direction in the first plane along an arcuate, in particular circular arcuate, first path or along a linear first axis into its transfer position, it is further preferred that the first carrier can also be moved in a third direction in the first plane along a third axis, which third axis runs transversely, preferably perpendicularly to the first axis.
[0076] In an alternative preferred embodiment of the clamping device, in which the first carrier with the first vice arranged thereon and the workpiece clamped therein is movable in the second direction in the first plane along an arcuate, in particular circular arcuate, first path or along a linear first axis into its transfer position, it is further preferred that the second carrier is also movable in a third direction in a third plane, which is preferably parallel to the first plane, along a third axis, which third
[0077] MUE / 06 / 22 / 2022 P188220PC00 15
[0078] Axis transverse, preferably perpendicular to the first axis.
[0079] This third axis allows the flexibility of the clamping device to be significantly increased with regard to the transfer of different and / or asymmetrically shaped workpieces.
[0080] In yet another preferred embodiment of the transformer device, in which the first carrier is movable in the second direction along a first axis, the device comprises first drive and locking means for moving the first carrier along the first axis and for locking it in a desired position along its travel path along the first axis. The locking function of the first drive and locking means can be temporarily canceled, so that the first carrier can be displaced along the first axis by forces acting on it.
[0081] In yet another preferred embodiment of the transformer device, wherein the first carrier or the second carrier is movable in a third direction along a third axis, the device comprises third drive and locking means for moving the first or second carrier in the third direction along the third axis and for locking it in a desired position along its travel path along the third axis. The locking function of the third drive and locking means can be temporarily canceled, so that the first carrier or the second carrier can be displaced along the third axis by forces acting on it.
[0082] Due to this design of the drive and locking means, the first vice with the workpiece clamped therein can be provided in the transfer position in a displaceable manner, particularly along the closing direction of the second vice, when the workpiece is clamped in the second vice, so that
[0083] MUE / 22.06.2022 P188220PC00 16 that the first vice with the workpiece clamped therein can be moved together with the first carrier by the second vice, in particular along the closing direction of the second vice, when the workpiece is clamped in the second vice in a potentially overdetermined re-clamping situation.
[0084] Alternatively, by means of this design of the drive and locking means, the second vice can be provided displaceably in the takeover position when the workpiece is clamped therein, in particular along its closing direction, so that the second vice can be displaced together with the second carrier, in particular along the closing direction of the second vice, when the workpiece is clamped in a potentially over-determined re-clamping situation.
[0085] This makes it possible to avoid over-determined transformer situations and thus significantly increase manufacturing precision.
[0086] To make this possible, the drive and locking means preferably comprise non-self-locking spindle / spindle nut combinations with releasable spindle drives or releasable linear motors, so that the locking function of the drive and locking means can be temporarily canceled by releasable spindle drives or linear motors. Such drive and locking means are commercially available with high precision.
[0087] In yet another preferred embodiment, the clamping device comprises vice drives for mechanical vices, which preferably comprise servo motors, for driving the actuating spindles of mechanical first and second vices to be arranged on the first and second receiving surfaces.
[0088] It is preferred that the vice drives are connected via rotatable coupling elements to the actuating spindles of the first and second
[0089] MUE / 22.06.2022 P188220PC00 17 vices and for transmitting rotary actuating forces thereto, which are displaceable along their rotational axes, for selectively coupling to or uncoupling from the actuating spindles of the first and second vices.
[0090] The coupling elements advantageously have a stepped driver contour for coupling to actuating spindles of different sizes with a drive contour complementary to a step of the driver contour. This makes the vice drives suitable for various vices without conversion.
[0091] It is also preferred that the rotation axes of the coupling elements of the vice drives be fixed with respect to the respective first and second supports. This allows for a simple and robust provision of the vice drives.
[0092] In yet another preferred embodiment, the first and second supports of the transformer device have, in the region of their receiving surfaces, supply openings for fluid energy for actuating fluid energy-operated first and second vices to be arranged on the first and second receiving surfaces, preferably for supplying compressed air or hydraulic oil as fluid energy for actuating the vices.
[0093] A third aspect of the invention relates to a set comprising a clamping device according to the second aspect of the invention and at least one first vice and at least one second vice, wherein the first and second clamping surfaces and the first and second vices are designed such that the vices can each be fastened to the clamping surfaces without tools, in particular by means of a zero-point clamping system. Such sets are preferably used in automated production according to the method according to the first aspect of the invention.
[0094] MUE / 06 / 22 / 2022 P188220PC00 18
[0095] A fourth aspect of the invention relates to a set, preferably according to the third aspect of the invention, comprising a clamping device with vice drives with rotatable coupling elements for coupling to the actuating spindles of the first and second vices, wherein the axes of rotation of the coupling elements of the vice drives are fixed with respect to the respective first and second carrier. Furthermore, the set comprises various, preferably differently sized mechanical first and second vices, wherein the first and second carriers of the clamping device are designed with exchangeable carrier consoles which provide the respective receiving surfaces for the first and second vices.The set comprises various such support consoles with which the receiving surfaces of the supports can be provided for the various first and second vices of the set in such a way that the axes of rotation of the actuating spindles of the various first and second vices coincide with the axes of rotation of the coupling elements of the vice drives.
[0096] Brief presentation of the drawings
[0097] Further preferred embodiments of the invention emerge from the dependent claims and from the following description with reference to the figures. In these figures:
[0098] Fig. 1 is a perspective top view of a transformer device according to the invention with the first carrier arranged in the loading position;
[0099] Fig. 2 is a side view of the transformer device from Fig. 1;
[0100] Fig. 3 is a perspective top view of the clamping device from Fig. 1 with a first vice arranged on the first carrier with a workpiece clamped therein;
[0101] MUE / 06 / 22 / 2022 P188220PC00 19
[0102] Fig. 4 is a side view of the transformer device from Fig. 3;
[0103] Fig. 5 is a view similar to Fig. 4 with the first carrier with the first vice arranged thereon and a workpiece clamped therein arranged in the transfer position;
[0104] Fig. 6 is a view similar to Fig. 5 with the second carrier with the second vice arranged thereon in the takeover position;
[0105] Fig. 7 is a side view of the clamping device shown in Fig. 6 after the workpiece has been transferred from the first vice to the second vice; and Fig. 8 is a view similar to Fig. 7, but using the clamping device with smaller vices and other support brackets.
[0106] Ways of carrying out the invention
[0107] Fig. 1 shows a perspective top view of a clamping device 1 according to the invention for clamping a workpiece between two vices, and Fig. 2 shows a side view of the clamping device 1 from Fig. 1.
[0108] As can be seen, the clamping device 1 comprises a first carrier 5, with a first receiving surface 6 for a first vice 3 to receive a workpiece 2 to be clamped (not shown in Figures 1 and 2), and a second carrier 7, with a second receiving surface 8 for a second vice 4, which is to take over the workpiece 2 from the first vice 3. The first 5 and second carriers 7 are designed with exchangeable carrier consoles 16, which provide the respective receiving surfaces 6, 8 for the first 3 and second vices 4.
[0109] The second vice 4 is already arranged on the second receiving surface 8 of the second carrier 7. It is a center-clamping mechanical
[0110] MUE / 22.06.2022 P188220PC00 20 see vice 4 with two movable jaws 14. A similar vice is used as the first vice 3.
[0111] The receiving surfaces 6, 8 of the supports 5, 7 each have a pairing half of a zero-point clamping system for forming a zero-point clamping connection with the first and second vices 3, 4 to be arranged thereon. For this purpose, the first and second vices 3, 4 each have a corresponding complementary pairing half of the zero-point clamping system. The locking mechanism of the respective zero-point clamping system is arranged in the respective support 5, 7 and can be actuated pneumatically.
[0112] The second support 7 with the second vice 4 receiving the workpiece 2 is movable relative to the first support 5 in a first direction along the linear axis Z and in a third direction along the linear axis Y, and the first support 5 is movable relative to the second support 7 in a second direction along the linear axis X. The axes X, Y and Z are perpendicular to each other.
[0113] In order to move the supports 5, 7 along the axes X, Y and Z, the clamping device 1 has drive and locking means 9 which comprise spindle / spindle nut combinations which are driven by servo motors. The spindle / spindle nut combinations of the drive and locking means 9 for moving the first support 5 along the first axis X and for moving the second support 7 along the third axis Y are equipped with non-self-locking spindle / spindle nut combinations and unlockable spindle drives, so that the locking function of these drive and locking means 9 can be temporarily canceled by unlocking the spindle drives and the supports 5, 7 can then be moved along the respective axes X, Y by forces acting from the outside.
[0114] MUE / 06 / 22 / 2022 P188220PC00 21
[0115] Fig. 3 shows a perspective top view of the clamping device 1 with a first vice 3 arranged in the loading position on the first carrier 5 with a workpiece 2 clamped therein, and Fig. 4 shows a side view of the clamping device 1 from Fig. 3. Fig. 5 shows a representation like Fig. 4, but with the first carrier 5 with the first vice 3 arranged thereon and a workpiece 2 clamped therein arranged in the transfer position.
[0116] As can be seen in particular from a view of Figures 4 and 5 together, the first carrier 5 is movable along the first axis X between the loading position, in which the first carrier 5 and the second carrier 7 do not face each other (Fig. 4), and the transfer position, in which the first carrier 5 and the second carrier 7 face each other (Fig. 5).
[0117] As can be seen from a combination of Figures 5 and 6, in the transfer position the distance between the first support 5 and the second support 7 or between the first and second vices 3, 4 carried by them can be changed by moving the second support 7 along the second axis Z, so that the non-clamped end of the workpiece 2 can be arranged between the jaws 14 of the second vice 4 and clamped therein by moving the open second vice 4 towards the first vice 3 (Fig. 6).
[0118] As can be seen in particular in Figures 1 and 3, which show perspective top views of the clamping device 1, the clamping device 1 has its own vice drives 10, 11, 12 for the mechanical vices 3, 4, with servo motors for driving the actuating spindles of the vices 3, 4. The vice drives 10, 11, 12 have rotatable coupling elements 15 (only in Fig. 1 provided with reference number 15 and there only visible for the vice drives 11, 12 for the first vice 3) for
[0119] MUE / 06 / 22 / 2022 P188220PC00 22
[0120] Coupling to the actuating spindles of the first 3 and second vices 4 and for transmitting rotary actuating forces thereto, which are displaceable along their axes of rotation, for selectively coupling to or uncoupling from the actuating spindles of the first 3 and second vices 4. The axes of rotation of the actuating spindles of the first and second vices 4 each coincide with the axes of rotation of the coupling elements 15 of the vice drives 10, 11, 12. The coupling elements 15 have a stepped driver contour for coupling to actuating spindles of different sizes with a drive contour complementary to a step of the driver contour.
[0121] The first support 5 is equipped with two separate vice drives 11, 12 arranged at an angle of 90° to one another, so that the first vice 3 can be arranged on the receiving surface 6 of the first support 5 either with an identical closing direction to the second vice 4 or rotated by 90° thereto. The axes of rotation of the coupling elements 15 of the vice drives 10, 11, 12 are fixed with respect to the respective first 5 and second support 7.
[0122] The method according to the invention is explained below with reference to the figures.
[0123] As already described, Figures 1 and 2 show the inventive clamping device 1 with the first carrier 5 arranged in the loading position. Starting from this situation, a first mechanical center-clamping vice 3 with a workpiece 2 clamped therein is arranged by means of a robot arm (not shown) on the receiving surface 6 of the first carrier 5 of the clamping device 1. The first vice 3, which has a complementary mating half to the mating half of the zero-point clamping system, which is provided by the receiving surface 6 of the first carrier 3, is thereby
[0124] MUE / 22.06.2022 P188220PC00 23 system connected to the first support 3. This situation is illustrated in Figures 3 and 4.
[0125] The first carrier 5, with the first vice 3 arranged thereon and the workpiece 2 clamped therein, is then moved in the second direction along the first axis X from the loading position shown in Figures 1 to 4 into the transfer position, in which the second vice 4 is located opposite the first vice 3 with the workpiece 2 clamped therein at a distance (Fig. 5). In this transfer position, the first carrier 5 is locked by the associated drive and locking means 9.
[0126] Subsequently or simultaneously, the second carrier 7 with the open second vice 4 arranged thereon with the drive and locking means 9 assigned to it is moved in the first direction along the second axis Z towards the workpiece 2 provided with the first vice 3 in the transfer position into its takeover position, in which the free, unclamped end of the workpiece 2 is located between the open jaws 14 of the second vice 4.
[0127] Before the jaws 14 of the second vice 4 are closed with the aid of the vice drive 10 to clamp the workpiece 2 in the second vice 4, the drive and locking means 9 for displacing the second support in the third direction along the Y axis are enabled so that the second support 4 can, if necessary, move in the closing direction of the second vice 4 when the jaws 14 of the second vice 4 are closed. In this way, over-determined clamping conditions can be reliably prevented.
[0128] After the workpiece is clamped in the second vice 4, the drive and locking means 9 for moving the second carrier 7 in the
[0129] MUE / 22.06.2022 P188220PC00 24 third direction along the Y axis and the first vice 3 is then opened with the aid of the vice drive 11, whereby the workpiece 2 is transferred to the second vice 4.
[0130] In order to be able to remove the second vice 4 with the workpiece 2 clamped therein from the clamping device and to carry it out for further processing, the second carrier 7 with the second vice 4 arranged thereon and the workpiece clamped therein
[0131] 2 with the drive and locking means 9 assigned to it in the first direction along the second axis Z away from the first vice 3. This situation is shown in Fig. 7.
[0132] Subsequently, the second vice 4 with the workpiece 2 clamped therein is removed from the clamping device by a robot arm, for which purpose the connection between the second vice 4 and the second carrier 7 created via the zero-point clamping system is removed beforehand, while the second vice 4 is held by the robot arm (not shown).
[0133] Fig. 8 shows a representation of the transformer device 1 in a situation as in Fig. 7, but when using the transformer device 1 with smaller first
[0134] 3 and second vices 3 and with first and second supports 5, 7 with larger support brackets 16. In this way, it can be achieved that the rotation axes of the actuating spindles of the smaller vices 3, 4 also coincide with the rotation axes of the coupling elements 15 of the vice drives 10, 11, 12.
[0135] While preferred embodiments of the invention are described in the present application, it is to be clearly understood that the invention is not limited thereto and may be embodied in other ways within the scope of the following claims.
[0136] MUE / 22.06.2022
Claims
P188220PC00 25 Patent claims 1. Method for reclamping a workpiece (2) between two vises (3, 4) , comprising the steps: a) providing a first vise (3) with a workpiece clamped therein (2); b) providing a second vise (4) arranged on a second receiving surface (8) of a second support (7) of a clamping device (1); c) arranging the first vise (3) with the workpiece (2) clamped therein on a first receiving surface (6) of a first support (5) of the clamping device (1); d) moving the two supports (5, 7) with the first (3) and second vises (4) arranged thereon in a first direction transversely, in particular perpendicular to the closing direction of the second vise (4) relative to each other such that the workpiece (2) clamped in the first vise (3) with an unclamped body contour (13) is arranged between the jaws (14) of the second vise (4); and in this state e) clamping the workpiece (2) in the second vise (4) by closing the jaws (14) of the second vise (4);and subsequently f) opening the first vise (3) with the workpiece (2) clamped in the second vise (4), wherein, in addition, and in particular prior to or simultaneously with moving the two supports (5, 7) in the first direction relative to each other, the two supports (5, 7) are moved in a second direction relative to each other, which second direction; MUE / 22.06.2022 P188220PC00 26 runs transversely, in particular perpendicularly to the first direction.
2. Method according to claim 1, wherein the first support (5) with the first vise (3) arranged thereon with the workpiece (2) clamped therein is moved in the second direction from a loading position, in which the first vise (3) with the workpiece (2) clamped therein is arranged on its receiving surface (6), to a transfer position, in which the second vise (4) is positioned opposite the first vise (3) with the workpiece (2) clamped therein at a distance; and wherein the second support (7) with the second vise (4) arranged thereon is moved in the first direction towards the workpiece (2) provided by the first vise (3) in the transfer position to a receiving position, in which the workpiece (2) is clamped with the second vise (4).
3. Method according to claim 2, wherein the first support (5) with the first vise (3) arranged thereon with the workpiece (2) clamped therein is moved in a first plane into its transfer position, in particular along an arc-shaped, in particular circular arc-shaped first path or along a linear first axis (X) .
4. Method according to one of claims 2 to 3, wherein the second support (7) with the second vise (4) arranged thereon is moved in a second plane to its receiving position on the workpiece (2) provided by the first vise (3) in the transfer position, in particular along an arc-shaped, especially circular arc-shaped second path or along a linear second axis (Z) . MUE / 22.06.2022 P188220PC00 27 5. Method according to claim 3 and claim 4, wherein the first plane and the second plane or the first axis (X) and the second axis (Z) are perpendicular to each other.
6. Method according to one of the preceding claims, wherein after opening the first vise (3) the second vise (4) with the workpiece (2) clamped therein is removed from the second support (7).
7. Method according to one of the preceding claims, wherein the arrangement of the first vise (3) with the workpiece (2) clamped therein on the first receiving surface (6) of the first support (5) takes place in a loading position in which the first support (5) and the second support (7) or the first support (5) and the second vise (4) arranged on the second support (7) are not opposite each other.
8. Method according to one of the preceding claims, wherein the arrangement of the first vise (3) with the workpiece (2) clamped therein on the receiving surface (6) of the first support (5) and / or the removal of the second vise (4) with the workpiece (2) clamped therein from the second support (7) is carried out automatically, in particular by means of a robot arm.
9. Method according to one of the preceding claims, wherein the first vise (3) with the workpiece (2) clamped therein is attached to the receiving surface (6) of the first support (5) by means of a zero-point clamping system and / or the second vise (4) is or is attached to the receiving surface (8) of the second support (7) by means of a zero-point clamping system. MUE / 22.06.2022 P188220PC00 28 10. Method according to one of the preceding claims and according to claim 3, wherein the first vise (3) with the workpiece (2) clamped therein is moved in a third direction in the first plane along an arc-shaped, in particular circular arc-shaped, third path or along a linear third axis (Y), which in particular runs perpendicular to the first axis (X), before the workpiece (2) is clamped in the second vise (4) with the first support (5).
11. Method according to one of the preceding claims and according to claim 3, wherein the second vise (4) is moved with the second support (7) in a third direction in a third plane, which is in particular parallel to the first plane, along an arc-shaped, in particular circular arc-shaped third path or along a linear third axis (Y), which in particular is perpendicular to the first axis (X).
12. Method according to one of the preceding claims, wherein the second vise has a fixed jaw and a movable jaw, and wherein the workpiece clamped in the first vise is pressed against the fixed jaw of the second vise with the first vise before clamping this workpiece in the second vise.
13. Method according to any one of claims 1 to 11, wherein the second vise has a fixed jaw and a movable jaw, and wherein the fixed jaw of the second vise is pressed against the workpiece with the second vise before the workpiece is clamped in it.
14. Procedure according to one of the preceding Claims, wherein the first vise ( 3 ) with the therein MUE / 22.06.2022 P188220PC00 29 clamped workpiece (2) is provided displaceably along the closing direction of the second vise (4) when the workpiece (2) is clamped in the second vise (4), and in particular, wherein the first vise (3) with the workpiece (2) clamped therein is displaced together with the first support (5) by the second vise (4) along the closing direction of the second vise (4) when the workpiece (2) is clamped in the second vise (4).
15. Method according to one of the preceding claims, wherein the second vise (4) is provided in the receiving position displaceably along its closing direction when the workpiece (2) is clamped therein, and in particular, wherein the second vise (4) is displaced along its closing direction together with the second support (7) by the workpiece (2) when the workpiece (2) is clamped therein.
16. Method according to one of the preceding claims, wherein the first (3) and the second vise (4) are mechanical vises and their opening and closing is carried out by means of vise drives (10, 11, 12) provided by the clamping device (1), in particular automatically.
17. Method according to one of the preceding claims, wherein the first and the second vise are fluid-powered vises, in particular vises operated by compressed air or hydraulic fluid, and wherein their opening or closing is accomplished by means of fluid energy, in particular by means of compressed air or hydraulic fluid, which is provided via supply openings arranged in the area of the receiving surfaces of the first and the second support. MUE / 22.06.2022 P188220PC00 30 18. Clamping device (1) for clamping a workpiece (2) between two vises (3, 4) according to the method of one of the preceding claims, comprising a first support (5) with a first receiving surface (6) for a first vise (3) and a second support (7) with a second receiving surface (8) for a second vise (4), wherein one of the two supports is movable in a first direction and a second direction relative to the other support, the first and second directions being transverse, in particular perpendicular to each other, or wherein one of the two supports (7) is movable in a first direction relative to the other of the two supports (5), and the other of the two supports (5) is movable relative to the first-mentioned support (7) in a second direction, wherein these first and second directions are transverse, in particular perpendicular to each other.
19. Transforming device (1) according to claim 18, wherein the first support (5) is movable in the second direction in a first plane, in particular along an arc-shaped, in particular circular arc-shaped first path or along a linear first axis (X) .
20. Transforming device (1) according to one of claims 18 to 19, wherein the second support (7) is movable in the first direction in a second plane, in particular along an arc-shaped, in particular circular arc-shaped second path or along a linear second axis (Z) .
21. Transforming device (1) according to claim 19 and claim 20, wherein the first support (5) is movable in the second direction along a first axis (X) and the second support (7) is movable in the first direction MUE / 22.06.2022 P188220PC00 31 is movable along a second axis (Z) perpendicular to this first axis (X), wherein the first support (5) and the second support (7) can be positioned relative to each other such that the first receiving surface (6) and the second receiving surface (8) are opposite each other at a distance, wherein the distance can be changed by moving the second support (7) in the first direction along the second axis (Z).
22. Clamping device (1) according to one of claims 18 to 21, wherein the first (6) and the second receiving surface (8) each have a mating half of a zero-point clamping system, for forming a zero-point clamping connection with a first or second vise (3, 4) to be arranged thereon, which has a corresponding complementary mating half of the zero-point clamping system.
23. Clamping device (1) according to claim 22, wherein the first (5) and the second support (7) each comprise a locking mechanism of the zero-point clamping system, and in particular, wherein this locking mechanism is fluid energy actuated, in particular hydraulically or pneumatically actuated.
24. Transfer device (1) according to one of claims 18 to 23 and according to claim 19, wherein the first support (5) is movable from the transfer position along the first axis (X) into a loading position such that the first support (5) and the second support (7) are not opposite each other.
25. Transforming device (1) according to one of claims 18 to 24, wherein the first support (5) is movable in the second direction along a first axis (X) and wherein the first support (5) is in the first level- MUE / 22.06.2022 P188220PC00 32 ne is movable in a third direction along a third axis (Y) which runs perpendicular to the first axis (X).
26. Transforming device (1) according to one of claims 18 to 24, wherein the first support (5) is movable in the second direction along a first axis (X) and wherein the second support (7) is movable in a third plane, which is in particular parallel to the first plane, in a third direction along a third axis (Y) which is perpendicular to the first axis (X).
27. Transforming device (1) according to one of claims 18 to 26, wherein the first support (5) is movable in the second direction along a first axis (X), comprising first drive and locking means (9) for moving the first support (5) along the first axis (X) and for locking it in a desired position along its travel path along the first axis (X), wherein the locking function of the first drive and locking means (9) can be temporarily released, so that the first support (5) is displaceable along the first axis (X) by forces acting on it.
28. A clamping device (1) according to one of claims 18 to 27 and according to claim 25 or according to claim 26, comprising third drive and locking means (9) for moving the first support (5) or the second support (7) in the third direction along the third axis (Y) and for locking the same in a desired position along its travel path along the third axis (Y), wherein the locking function of the third drive and locking means (9) can be temporarily released, so that the first support (5) or the second MUE / 22.06.2022 P188220PC00 33 The support (7) can be displaced along the third axis (Y) by forces acting on it.
29. Clamping device (1) according to one of claims 25 to 26, wherein the drive and locking means (9) for generating the feed movement of the first carrier (5) along the first axis (X) and / or of the first carrier (5) or of the second carrier (7) along the third axis (Y) comprise non-self-locking spindle / spindle nut combinations with unlockable spindle drives or unlockable linear motors, such that the locking function of the drive and locking means (9) can be temporarily released by unlocking the spindle drives or linear motors.
30. Clamping device (1) according to one of claims 18 to 29, wherein the clamping device (1) comprises vise drives (10, 11, 12) for mechanical vises (3, 4), in particular comprising servomotors, for driving the actuating spindles of mechanical first (3) and second vises (4) to be arranged on the first (6) and the second receiving surface (8).
31. Clamping device according to claim 30, wherein the vise drives (10, 11, 12) have rotatable coupling elements (15) for coupling to the actuating spindles of the first (3) and second vises (4) and for transmitting rotary actuating forces thereon, which are displaceable along their axes of rotation, for selective coupling to or decoupling from the actuating spindles of the first (3) and second vises (4).
32. Transformer according to claim 31, wherein the coupling elements (15) have a stepped drive contour for coupling to different sized MUE / 22.06.2022 P188220PC00 34 Actuating spindles with a drive contour complementary to a stage of the driver contour.
33. Clamping device according to one of claims 31 to 32, wherein the axes of rotation of the coupling elements (15) of the vise drives (10, 11, 12) are fixed with respect to the respective first (5) or second support (7) .
34. Clamping device according to one of claims 18 to 33, wherein the first and the second support have supply openings for fluid energy in the area of their receiving surfaces for actuating fluid energy-actuated first and second vises to be arranged on the first and the second receiving surface, in particular for supplying compressed air or hydraulic oil as fluid energy for actuating the vises.
35. Set comprising a clamping device (1) according to one of claims 18 to 34 and at least one first vise (3) and at least one second vise (4), wherein the first (6) and the second clamping surface (8) and the first (3) and the second vise (4) are designed such that the vises (3, 4) can each be attached to the clamping surfaces (6, 8) without tools, in particular by means of a zero-point clamping system.
36. Set, in particular according to claim 35, comprising a clamping device (1) according to claim 33 and various, in particular different-sized, mechanical first (3) and second vises (4), wherein the first (5) and second supports (7) of the clamping device (1) are designed with interchangeable support brackets (16) which provide the respective receiving surfaces (6, 8) for the first (3) and second vises (4), and wherein the set comprises various such support brackets (16) MUE / 22.06.2022 P188220PC00 35 includes, with which the receiving surfaces (6, 8) of the supports (5, 7) can be provided for the various first (3) and second vises (4) in such a way that the axes of rotation of the actuating spindles of the various first (3) and second vises (4) coincide with the axes of rotation of the coupling elements (15) of the vise drives (10, 11, 12). MUE / 22.06.2022