Tool clamp and assembly including the tool and clamp

Abstract

Tool clamp and assembly comprising the tool and the clamp. The clamp is intended for fixing a tool (3) to a structure (5), the clamp (1) comprising: - a frame (9); - two jaws (11) linked to the frame (9); - a mechanism (13) for moving the two jaws (11) relative to the frame (9); - an adapter interface (15) linked to the frame (9), comprising a tool (3) fixing element (17); in which the moving mechanism (13) comprises at least one longitudinal worm (27) cooperating with threaded holes (29) provided in the jaws (11), and at least one drive device (31) with a drive element (33) rotating about a longitudinal axis relative to the frame (9), and a reducer (35) transmitting a rotation of the drive element (33) to at least one worm (27). Figure for the abridged version: 6

Description

Title of the invention: Tool clamp and assembly comprising the tool and the clamp

[0001] The present invention relates generally to a clamp for fixing a tool to a structure.

[0002] In certain circumstances, it is advantageous to attach lightweight robots to structures during assembly. These robots, for example, are manipulator arms, and they assist operators in their tasks related to assembling the structure. The tool must then be able to be disassembled and attached to another point on the structure, or to another structure.

[0003] There is currently no means of conveniently attaching a tool such as a lightweight robot to a structure.

[0004] In this context, the invention aims to provide a technical solution for conveniently attaching a tool to a structure.

[0005] To this end, the invention relates, according to a first aspect, to a clamp for fixing a tool to a structure, the clamp comprising:

[0006] - a chassis;

[0007] - two jaws attached to the chassis;

[0008] - a mechanism for moving the two jaws relative to the frame, bringing them closer the two jaws apart along a longitudinal direction or moving the two jaws apart along said longitudinal direction;

[0009] - a chassis-linked adaptation interface comprising a fastening element the tool;

[0010] in which the displacement mechanism comprises at least one longitudinal worm gear cooperating with threaded holes provided in the jaws, and at least one drive device with a drive member rotating about a longitudinal axis relative to the frame, and a reducer transmitting a rotation from the drive member to at least one worm gear.

[0011] The clamp can be very conveniently fixed to the structure by placing an element such as a profile between the two jaws, and by moving the two jaws towards each other by means of the mechanism provided for this purpose.

[0012] The jaws clamp the structure together, thus securing the clamp to the structure. The adapter interface allows the tool to be mounted on the clamping clamp.

[0013] Such a clamp is inexpensive, compact, and easily adaptable to a wide range of tools such as lightweight robots.

[0014] In particular, the dimensions of the clamp can be easily adapted according to the size of the tool to be fixed.

[0015] The system is lightweight and can be handled by a single person.

[0016] The use for moving the jaws of a mechanism comprising a longitudinal worm screw and a drive device with a rotating drive member and a reducer, contributes to making the gripper simple, inexpensive and convenient.

[0017] The fastening clamp may also have one or more of the following characteristics, considered individually or in all technically possible combinations:

[0018] - the displacement mechanism includes a disengageable locking device, at allowing the two bits to come together and prohibiting them to move apart;

[0019] - the locking device can be manually disengaged;

[0020] - the displacement mechanism comprises two cooperating longitudinal worm screws each with threaded holes provided in the jaws, the displacement mechanism comprising two drive devices mounted on two opposite longitudinal ends of the frame, each drive device comprising a drive member rotating about said longitudinal axis relative to the frame, and a reducer transmitting a rotation of the drive member to the two worm screws;

[0021] - the drive element or elements comprise a shape arranged to allow the rotational driving of said drive element by an external tool such as a crank or a power tool;

[0022] - the clamping clamp includes pads mounted on each jaw by means of links respective pivots;

[0023] - each pad has a bearing surface designed to come into contact with the structure, the fixing clamp comprising for each pad an elastic element for returning the pad to an orientation where the bearing surface is substantially perpendicular to the longitudinal direction;

[0024] - the chassis is a beam having, perpendicular to the longitudinal direction, a U-shaped section...

[0025] According to a second aspect, the invention relates to an assembly comprising a tool and a clamp for fixing the tool to a structure, the clamp having the above characteristics.

[0026] Other features and advantages of the invention will become apparent from the detailed description given below, by way of example and not limitation, with reference to the accompanying figures, among which: - [Fig.1] Fig.1 is a perspective view of a lightweight robot attached to a structure via the attachment clamp of the invention; - [Fig. 2] Fig. 2 is a perspective view of the clamp for the [Fig.l] ; - [Fig.3][Fig.4][Fig.5] Figures 3 to 5 are elevation views of the clamp fixing, taken according to the incidence respectively of arrows III, IV and V shown on [Fig.2]; and - [Fig.6] The [Fig.6] is an exploded view of an alternative embodiment of the fixing clamp of the invention.

[0027] The clamp 1 shown in [Fig.1] is intended to fix a tool 3 to a structure 5.

[0028] The tool 1 is for example a lightweight robot, such as a multi-articulated manipulator arm.

[0029] Alternatively, tool 3 is a balancing arm, a hoist, a machining tool, a welding tool, or any other suitable type of tool.

[0030] Structure 5 is typically a structure under construction. This structure is, for example, part of a boat, part of a submarine, an industrial machine, a building, or any other suitable structure.

[0031] The clamp 1 is intended to be fixed for example on a beam 7 of the structure 5.

[0032] In the example shown, beam 7 has a rectangular cross-section. Alternatively, it has a circular, elliptical or any other cross-section.

[0033] The beam 7 can be of any orientation: horizontal as in [Fig.1], vertical, oblique, etc.

[0034] As shown in Figures 2 to 6, the fastening clamp 1 comprises: - A chassis 9; - Two jaws 11 linked to the frame 9; - A mechanism 13 for moving the two jaws 11 relative to the frame 9; - An adaptation interface 15 linked to the chassis 9, comprising a component 17 of tool attachment 3.

[0035] The chassis 9 is a beam.

[0036] It presents, perpendicular to a longitudinal direction L, U-shaped sections.

[0037] The beam is a rigid metallic structure, having a thickness adapted to support the weight of tool 3 and the forces applied to tool 3.

[0038] The U-section beam is open at its two opposite longitudinal ends.

[0039] The chassis 9 thus comprises a flat central core 19, and two raised edges 21, long gitudinaux, parallel to each other, and facing each other.

[0040] The two upright edges 21 are perpendicular to a transverse direction T materialized among other things on [Fig.3]. They are spaced transversely apart from each other.

[0041] The transverse direction T is perpendicular to the longitudinal direction.

[0042] The two jaws 11 are metal plates, arranged in respective planes perpendicular to the longitudinal direction L. Each jaw 11 has an edge of contact 23 in support against the large inner face 25 of the chassis 9.

[0043] The large inner face 25 is defined by the core 19, and extends between the two upright edges 21. It is parallel to the longitudinal direction L and transverse direction T.

[0044] The contact edges 23 are in sliding contact against the large inner face 25.

[0045] The displacement mechanism 13 is arranged so as to selectively bring the two jaws 11 closer together along the longitudinal direction L, or move the two jaws 11 apart along said longitudinal direction L.

[0046] The displacement mechanism 13 includes for this purpose at least one longitudinal worm screw 27 cooperating with threaded holes 29 provided in the jaws 11.

[0047] In the example shown, the displacement mechanism 13 comprises two worm screws 27, parallel to each other, longitudinal, each cooperating with respective threaded holes 29 provided in the jaws 11.

[0048] The worm screws 27 are arranged opposite the large inner face 25, between the edges 21. They are spaced transversely apart from each other.

[0049] The displacement mechanism 13 also includes at least one drive device 31, with a drive member 33 rotating relative to the chassis 9 around a longitudinal axis and a reducer 35 transmitting a rotation from the drive member 33 to at least one worm screw 27.

[0050] In the example shown, the displacement mechanism 13 comprises two identical drive devices 31. The two drive devices 31 are mounted on the two opposite longitudinal ends of the frame 9.

[0051] The worm screws 27 extend along the entire longitudinal length of the frame 9, from one of the drive devices 31 to the other drive device 31.

[0052] Each drive device 31 comprises a drive member 33 rotating about said longitudinal axis relative to the frame 9 and a reducer 35 transmitting the rotation of the drive member 33 to the two worm screws 27.

[0053] As can be seen in particular in [Fig.6], each drive device 31 is arranged in a cassette 37 fixed to the chassis 9.

[0054] The cassette 37 has a bottom wall 39, carrying tabs 41 for fixing to the frame. The bottom wall 39 is pressed against the longitudinal end of the frame 9. It has a shape substantially identical to the cross-section of the longitudinal end of the frame 9.

[0055] The cassette 37 further comprises a cover 43 fixed to the base wall 39, typically by means of screws. The drive element 33 and the reducer 35 are housed between the cover 43 and the base plate 39.

[0056] In the figures, the hood 43 is shown transparent to allow the drive device 31 to show through. Alternatively, the hood 43 is not transparent.

[0057] The drive element 33 is a pinion, rotatably mounted on the bottom wall 39.

[0058] The reducer 35 has a gear 45 for each worm gear 27. The gears 45 are arranged transversely on either side of the drive member 33 and directly mesh with the drive member 33. They are each mounted for rotation in an orifice 47 of the bottom wall 39.

[0059] Each worm screw 27 is rigidly fixed, at its two opposite ends, to the toothed wheel 45 of one of the two drive devices 31.

[0060] According to an advantageous feature, in order to limit the weight and size of the clamping clamp 1, it is not motorized.

[0061] On the contrary, each drive member 33 has a shape 49 arranged to allow the rotational drive of said drive member 33 by an external tool such as a crank or a portable power tool.

[0062] In the example shown, shape 49 is a hexagonal recessed imprint.

[0063] The displacement mechanism 13 further advantageously includes a disengageable locking device 51, allowing the two jaws 11 to come together together, and prohibiting the two jaws 11 to move apart together ([Fig.5]).

[0064] The locking device 51 can be disengaged manually.

[0065] For example, the locking device 51 includes a circular rack 53, rotationally fixed to the drive member 33 of one of the two devices 31. The locking device 51 also includes a ratchet 55 mounted pivotally relative to the chassis 9.

[0066] In the example shown, the ratchet 55 is mounted on a pivot 57 formed on the base plate 39 of the drive device.

[0067] The teeth of the rack 53 are oriented in such a way that the drive member 33 can rotate, with the rack 53, in a first direction (clockwise in the representation of [Fig.5]), but cannot rotate in a second direction opposite to the first (counterclockwise in the representation of [Fig.5]).

[0068] Rotation of the drive member 33 in the first direction, due to the orientation of the teeth of the worm gears 27 and the threads of the holes 29, causes the two jaws 11 to move closer together. Rotation of the drive member 33 in the second direction causes the two jaws 11 to move apart.

[0069] The ratchet 55 has a gripping part 59, protruding out of the cassette 37. A user can grasp this gripping part 59 and lift it, causing the ratchet 55 and the rack 53 to disengage.

[0070] In this situation, it is possible to rotate the drive member 33 in the second direction, causing the two jaws 11 to move apart from each other (counterclockwise in the representation of [Fig.5]).

[0071] As can be seen in particular in Figures 3, 4 and 6, the fastening clamp 1 comprises buffers 61 mounted on each jaw 11 by respective pivot links 63.

[0072] The pivot joints 63 are around transverse pivot axes.

[0073] The pads 61 of the two jaws are placed opposite each other, along the longitudinal direction L. In other words, each pad 61 of one of the two jaws 11 is placed longitudinally opposite a pad 61 of the other jaw 11.

[0074] The pads 61 of the same jaw 11 are superimposed one above the other along an elevation direction E perpendicular to both the longitudinal direction L and the transverse direction T.

[0075] Direction E is shown in [Fig.4]. It is perpendicular to the large inner face 25 of the chassis 9.

[0076] The pads 61 are each arranged in a window 65 formed in the corresponding jaw. They each extend over most of the transverse width of the jaw 11.

[0077] Each pad 61 comprises a body 67 carrying a pad 69. The pad 69 defines a bearing surface 71 intended to come into contact with the structure 5. The pad 69 is made of a flexible material such as natural or synthetic rubber.

[0078] The pad 69 and more specifically the bearing surface 71 is turned towards the pad 61 located opposite.

[0079] The body 67 carries transverse lugs 73, engaged in corresponding orifices of the jaw 11. The lugs 73 cooperate with the orifices to form the pivot joint 63.

[0080] A rib 75 is formed on the body 67, opposite the pad 69. The rib 75 is transversely oriented.

[0081] The fixing clamp 1 includes for each pad 61 an elastic element 77 for returning said pad 61 in an orientation where the bearing surface 71 is substantially perpendicular to the longitudinal direction L ([Fig.5]).

[0082] In the example shown, the elastic element 77 comprises a set of helical springs 79. Several helical springs 79 are interposed between the rib 75 and the upper edge 81 of the window 65. Other helical springs 79 are interposed between the rib 75 and the lower edge 83 of the window 65. The upper and lower edges 81, 83 are oriented transversely. They delimit the window 65 on two opposite sides along the elevation direction E.

[0083] When the skate 71 pivots upwards about its pivot axis in the representation of [Fig. 5], the helical springs 79 interposed between the rib 75 and the lower edge 83 are compressed. Conversely, when the skate 71 pivots downwards in the representation of [Fig. 5], the helical springs 79 interposed between the rib 75 and the upper edge 81 are compressed.

[0084] The elastic organs 77 therefore tend to maintain the pads 61 in a position rest position where the bearing faces 71 of the different pads 61 are all parallel to each other. In the rest position, the bearing faces 71 of the pads of the same jaw are all in the same plane.

[0085] To facilitate gripping the fixing clamp 1, it is equipped with two handles 85, fixed on either side of the chassis 9.

[0086] The handles 85 are fixed to the two upright edges 21.

[0087] The adaptation interface 15 is typically a plate fixed to the chassis 9.

[0088] In the example shown, this plate is circular.

[0089] The adaptation interface 15 is fixed on the large external face 87 of the core 19 opposite the large internal face 25.

[0090] For example, it is fixed to the chassis 9 by screws not shown.

[0091] The tool fixing element 17 is, in the example shown, made up of several threaded holes provided to receive screws for fixing the tool 3 to the adaptation interface 15.

[0092] Typically, the tool 3 is directly mounted on the adapter interface 15.

[0093] According to an alternative embodiment shown in [Fig.6], a bracket 89 is mounted on the adapter interface 15 via the fixing member 17. The tool 3 is mounted on the bracket 89.

[0094] The method of mounting and dismounting the tool on the structure will now be detailed.

[0095] In the initial situation, the jaws 11 are located at the two opposite longitudinal ends of the frame 9.

[0096] An operator grasps the clamping clamp 1 by means of the handles 85. He places the clamping clamp 1 astride a member of the structure 5. For example, he places the clamping clamp 1 astride the beam 7, which extends transversely, between the two jaws 11.

[0097] Then, using a tool such as a crank, a wrench, or a portable power tool, the operator rotates one of the two drive members 33 in a direction, causing the two jaws 11 to move towards each other. This movement is continued until the two jaws 11 firmly clamp the structure 5 between them.

[0098] The pads 61 carried by one of the jaws 11 are applied to one side of the structure 5, and the pads 61 carried by the other jaw 11 are applied to the other side of the structure 5. The pads 61 pinch the member of the structure 5 between them. They adopt orientations around the pivots 63 adapted to the section of the member.

[0099] In the example shown, the member is a beam 7 with a rectangular cross-section, the slides 61 remaining in the orientation shown in [Fig. 4]. Conversely, for a beam with a circular cross-section, the slides pivot around the pivots 63, so as to adopt a tangential orientation to the surface of beam 7.

[0100] The locking member 55 ensures that the clamping around the structure 5 will not loosen over time.

[0101] Finally, the tool 3 is mounted on the adapter interface 15, via the fixing member 17.

[0102] At the end of the intervention of the tool 3, the operator disengages the locking device 51. To do this, he grasps the gripping member 59, and rotates the ratchet 55, in the direction of a disengagement with respect to the teeth of the rack 53.

[0103] He can then, using a tool, rotate the drive member 33 in the direction of a separation of the two jaws from each other. It is then possible to separate the clamping clamp 1 and the structure 5.

[0104] The fixing clamp described above has multiple advantages.

[0105] Because the movement mechanism includes a disengageable locking device, allowing the two jaws to move together and preventing them from moving apart, the clamping device remains firmly attached to the structure. The clamping force of the two jaws remains constant.

[0106] Because the locking device can be manually disengaged, the clamping clamp can be easily removed from the structure. An operator manually disengages the locking device, which separates the two jaws from each other, thus detaching the clamping clamp from the structure.

[0107] When the displacement mechanism comprises two longitudinal worm gears and two drive devices mounted at the two opposite longitudinal ends of the frame, the two jaws are particularly well guided. Clamping and loosening are carried out easily.

[0108] Because each drive element includes a shape designed to allow rotation of said drive element by an external tool such as a crank or a portable power tool, the clamping clamp does not have its own motor. It is therefore particularly light and easy for an operator to move.

[0109] When the clamping clamp includes pads mounted on each jaw by respective pivot joints, the clamping clamp adapts to the shape of the structure on which it is mounted. The pads can pivot and position themselves in the most suitable orientation for clamping the structure between the jaws.

[0110] When the clamping device includes, for each pad, an elastic element for returning the pad to an orientation where its bearing surface is substantially perpendicular to the longitudinal direction, clamping the structure between the two jaws is facilitated. The risk of the pads contacting the structure with an inappropriate orientation is minimized.

[0111] When the chassis is a beam having, perpendicular to the longitudinal direction, a U-shaped section, the fixing clamp is particularly robust.

[0112] The fixing clamp can have multiple variants.

[0113] The displacement mechanism could be of a different type than that described above, with a worm gear, a rotary drive element, and a reduction gear. The displacement mechanism could, for example, be of the type comprising a rack and pinion.

[0114] The locking device is not necessarily of the ratchet type. It could be of any other suitable type.

[0115] The clamping clamp could be motorized, i.e., mounted on a motor for moving the jaws.

Claims

Claims

1. Clamp for fixing a tool (3) to a structure (5), the clamp (1) comprising: - a frame (9); - two jaws (11) connected to the frame (9); - a mechanism (13) for moving the two jaws (11) relative to the frame (9), bringing the two jaws (11) closer to each other in a longitudinal direction or moving the two jaws (11) apart in said longitudinal direction; - an adaptation interface (15) connected to the frame (9), comprising a member (17) for fixing the tool (3); wherein the displacement mechanism (13) comprises at least one longitudinal worm screw (27) cooperating with threaded orifices (29) provided in the jaws (11), and at least one drive device (31) with a drive member (33) rotatable about a longitudinal axis relative to the chassis (9), and a reducer (35) transmitting a rotation of the drive member (33) to the at least one worm screw (27).

2. Fixing clamp according to claim 1, in which the displacement mechanism (13) comprises a disengageable locking device (51), allowing the two jaws (11) to move together and preventing the two jaws (11) from moving apart.

3. A fixing clamp according to claim 2, wherein the locking device (51) is manually disengageable.

4. A clamp according to any one of claims 1 to 3, wherein the displacement mechanism (13) comprises two longitudinal worm screws (27) each cooperating with threaded orifices (29) provided in the jaws (11), the displacement mechanism (13) comprising two drive devices (31) mounted on two opposite longitudinal ends of the frame (9), each drive device (31) comprising a drive member (33) rotatable about said longitudinal axis relative to the frame (9), and a reducer (35) transmitting rotation of the drive member (33) to the two worm screws (27).

5. A fixing clamp according to any one of claims 1 to 4, wherein the or each drive member (33) comprises a shape (49) arranged to allow rotational driving of said member drive (33) by an external tool such as a crank or a power tool.

6. A clamp according to any preceding claim, wherein the clamp (1) comprises pads (61) mounted on each jaw (11) by respective pivot links (63).

7. Fixing clamp according to claim 6, in which each pad (61) has a bearing surface (71) intended to come into contact with the structure (5), the fixing clamp (1) comprising for each pad (61) an elastic member (77) for returning the pad (61) in an orientation where the bearing surface (71) is substantially perpendicular to the longitudinal direction.

8. Fixing clamp according to any one of the preceding claims, in which the frame (9) is a beam having, perpendicular to the longitudinal direction, a U-shaped section.

9. Assembly comprising a tool (3) and a clamp (1) for fixing the tool (3) to a structure (5), the fixing clamp (1) being according to any one of claims 1 to 8.

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