Clamping and Hemming Devices

Abstract

To solve problems caused by using an air cylinder as a driving source in a clamp device 1.SOLUTION: According to a clamp device 1, a rotary lever 16 of a drive part 9 is rotationally driven by output of an electric motor to transmit torque to a clamp arm 4. The drive part 9 rotationally drives the rotary lever 16 to one side around a rotation center axis X, thereby fixing a work-piece 2 to a lower die 3 by the clamp arm 4. Further, a connection member 10 connects the rotary lever 16 and the clamp arm 4, and a support member 11 rotatably supports the connection member 10 and the clamp arm 4. Further, a compression spring 12 is assembled between the rotary lever 16 and the support member 11, and revolves the support member 11 while revolving to one side by rotation of the rotary lever 16 to one side.SELECTED DRAWING: Figure 5

Description

[Technical field]

[0001] The present invention relates to a clamping device that fixes a workpiece to a lower die by pressing a clamp arm against the workpiece from above when the workpiece is placed on the lower die and hemmed, and a hemming device equipped with the clamping device. [Background technology]

[0002] Conventionally, in the clamp device as described above, a configuration in which the clamp arm is caused to wrap around the upper side of the workpiece by the driving force generated by an air cylinder and pressed against the workpiece from above has been well known, and is used, for example, in a roller-type hemming device (see, for example, Patent Documents 1 and 2). Hereinafter, the action of wrapping the clamp arm around the upper side of the workpiece may be referred to as the "swinging action." Also, the action of pressing the clamp arm against the workpiece from above may be referred to as the "clamping action."

[0003] In addition, in Patent Document 2, a pin-and-hole engagement structure (displacement connection section) is provided in the drive force transmission path from the air cylinder rod to the clamp arm, thereby separating the swing-in action of the clamp arm from the clamp action of the clamp arm. Therefore, with the clamp device in Patent Document 2, the clamp arm can be easily moved out of the interference area of ​​the robot hand, making it possible to more efficiently process the workpiece and improve the quality after processing.

[0004] However, when trying to speed up the clamping operation to further improve efficiency, the following problem occurs. That is, since the driving force of the air cylinder is high-pressure compressed air, in order to speed up the clamping operation, the compressed air must be made even more pressurized. As a result, as the compressed air becomes more pressurized, the impact on the workpiece caused by the clamping operation becomes greater, increasing the risk of damaging the workpiece. In addition, the compressed air is generated by a compressor, which is also considered to be an energy problem. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 5-023763 [Patent Document 2] Japanese Patent Application Publication No. 8-197149 Summary of the Invention [Problem to be solved by the invention]

[0006] The present disclosure has been made to solve the above problems, and has as its object to eliminate problems that arise from using an air cylinder as a drive source in a clamping device. [Means for solving the problem]

[0007] The clamping device of the present disclosure fixes the workpiece to the lower die by pressing the clamp arm against the workpiece from above when the workpiece is placed on the lower die and hemmed. The clamp device also includes a drive portion, a connecting member, a support member, and a compression spring.

[0008] First, the drive unit is electrically powered and has the following rotating lever. The rotating lever is rotated by the output of an electric motor to transmit a rotational force to the clamp arm. The drive unit rotates the rotating lever to one side around the central axis of rotation, thereby fixing the workpiece to the lower die by the clamp arm.

[0009] The connecting member connects the rotating lever and the clamp arm, and the support member rotatably supports the connecting member and the clamp arm. The compression spring is assembled between the rotating lever and the support member, and revolves to one side when the rotating lever rotates to one side, while revolving to one side, causing the support member to revolve to one side. When the rotating lever is driven to rotate in one direction while the support member is restrained and its revolution in that direction is restricted, it compresses the compression spring, rotates the connecting member relative to the support member, and further rotates the clamp arm relative to the support member as the connecting member rotates. This potentially solves the problem of eliminating the problems that arise when an air cylinder is used as a drive source in a clamp device. [Brief description of the drawings]

[0010] [Figure 1] FIG. 2 is a diagram showing the configuration of a main part of a hemming device. [Diagram 2] FIG. [Diagram 3] FIG. [Figure 4] FIG. 1 is a state diagram showing a clamp device with a rotation angle of 0°. [Diagram 5] 1 is a state diagram showing a clamp device with a rotation angle of a constraint angle θc. [Figure 6] FIG. 11 is a state diagram showing the clamp device after a clamping operation. [Figure 7] 11 is an explanatory diagram showing a connection structure between a connecting member and a clamp arm. FIG. [Figure 8] 5A and 5B are explanatory diagrams showing a connection structure between a connecting member and a rotating lever. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] The clamping device and the hemming device of the embodiment will be described based on the following examples. EXAMPLES

[0012] [Configuration of the embodiment] The configuration of a clamping device 1 according to an embodiment will be described with reference to the drawings. The clamp device 1 fixes the workpiece 2 to the lower die 3 by pressing the clamp arm 4 against the workpiece 2 from above when the workpiece 2 is placed on the lower die 3 and hemmed. The clamp device 1 is used, for example, in a roller-type hemming device 5.

[0013] Here, the roller-type hemming device 5 is, for example, equipped with a hem roller 7 as a manipulator at the tip of a multi-jointed robot 6 (see Figure 1, etc.), and the processed portion of the workpiece 2 is bent by moving the hem roller 7 along a predetermined trajectory. The workpiece 2 is, for example, a door panel of a vehicle that is made up of an outer panel 2o and an inner panel 2i, and the periphery of the outer panel 2o is bent in advance at a substantially right angle by a separate process.

[0014] Then, the peripheral edge of the inner panel 2i is overlapped along the inside of the bent peripheral edge, which becomes the workpiece 2, and is placed on the lower die 3 and fixed by the clamp device 1. Furthermore, the peripheral edge of the outer panel 2o bent at a right angle is bent by the hem roller 7 as the processing part. In such a roller-type hemming device 5, the clamp devices 1 are disposed at a plurality of locations along the periphery of the lower die 3 at appropriate intervals, and each clamp device 1 has the same configuration.

[0015] Next, the clamp device 1 will be mainly described in detail (see FIGS. 2 to 6, etc.). The clamping device 1 includes a drive unit 9, a connecting member 10, a support member 11, and a compression spring 12, which will be described below. The hemming device 5 includes, together with the clamping device 1, a restraining unit 13, which will be described below. The drive unit 9, the connecting member 10, the support member 11, the compression spring 12 and the restraining unit 13 will be described in turn below.

[0016] First, the drive unit 9 is of an electric type, and includes the following drive device 15 and rotating lever 16. Below, the drive device 15 and rotating lever 16 will be described in order. First, the driving device 15 has a well-known configuration incorporating a reducer and an electric motor, and is mounted on a pedestal 17 attached to the lower die 3. Then, as described later, the clamp arm 4 is pressed against the workpiece 2 from above by the output of the electric motor, thereby fixing the workpiece 2 to the lower die 3.

[0017] Here, the clamp arm 4 is a part that directly contacts the workpiece 2, and is provided, for example, in a flat V-shape, with a contact end 4a at one end that contacts the workpiece 2 and protrudes toward the inside of the V. When the workpiece 2 is fixed to the lower die 3, the clamp arm 4 straddles the periphery of the outer panel 2o bent at a right angle and protrudes above the periphery of the inner panel 2i, with the contact end 4a abutting against the periphery of the inner panel 2i from above. The clamp arm 4 forms a connecting structure A with the connecting member 10 at the other end in the longitudinal direction.

[0018] The base 17 is provided, for example, in an L-shape and has a horizontal portion 17h parallel to a reference surface on which the lower mold 3 and the robot 6 are placed, and a vertical portion 17v perpendicular to the horizontal portion 17h and parallel to the vertical direction. The driving device 15 is mounted on the horizontal portion 17h so that its output shaft is parallel to the horizontal direction. The electric motor of the drive device 15 is, for example, a flat permanent magnet type synchronous motor capable of generating large torque at low rotation speed.

[0019] Next, the rotating lever 16 is rotated by the output of the driving device 15, i.e., the output of the electric motor, and transmits the rotational force to the clamp arm 4 (hereinafter, the axis that is the center of rotation of the rotating lever 16 may be referred to as the rotation center axis X). The driving unit 9 then rotates the rotating lever 16 to one side of the direction of rotation around the rotation center axis X by the output of the electric motor, thereby fixing the workpiece 2 to the lower die 3 by the clamp arm 4 (hereinafter, the direction of rotation around the rotation center axis X may be referred to as the circumferential direction). Note that the rotation center axis X is, for example, coaxial with the output shaft of the driving device 15 and parallel to the rotation axis of the electric motor.

[0020] Here, the rotation angle of the rotating lever 16 is defined, for example, as follows. First, one circumferential side is defined as the side toward which the rotating lever 16 faces when rotating counterclockwise in Figures 4 to 6, that is, the side toward which the clamp arm 4 approaches the workpiece 2. Then, the rotation angle is defined as increasing in the positive direction when the rotating lever 16 faces one circumferential side around the rotation center axis X.

[0021] Two rotating levers 16 are arranged so as to sandwich the drive unit 15 from both outside in the direction of the rotation center axis X (see FIG. 3, etc.). The two rotating levers 16 have the same shape, and both are wide and long plate-like bodies in a side view. Each of the two rotating levers 16 forms a connecting structure B with the connecting member 10 at one end in the longitudinal direction, and is fixed to the output shaft of the drive unit 15 at the other end. The other end fixed to the output shaft of the drive unit 15 is wider than the other portion (see FIGS. 4 to 6, etc.).

[0022] Next, the connecting member 10 connects the rotating lever 16 and the clamp arm 4. Here, the connecting member 10 is a columnar body (see FIG. 3, etc.), and one end and the other end in the longitudinal direction respectively constitute the above-mentioned connecting structures A and B. More specifically, one end of the connecting member 10 is divided into two ends 10a by a slit, and the other end of the clamp arm 4 fits into the slit and is sandwiched between the two ends 10a (see Figure 3, etc.).

[0023] At each end 10a, a connecting structure A is formed between the other end of the clamp arm 4. Here, the connecting structure A is, for example, the following structure. That is, the connecting structure A has the following round hole A1, long hole A2, and shaft rod Ar (see Figs. 4 to 7, etc.).

[0024] First, the round hole A1 is a circular hole provided in each end portion 10a, and penetrates each end portion 10a in the direction of the rotation axis X. Further, the long hole A2 is provided at the other end of the clamp arm 4 and penetrates the other end of the clamp arm 4 in the direction of the rotation axis X. Further, the long hole A2 has the same width as the diameter Da of the round hole A1, and further has a length La longer than the diameter Da in a direction perpendicular to this width. Both ends in the length direction are, for example, semi-circles having the same diameter as the round hole A1. Furthermore, the shaft core bar Ar is a cylindrical bar having the same diameter as the round hole A1, is assembled so as to point in the direction of the rotation axis X, and penetrates both of the two round holes A1 and the long hole A2.

[0025] Thereby, the connecting member 10 and the clamp arm 4 are relatively rotatable with respect to each other and are relatively linearly movable in the length direction of the long hole A2. In addition, the ratio of the length La to the diameter Da in the connection structure A, that is, La / Da, is set to satisfy the relational expression (1): 1.0 < La / Da < 2.0, preferably set to satisfy the relational expression (2): 1.0 < La / Da < 1.5, and more preferably set to satisfy the relational expression (3): 1.0 < La / Da < 1.1.

[0026] Note that La / Da is set according to the distance between the shaft support structures C and D described later. That is, the smaller the distance between the shaft support structures C and D, the larger La / Da needs to be set. Conversely, the larger the distance between the shaft support structures C and D, the smaller La / Da can be set.

[0027] In addition, the other end of the connecting member 10 is sandwiched by one end of each of the two rotating levers 16 as described above (see FIG. 3 etc.), and a connection structure B is formed between each rotating lever 16. Here, the connection structure B has, for example, the following structure. That is, the connection structure B has the following round hole B1, long hole B2, and shaft core bar Br (see FIGS. 1, 2, 4 to 6, 8, etc.).

[0028] First, the round hole B1 is a circular hole provided at the other end of the connecting member 10 and penetrates the other end of the connecting member 10 in the direction of the rotation axis X. In addition, the long holes B2 are provided at one end of each rotary lever 16 and penetrate through each end portion 10a in the direction of the rotation axis X. Further, the long holes B2 have the same width as the diameter Db of the round hole B1, and further have a length Lb longer than the diameter Db in a direction perpendicular to this width. Both ends in the length direction are, for example, semi-circles having the same diameter as the round hole B1. Furthermore, the shaft core rod Br is a columnar rod having the same diameter as the round hole B1, is assembled so as to point in the direction of the rotation axis X, and penetrates through both the round hole B1 and the two long holes B2.

[0029] Thereby, the connecting member 10 and the two rotary levers 16 are relatively rotatable with respect to each other and are relatively linearly movable in the length direction of the long holes B2. In addition, the ratio of the length Lb to the diameter Db in the connecting structure B, that is, Lb / Db, is set to satisfy the relational expression (4): 1.0 < Lb / Db < 2.0, preferably set to satisfy the relational expression (5): 1.0 < Lb / Db < 1.5, and more preferably set to satisfy the relational expression (6): 1.0 < Lb / Db < 1.1.

[0030] It should be noted that Lb / Db is set according to the distance between the shaft support structure D and the bearing structure E described later. That is, the smaller the distance between the shaft support structure D and the bearing structure E, the larger Lb / Db needs to be set. Conversely, the larger the distance between the shaft support structure D and the bearing structure E, the smaller Lb / Db can be set.

[0031] In addition, slide portions 16a described later are fixed to both outer sides of one end of each of the two rotary levers 16 (see FIGS. 2, 4 to 6, etc.), and both ends of the shaft core rod Br are fixed to the slide portions 16a.

[0032] Next, the support members 11 rotatably support the connecting member 10 and the clamp arm 4, and two are provided (see FIG. 3, etc.). The two support members 11 are both wide and long plate-like bodies of the same shape. Furthermore, the two support members 11 are assembled so as to sandwich the clamp arm 4, the connecting member 10, and the drive unit 9 from both outsides in the direction of the rotation center axis X.

[0033] A pivot support structure C is formed between one end of each of the two support members 11 and the clamp arm 4 to rotatably support the clamp arm 4. Here, the pivot support structure C has, for example, the following structure.

[0034] That is, a round hole is provided in the bottom of the central V in the clamp arm 4, and one end of each of the support members 11 is also provided with a round hole of the same diameter as the round hole in the clamp arm 4. A bushing is attached to each of the round holes of the clamp arm 4 and the support member 11, and one shaft rod Cr (see Figs. 1, 2, 4 to 6, etc.) is assembled so as to pass through these round holes. A collar 19 is disposed between the center of the clamp arm 4 and one end of each of the support members 11 (see FIG. 3, etc.), and the shaft rod Cr passes through the collar 19 in the direction of the central axis X of rotation.

[0035] As a result of the above, the clamp arm 4 is rotatable relative to the support member 11. The direction of rotation of the clamp arm 4 around the shaft rod Cr in the shaft support structure C is defined in the same way as the direction of rotation of the rotating lever 16. Specifically, it is defined that the lever rotates to one side when it rotates counterclockwise in Figs. 4 to 6.

[0036] Further, a pivot support structure D is formed between the two support members 11 and the connecting member 10 near the center of the respective longitudinal directions to rotatably support the connecting member 10. Here, the pivot support structure D has, for example, the following structure.

[0037] That is, a round hole is provided near the center of the connecting member 10, and a round hole of the same diameter as the round hole of the connecting member 10 is also provided near the center of each of the supporting members 11. A bushing is attached to each of the round holes of the connecting member 10 and the supporting member 11, and one shaft rod Dr (see Figs. 1, 2, 4 to 6, etc.) is assembled so as to pass through these round holes. Collars 19 are also disposed between the vicinity of the center of the connecting member 10 and the vicinity of the center of each of the support members 11 (see FIG. 3, etc.), and the shaft rod Dr penetrates the collar 19 in the direction of the rotation center axis X. Furthermore, the shaft support structure D is sandwiched between the connecting structures A and B in the longitudinal direction of the connecting member 10 (see FIGS. 3 to 6, etc.).

[0038] As a result of the above, the connecting member 10 is rotatable relative to the supporting member 11. The direction of rotation of the connecting member 10 around the shaft rod Dr in the shaft support structure D is defined in the same way as the direction of rotation of the rotating lever 16. Specifically, it is defined that the lever rotates to one side when it rotates counterclockwise in Figs. 4 to 6.

[0039] Furthermore, a bearing structure E that supports the relative rotation between the rotating lever 16 and the support member 11 is provided between the rotating lever 16 and the support member 11. The bearing structure E has, for example, the following structure.

[0040] That is, each rotating lever 16 is provided with a support shaft 16b coaxial with the output shaft of the drive unit 15, and the two rotating levers 16 are assembled so that each support shaft 16b protrudes outside the two rotating levers 16 (see FIG. 3, etc.). A round hole is provided in the other end of each of the two support members 11, and a bush 21 is attached thereto, and the bush 21 supports the support shaft 16b so as to be freely rotatable (see FIGS. 1, 2, 4 to 6, etc.). Therefore, the rotating lever 16 and the support member 11 can rotate relatively to each other around the rotation center axis X.

[0041] Next, the compression spring 12 is a coil spring assembled between the rotating lever 16 and the support member 11 . Here, each support member 11 has a slit 11a that is long in the width direction thereof penetrating therethrough near where the connecting structure B is present (see Figs. 1, 2, 4 to 6, etc.). The width direction of the support member 11 roughly coincides with the circumferential direction. The slide portion 16a is fitted into the slit 11a so as to be able to move in the width direction. The compression spring 12 is assembled between the wall of the slit 11a and the slide portion 16a so as to be oriented in the width direction of the support member 11, i.e., the circumferential direction.

[0042] Furthermore, the compression spring 12 rotates the support member 11 to one side in the circumferential direction while revolving around the rotation center axis X to one side in the circumferential direction as a result of the rotation of the rotating lever 16 to one side in the circumferential direction. That is, the compression spring 12 is assembled between one of the walls at both ends in the width direction of the slit 11a and the slide portion 16a (see Figs. 1, 2, 4 to 6, etc.). With this assembly, the rotation of the rotating lever 16 to one side in the circumferential direction causes the slide portion 16a to push the compression spring 12 to one side in the circumferential direction, and further, the compression spring 12 pushes the wall on one side of the slit 11a to one side, causing the support member 11 to rotate to one side in the circumferential direction.

[0043] Next, the restraining portion 13 restrains the support member 11 when the rotating lever 16 rotates in one circumferential direction and reaches a specific rotation angle. The restraining portion 13 is, for example, a vertical portion 17v of the base 17, and when the support member 11 abuts against the vertical portion 17v, the rotation of the support member 11 in one circumferential direction is restricted and the support member 11 is restrained (see Figs. 5, 6, etc.).

[0044] Moreover, the next workpiece supporting portion 11b is fixed to one of the supporting members 11. That is, the workpiece supporting portion 11b is a portion that supports the workpiece 2 from the outside of the lower die 3 when the supporting member 11 is restrained by the restraining portion 13 (see Figs. 5, 6, etc.), and more specifically, it supports the workpiece 2 from the outside by abutting from the outside against the periphery of the outer panel 2o that is bent at a substantially right angle.

[0045] The support member 11 is provided with a slide groove 11c in which the work support portion 11b can move linearly while fitting (see Figs. 1, 2, 4 to 6, etc.), and a screw hole is provided at the bottom of the slide groove 11c. The work support portion 11b also has a long hole passing through it that is parallel to the slide groove 11c when fitted into the slide groove 11c. Therefore, the support member 11 and the work support portion 11b can be fixed to each other by fastening them together using, for example, a headed screw with the long hole of the work support portion 11b communicating with the screw hole of the slide groove 11b.

[0046] Furthermore, the work support part 11b can be moved relatively while being fitted into the slide groove 11b within a range in which the long hole of the work support part 11b and the screw hole of the slide groove 11b can communicate with each other, thereby fixing the support member 11 and the work support part 11b. Therefore, the amount of protrusion of the work support part 11b from the support member 11 can be adjusted, so that the work 2 can be reliably supported by the work support part 11b according to the relative position of the work 2 with respect to the lower die 3.

[0047] Here, the rotation angle of the rotating lever 16 is further defined as follows. That is, the angle at which the contact end 4a of the clamp arm 4 is farthest from the workpiece 2 around the rotation center axis X is defined as a rotation angle of 0° (see FIG. 4, etc.). Furthermore, the angle at which the support member 11 is restrained by the restraining portion 13 is defined as a restraint angle θc (>0) (see FIG. 5, FIG. 6, etc.).

[0048] Furthermore, the restraining portion 13 continues to restrain the support member 11 while allowing the rotating lever 16 to rotate to one side beyond the restraint angle θc while compressing the compression spring 12 (see FIGS. 5, 6, etc.). That is, while the rotating lever 16 is rotating to one side toward the constraint angle θc, the compression spring 12 pushes the wall on one side of the slit 11a to one side as described above, thereby rotating the support member 11 to one side in the circumferential direction without changing its own length. Note that while the rotating lever 16 is rotating to one side toward the constraint angle θc, the clamp arm 4, the rotating lever 16, the connecting member 10, and the support member 11 rotate without changing their relative positions to one another.

[0049] When the rotating lever 16 eventually reaches the constraint angle θc, the support member 11 is constrained by the constraint portion 13 (vertical portion 17v) and cannot rotate to one side. In this state, when the rotating lever 16 is further rotated to one side, the slide portion 16a moves to one side within the slit 11a while pushing the other end of the compression spring 12 and compressing the compression spring 12. In other words, even after reaching the constraint angle θc, the rotating lever 16 continues to rotate to one side and compresses the compression spring 12, regardless of the constraint by the support member 11.

[0050] When the rotating lever 16 rotates to one side while the support member 11 is restrained, the connecting member 10 rotates to the other side around the shaft rod Dr of the bearing structure D, and the clamp arm 4 rotates to one side around the shaft rod Cr of the bearing structure C. At this time, in the connecting structure A, the shaft rod Ar moves to the other side within the long hole provided in the clamp arm 4, and in the connecting structure B, the shaft rod Br moves to one side within the long hole provided in the rotating lever 16.

[0051] As described above, according to the clamp device 1, the clamp arm 4 makes a large revolution around the rotation center axis X and moves around to the upper side of the workpiece 2 until the rotating lever 16 rotates from the rotation angle 0° position to the constraint angle θc position (see Figs. 4, 5, etc.). Furthermore, as the rotating lever 16 rotates to one side beyond the constraint angle θc, the clamp arm 4 rotates to one side around the shaft rod Cr and presses the contact end 4a against the workpiece 2 from above (see Figs. 5, 6, etc.).

[0052] [Effects of the embodiment] When the workpiece 2 is placed on the lower die 3 and hemmed, the clamp device 1 of the embodiment fixes the workpiece 2 to the lower die 3 by pressing the clamp arm 4 against the workpiece 2 from above. The clamp device 1 also includes a drive unit 9, a connecting member 10, a support member 11 and a compression spring 12.

[0053] First, the driving unit 9 is electrically operated and has the following rotating lever 16. That is, the rotating lever 16 is rotated by the output of an electric motor and transmits a rotational force to the clamp arm 4. Then, the driving unit 9 rotates the rotating lever 16 to one side around the rotation center axis X, thereby fixing the workpiece 2 to the lower die 3 by the clamp arm 4.

[0054] Next, the connecting member 10 connects the rotating lever 16 and the clamp arm 4, and the support member 11 rotatably supports the connecting member 10 and the clamp arm 4. The compression spring 12 is assembled between the rotating lever 16 and the support member 11, and when the rotating lever 16 rotates to one side, the compression spring 12 revolves to one side, causing the support member 11 to revolve to one side.

[0055] As a result, by adopting an embodiment in which the output of an electric motor is utilized as the drive unit 9 in the clamping device 1, problems resulting from using an air cylinder as the drive source, such as damage to the workpiece 2 due to faster clamping operation, can be eliminated.

[0056] Furthermore, by assembling a compression spring 12 between the rotating lever 16 and the support member 11, the operation of the clamp arm 4 can be changed. In other words, when the rotating lever 16 is rotated without restraining the support member 11, the rotating lever 16 rotates the support member 11 around the rotation center axis X in synchronization with its own rotation without significantly compressing the compression spring 12. As a result, the clamp arm 4 revolves around the rotation center axis X to one side without changing its position relative to the support member 11.

[0057] In contrast, when the support member 11 is restrained and the rotating lever 16 is rotated, the rotating lever 16 rotates the connecting member 10 to the other side around the shaft rod Dr relative to the support member 12 while compressing the compression spring 12. Accordingly, the connecting member 10 rotates the clamp arm 4 to one side around the shaft rod Cr relative to the support member 12. As a result, the clamp arm 4 rotates to one side around the shaft rod Cr relative to the support member 11.

[0058] As a result, the operation of the clamp arm 4 can be made different between when the support member 11 is not restrained and when it is restrained. That is, when the rotating lever 16 is rotated to one side with the support member 11 not restrained, the clamp arm 4 revolves to one side around the rotation center axis X. Also, when the rotating lever 16 is rotated to one side with the support member 11 restrained, the clamp arm 4 rotates to one side around the shaft rod Cr.

[0059] Therefore, regarding the operation of the clamp arm 4, the operation of the clamp arm 4 revolving around the rotation center axis X is assigned to the throwing operation, and the operation of the clamp arm 4 rotating around the shaft rod Cr is assigned to the clamping operation, thereby making it possible to separate the throwing operation and the clamping operation. Also, regarding the rotation angle of the rotating lever 16, by making the range corresponding to the throwing operation large, the clamp arm 4 can be easily moved out of the interference area with the robot 6. As a result, the workpiece 2 can be machined more efficiently, and the quality of the machined product can be improved.

[0060] Furthermore, in the thrusting operation, the moment of the rotating lever 16 is transmitted to the clamp arm 4 via the compression spring 12 and the support member 11 without being converted into a linear force. Also, in the clamping operation, the moment of the rotating lever 16 is transmitted to the clamp arm 4 via the connecting member 10 without being converted into a linear force to a great extent. Therefore, according to the clamp device 1, the torque of the electric motor in the drive device 15 can be transmitted to the clamp arm 4 without being converted into a linear force to a great extent.

[0061] Further, according to the clamp device 1 of the embodiment, a bearing structure E for supporting the relative rotation between the rotary lever 16 and the support member 11 is provided between the rotary lever 16 and the support member 11. Until the support member 11 is restrained by the restraining portion 13, that is, during the period corresponding to the insertion operation of the clamp arm 4, the support member 11 is pushed by the compression spring 12 and displaced, so the operation may become unstable. Therefore, by providing the bearing structure E as described above between the rotary lever 16 and the support member 11, the operation of the support member 11 during the insertion operation of the clamp arm 4 can be stabilized.

[0062] Further, according to the clamp device 1 of the embodiment, the ratio of the length La to the diameter Da in the connection structure A, that is, La / Da, is set to satisfy the relational expression (1): 1.0 < La / Da < 2.0, preferably, it is set to satisfy the relational expression (2): 1.0 < La / Da < 1.5, and more preferably, it is set to satisfy the relational expression (3): 1.0 < La / Da < 1.1. Thereby, in the connection structure A, wear associated with the engagement of the shaft core bar Ar with the long hole A2 can be suppressed.

[0063] Further, according to the clamp device 1 of the embodiment, the ratio of the length Lb to the diameter Db in the connection structure B, that is, Lb / Db, is set to satisfy the relational expression (4): 1.0 < Lb / Db < 2.0, preferably, it is set to satisfy the relational expression (5): 1.0 < Lb / Db < 1.5, and more preferably, it is set to satisfy the relational expression (6): 1.0 < Lb / Db < 1.1. Thereby, in the connection structure B, wear associated with the engagement of the shaft core bar Br with the long hole B2 can be suppressed.

[0064] Moreover, the hemming device 5 of the embodiment includes the following restraining unit 13. That is, the restraining unit 13 restrains the support member 11 when the rotating lever 16 rotates to one side and reaches a specific rotation angle (restriction angle θc), and further continues to restrain the support member 11 while allowing the rotating lever 16 to rotate to one side beyond the restriction angle θc while compressing the compression spring 12.

[0065] The restraint portion 13 is a vertical portion 17v of a base 17 attached to the lower mold 3 and on which the drive portion 9 is mounted. This makes it possible to reliably restrain the support member 11, and eliminates the need to provide a special portion as the restraining portion 13. Therefore, the cost of incorporating the clamp device 1 into the hemming device 5 can be reduced.

[0066] Moreover, the clamp device 1 of the embodiment includes a workpiece supporting portion 11b that abuts against the workpiece 2 and supports the workpiece 2 when the support member 11 is restrained by the restraining portion 13. This makes it possible to stabilize the position of the workpiece 2 while the support member 11 is restrained, and further during the clamping operation.

[0067] [Modifications] The embodiment discloses a specific example, and it goes without saying that the present invention is not limited to the embodiment. For example, according to the hemming device 1 of the embodiment, the restraining portion 13 is the vertical portion 17v of the base 17 on which the driving portion 9 is mounted, but the side wall of the lower mold 3 may be used as the restraining portion 13. [Explanation of symbols]

[0068] REFERENCE SIGNS LIST 1 Clamping device 2 Workpiece 3 Lower die 4 Clamp arm 9 Drive unit 10 Connecting member 11 Support member 12 Compression spring 15 Drive unit (electric motor) 16 Rotation lever θc Constraint angle (specific rotation angle) X Rotation central axis

Claims

1. 1. A clamping device for fixing a workpiece to a lower die by pressing a clamp arm against the workpiece from above when the workpiece is placed on the lower die and hemmed, comprising: an electric drive unit having a rotary lever that is rotationally driven by the output of an electric motor to transmit a rotational force to the clamp arm, and by rotating the rotary lever to one side around a rotation central axis, the clamp arm fixes the workpiece to the lower die; a connecting member that connects the rotating lever and the clamp arm; a support member that rotatably supports the connecting member and the clamp arm; a compression spring that is assembled between the rotary lever and the support member, and that revolves to the one side when the rotary lever rotates to the one side, while revolving to the one side, to cause the support member to revolve to the one side; When the rotating lever is driven to rotate toward one side while the support member is restrained and its revolution toward the one side is restricted, the rotating lever compresses the compression spring, rotates the connecting member relative to the support member, and further rotates the clamp arm relative to the support member in conjunction with the rotation of the connecting member.

2. 2. The clamping device according to claim 1, A clamp device, comprising: a bearing structure provided between the rotating lever and the support member for supporting relative rotation between the rotating lever and the support member.

3. 2. The clamping device according to claim 1, The connecting member forms a connecting structure between the connecting member and the clamp arm, This connection structure is: a circular hole provided in one of the connecting member and the clamp arm; a long hole having a width equal to the diameter of the circular hole and a length perpendicular to the width that is longer than the diameter of the circular hole; and a core rod having the same diameter as the circular hole and fitted into both the circular hole and the long hole, 1.0<length of the oblong hole / diameter of the round hole<2.0 A clamping device characterized in that the following relational expression is satisfied.

4. 2. The clamping device according to claim 1, The connecting member forms a connecting structure with the rotating lever, This connection structure is: a circular hole provided in one of the connecting member and the rotating lever; a long hole having a width equal to the diameter of the circular hole and a length perpendicular to the width that is longer than the diameter of the circular hole; and a core rod having the same diameter as the circular hole and fitted into both the circular hole and the long hole, 1.0<length of the oblong hole / diameter of the round hole<2.0 A clamping device characterized in that the following relational expression is satisfied.

5. A clamping device according to claim 1 ; a restraining section that restrains the support member when the rotating lever rotates to the one side and reaches a specific rotation angle, and further continues to restrain the support member while allowing the rotating lever to rotate to the one side beyond the specific rotation angle while compressing the compression spring.

6. 6. The hemming device according to claim 5, A hemming device characterized in that the restraint portion is provided on a base attached to the lower mold and on which the drive portion is mounted.

7. 6. The hemming device according to claim 5, The clamping device comprises: A hemming device comprising a work support portion that abuts against the work and supports the work when the support member is restrained by the restraining portion.

Images