WORKPIECE CLAMPING SYSTEM AND METHOD

Abstract

The invention relates specifically to a workpiece clamping system that enables the detection of the presence of the workpiece positioned between clamps / clamping arms used to hold the workpiece in place, such as in robotic production systems, as well as the measurement of its physical dimensions and the detection of positioning errors; and a workpiece clamping method suitable for use with this system.

Description

1 TARIFF WORKPIECE FIXED PUSHING SYSTEM AND METHOD Technical Area 5 The invention provides for the detection of the workpiece in systems that enable processing of the workpiece. a workpiece that enables measurement of its physical dimensions and detection of positioning errors It relates to the fastening system and method. The invention specifically enables the application of various processes on the workpiece, such as in a robotic production system. In systems that provide clamping, clamps / compression devices ensure that the workpiece is held in place by being clamped. the perception of the presence of the workpiece positioned between the arms, its physical size a workpiece clamping system that enables measurement and detection of positioning errors and this relates to a workpiece clamping method suitable for use with this system. 15 State of the Art Robots that enable various operations such as welding to be performed on the workpiece. In production systems similar to this, the workpiece is held in place by being clamped during processing. 20 Fixture equipment and / or clamping mechanisms are used to provide this. Clamps are placed between them. By applying a compressive force on the placed workpiece, compression and movement of the workpiece in space. It ensures that its position is fixed. Before or during the compression process. To determine whether there is a workpiece between the clamps, a device integrated into the clamp is used. A sensor is used. After the clamps grip the workpiece, the robots / robot arms 25 Welding-like processes are applied to the workpiece by the clamp mechanism. Steel pressure arms wear out over time, and in this case, the clamp plate on the inner part... It is unable to apply sufficient and / or equal pressure force. Therefore, in the welding process, two Due to the partial gap remaining between the sheets, slag is produced during processes such as spot welding or gas welding. This occurs. Additionally, insufficient and / or uneven pressure applied to the workpiece can also cause problems. 30 This leads to measurement problems and erroneous calculations. Specifically, slag-like residues formed during the welding process can adhere to the sensor. Errors in detecting the presence of the workpiece in case of adhesion, high heat used The sensor stops working during the process, and a non-existent workpiece is detected as if it were present. 35 This can lead to negative situations such as erroneous or incomplete processing. To reduce the effects of wear on the pressure arms of the clamps, between the clamps... 2 Extra feed plates are added. However, even in this case, the processes become inefficient and errors occur. Detection is difficult, and losses occur in terms of both time and cost, especially in gaseous areas. In vibrating environments where welding is performed and in the compression of thick sheet metal, the clamp is completely... This needs to be changed. This leads to increased processing time, labor costs, and overall expenses. is. 5 In a patent document numbered US20040227508A1, which falls under the known state of the art, an electrical The clamp / pliers includes a sensor wheel located under the clamp arm, and the clamp arm... A sensor that enables the measurement of the position of the clamp arm is described. The sensor ring is located on the clamp arm. It is positioned to sit around the axis and multiple sensors are mounted on the sensor housing. It can be positioned accordingly. This allows for the detection of the workpiece through proximity measurement. The aim is to obtain a compact sensor structure that provides this functionality. This document... within it, in addition to the perception of the presence of the workpiece, the physical dimensions of the workpiece. a solution for measuring and detecting positioning errors It is not mentioned. 15 In conclusion, in systems that enable various operations to be applied to the workpiece, the work between clamps / clamping levers that allow the part to be held in place by being compressed. detecting the presence of the positioned workpiece, measuring its physical dimensions, and a workpiece clamping system that enables the detection of positioning errors and 20 The method needs to be improved. The purpose of the invention The present invention meets the aforementioned requirements and eliminates potential disadvantages. 25 It relates to a workpiece clamping system and method that removes debris and provides some additional advantages. The main purpose of the workpiece clamping system described in this invention is to connect the clamps / clamping arms. a system that enables the detection of the workpiece's presence and the identification of positioning lines The goal is to obtain a workpiece clamping system and method. 30 Another purpose of the invention is to create a workpiece that allows for the measurement of the physical dimensions of the workpiece. The goal is to obtain a fixing system and method. Another purpose of the invention is to determine and track the position of the clamping arms. 35 The goal is to obtain a workpiece clamping system and method that provides this. 3 Another purpose of the invention is to prevent measurement or processing errors from occurring during and / or after the process. An effective workpiece clamping system and method that prevents incomplete processing. It is the process of obtaining it. Another aim of the invention is to reduce processing time, material, energy and cost losses. 5 The goal is to obtain an efficient workpiece clamping system and method. Another purpose of the invention is to apply a continuous compressive force to the workpiece. a job that prevents measurement errors in the part and improves process quality The part is to obtain the fastening system and method. 10 Another aim of the invention is to reduce the number of sensors used in the system, the number of sensors workpieces that are inaccessible for processing due to their excess and / or location A functional workpiece clamping system and method is obtained that prevents area retention. It is done. 15 Another purpose of the invention is to prevent wear / damage to the arms that apply pressure to the workpiece. by reducing these quantities, the service life of the system is increased and measurement or processing errors are eliminated. The goal is to obtain a secure workpiece clamping system and method that reduces the risk of breakage. In the most general terms, the above objectives can be achieved using a workpiece that includes at least one pressure lever. the perception of its presence, the measurement of its physical dimensions, continuous pressure on the workpiece. workpiece that allows the application of force and adjustment of the applied pressure force. The locking system must include at least one primary drive element that enables the movement of the pressure lever; At least one primary actuator that enables the movement of the primary actuator to be transmitted to the thrust lever. 25 its element; at least one second motion element that enables the linear movement of the pressure lever; the pressure lever applies a pressing force to the workpiece, compressing it and keeping it compressed. at least one second drive element that enables it to be held; its movement to be transmitted to the second drive element. at least one link that enables its transfer and its constraint on a linear axis its element; the detection of the presence of the workpiece, the movement position of the second drive element 30 and / or at least one sensing element that enables the determination of the physical dimensions of the workpiece; measuring the applied pressure force value and the pressure force reaching a first value in this case, at least one measuring element that enables information to be given to the second drive element. It includes. 35 Workpiece suitable for use with the workpiece clamping system developed with the present invention. The clamping method involves moving the pressure lever in the second direction and allowing the workpiece to be held securely in place. 4 positioning it appropriately; moving the pressure lever in the first direction and pressing Bringing the workpiece close to the workpiece in a way that does not apply force; the physical dimensions of the workpiece identification; movement of the second actuator in the third direction and pressure lever Applying a compressive force to the workpiece by moving along a linear axis; workpiece whether the part is in the correct position and / or the movement position of the second drive element is 5 determination; measurement of the applied pressure force value and the comparison of the pressure force to a first value If this occurs, the second actuator should be informed; the pressure force value should be the first one. While the value is the same as the physical dimension value of the workpiece and the movement position information of the second drive element. If there is a mismatch, it is determined that the workpiece is either missing or in an incorrect position. Stopping the system's operation; terminating the process, the pressure lever moves 10 in the second direction. This includes the steps of moving the workpiece and easily removing it from the system. The structural and characteristic features and all the advantages of the invention are given in the figures below. Thanks to the detailed explanation written with references to the figures, it becomes clearer. This will be understood, and therefore the evaluation should also take these figures and detailed explanations into account. 15 It must be done by taking it. Ways to Help Understand the Discovery To best understand the structure and advantages of the present invention, the following 20 points are relevant: It should be evaluated together with the figures that have been explained. Figure 1: A perspective view of the workpiece clamping system that is the subject of the invention. Figure 2: Cross-sectional view of the workpiece clamping system described in this invention. Figure 3: Another cross-sectional view of the workpiece clamping system that is the subject of the invention. 25 Figure 4: Another cross-sectional view of the workpiece clamping system that is the subject of this invention. Part References 1. Pressing arm 30 2. Primary drive element 3. First element of motion 4. Second moving element 4a. Clarity 5. Second drive element 35 6. Fastener 7. Sensing element 8. Measuring element 9. Control unit P. Workpiece Detailed Description of Find 5 This detailed description explains the preferred workpiece clamping system and method of the invention. These structures are designed solely for the purpose of better understanding the subject and without any limiting influence. It is explained in a way that will not create a problem. The workpiece to be processed, developed with the present invention, is shown in an example view in Figure 1. minimum of the force applied to part (P) that compresses and holds it in place. a pressure lever (1) containing the detection of the presence of the workpiece (P), its physical dimensions measuring, continuously applying a pressure force on the workpiece (P) and the applied pressure The workpiece clamping system, which allows adjustment of the force, is connected to the pressure lever (1), 15 With a movement in the first direction, the pressure lever (1) will approach the workpiece (P) and with a movement in the second direction by moving the pressure lever (1) away from the workpiece (P) providing at least one primary drive element (2), preferably of piston type; push rod (1) and connected to the first drive element (2) to the first drive element (2) pressure lever (1) 20 at least one primary motion element, preferably in an arm structure with at least one movable joint. (3); preferably so that the first moving element (3) can move freely through it. connected to the first drive element (2), which includes at least one opening (4a) allowing passage With its movement in the third direction, the pressure lever (1) moves along the axis perpendicular to the workpiece (P) surface. and moving it closer to the workpiece, applying pressure with a movement in a fourth direction 25 The arm (1) will be on the axis that extends perpendicular to the workpiece (P) surface and away from the workpiece. at least one second, preferably in the form of a flat plate, that enables it to be moved in this way the motion element (4); the second motion element which is connected to the second motion element (4), obtaining the mechanical force required for moving the workpiece (P) by pressing the lever (1) 30 at least one second drive, preferably in a piston configuration with a linear / straight rod and / or screw shaft. the second drive element (5); connected with the second drive element (5) and the second drive element (4), the second drive transferring the movement of element (5) to the second moving element (4) and the movement of the linear axis preferably the second moving element (4) that allows it to be limited during movement At least one connection suitable for positioning parallel to the ground 35 element (6); connected with the second drive element (5), detecting the presence of the workpiece (P), the movement position of the second drive element (5) and / or the physical dimensions of the workpiece (P) 6 at least one sensing element, preferably a sensor, which enables the determination of the second drive (7); The applied pressure force value is connected to element (5) and the second moving element (4). measuring and the pressure force applied by the pressure arms (1) reaching a first value in case of a load cell which provides information to the second drive element (5), preferably load cell It includes at least one measuring element (8). 5 In a sample application of the workpiece clamping system developed with the present invention, the machining process is shown on the workpiece. Before the workpiece (P) to be applied is placed in the system, the first drive element (2) and The movement of the pressure lever (1) in the second direction by means of the first actuator (3) and the work The part is positioned so that it fits comfortably. Then 10 again by means of the first drive element (2) and the first actuator (3), the first push lever (1), moving in the direction and bringing it closer to the workpiece (P) without applying any pressure force. Thus, the movement of the second drive element (5) is provided by means of the sensing element (7). Depending on its position, the physical dimensions (P) of the workpiece can be determined. This process Afterwards, the second drive element (5) and the connecting element (6) connect the second drive element to 15 (4) is enabled to move in the third direction. Thus, with the second moving element (4) The first drive element (2) and the pressure lever (1) are connected along the linear axis. By moving, a compressive force is applied to the workpiece (P). The compressive force, It is applied on the axis perpendicular to the workpiece (P) surface and by means of the sensing element (7) whether the workpiece (P) is in the correct position and / or the movement of the second drive element (5) 20 Its position is determined. During this time, the pressure force applied is also measured by means of the measuring element (8). the measurement of the value and the pressure force applied by the pressure arms (1) to a first value If it reaches the second drive element (5), it is ensured that the second drive element is informed. Measurement While the pressure force value taken from element (8) is at the first value, the pressure force value taken from sensing element (7) The physical dimension value of the workpiece (P) and the movement position information of the second drive element (5) 25 If there is a mismatch, it is determined that the workpiece (P) is either missing or its position is incorrect. By doing this, the system's operation is stopped. Thus, erroneous, incomplete, or extra operations are prevented. This is being prevented. In a preferred application of the invention, the workpiece clamping system described is the 30 mentioned. first actuator element (2), the aforementioned second actuator element (5), the aforementioned sensing element (7) and related to the mentioned measuring element (8), checking the operation of the system, measurement While the pressure force value obtained from the element (8) is the first value mentioned, the mentioned sensing The physical dimension value of the workpiece (P) taken from the element (7) and the second drive element mentioned above (5) If the movement position information does not match, the workpiece (P) does not exist or 35 The system is stopped after it is determined that the location is incorrect. 7 and / or provide an audio and / or visual alert, and if a match is found, the system will continue to operate. It includes at least one control unit (9) which enables it to do so, preferably a computer. Workpiece suitable for use with the workpiece clamping system developed with the present invention. The fixing method is to place the workpiece (P) into the system before the first drive element (2) 5 and by means of the first actuator (3), the pressure lever (1) is moved in the second direction and work positioning the part so that it fits comfortably; first drive element (2) and By means of the first actuator (3), the pressure lever (1) is moved in the first direction and pressure Bringing the workpiece (P) close to the sensing element (7) without applying force; via the sensing element (7) Depending on the movement position of the second drive element (5), the physical dimensions of the workpiece (P) are 10 detection; second movement via second drive element (5) and connecting element (6) the element (4) is moved in the third direction and the pressure lever (1) is moved along the linear axis by moving, it applies pressure on the workpiece (P) along an axis perpendicular to the workpiece (P) surface. The application of force; the sensing element (7) determines whether the workpiece (P) is in the appropriate position. is not present and / or the position of the second drive element (5) is determined; measuring element (8) 15 by measuring the applied pressure force value and the pressure applied by the pressure arms (1) If the pressure force reaches a first value, the second drive element (5) must be informed; While the pressure force value taken from the measuring element (8) is at the first value, from the sensing element (7) physical dimension value of the workpiece (P) and the movement position of the second drive element (5) If the information does not match, the workpiece (P) does not exist or the position is incorrect. 20 Detecting and stopping the system's operation; terminating the process, the first trigger Through the element (2) and the first actuator (3), the pressure lever (1) moves in the second direction. This includes the steps of inserting the workpiece and easily removing it from the system. In a preferred application of the invention, the workpiece clamping method described is the 25 mentioned. Through the control unit (9), the pressure force value taken from the measuring element (8) is mentioned in the first While the value is, the physical dimension value of the workpiece (P) taken from the mentioned sensing element (7) If the movement position information of the second drive element (5) mentioned does not match, the work After it is determined that part (P) is missing or its position is incorrect, the system the operation will be stopped and / or an audible and / or visual warning will be given in case of a match. This includes the step of keeping the system running. Thanks to the workpiece clamping system and method developed with the present invention, the workpiece (P) In systems that allow various operations to be applied to the workpiece (P), the workpiece is clamped and fixed. 35 of the workpiece (P) positioned between the clamp or pressure lever (1) that holds it. detection of its presence, measurement of its physical dimensions, and identification of positioning errors. This ensures that measurement errors, incorrect, incomplete or excessive processing are prevented. 8 preventing its implementation, reducing processing time, processing quality, cost, material loss, and labor. an efficient and effective workpiece clamping system and method that enables cost reduction is obtained.

Claims

9 REQUESTS 1. By applying a pressure force onto the workpiece (P) to be processed. the mentioned work which includes at least one pressure lever (1) that enables it to be compressed and held in place detection of the existence of part (P), measurement of its physical dimensions, the aforementioned workpiece 5 Continuous pressure is applied to (P) and the applied pressure force It is a workpiece clamping system that allows for adjustment, and its feature is; - connected with the mentioned pressing lever (1) and with a movement in the first direction. The pressure lever (1) will approach the mentioned workpiece (P) and in a second direction With its movement, the mentioned pressure lever (1) will move away from the mentioned workpiece (P) 10 at least one primary drive element (2) that enables it to be moved in this way; - connected with the mentioned push lever (1) and the mentioned first drive element (2), the first drive element (2) mentioned is connected to the push lever (1) mentioned and the movement of the first drive element (2) mentioned to the mentioned push lever (1) at least one primary motion element that enables its transfer (3); 15 - connected with the first drive element (2) mentioned, with its movement in a third direction. The axis of the mentioned pressure lever (1) that extends perpendicular to the mentioned workpiece (P) surface moving it over and closer to the mentioned workpiece, a with the movement of the mentioned pressure lever (1) in the fourth direction, the mentioned workpiece (P) 20 on an axis extending perpendicular to the surface and away from the mentioned workpiece at least one second motion element that enables it to be moved in this way (4); - the second motion element mentioned (4) is connected with the second motion element mentioned. obtaining the mechanical force required to move the element, the pressure force of the mentioned pressing arm (1) on the mentioned workpiece (P) by applying at least one second 25 drive element (5); - with the aforementioned second drive element (5) and the aforementioned second motion element (4) The movement of the second drive element (5) mentioned in connection with the second drive element ... transfer to the motion element (4) and the motion on the linear axis at least one connecting element that enables its limitation (6); 30 - connected with the second drive element (5) mentioned, the workpiece (P) mentioned the perception of its existence, the movement position of the second drive element (5) mentioned above and / or at least enabling the determination of the physical dimensions (P) of the mentioned workpiece. a sensing element (7); - with the aforementioned second drive element (5) and the aforementioned second motion element (4) This involves measuring the applied pressure force value and the mentioned pressure. The pressure force applied by the arms (1) reaches a first value 5 In this case, at least one that ensures that the second drive element (5) mentioned is informed. measuring element (8) It includes.

2. A workpiece clamping system conforming to Claim 1, the characteristic of which is; the first drive mentioned above 10 (2) is that its element is in the piston structure.

3. A workpiece clamping system conforming to Claim 1, the characteristic of which is; the first movement mentioned. The element (3) must have at least one movable joint in its arm structure.

4. A workpiece clamping system conforming to Claim 1, the characteristic of which is the aforementioned second movement. The element (4) is in the form of a flat plate.

5. A workpiece clamping system conforming to Claim 1, the feature of which is the aforementioned second drive. The element (5) is a piston structure containing a linear / straight and / or screw shaft. 20 6. A workpiece clamping system conforming to Claim 1, characterized by the following: the aforementioned clamping element (6) the second moving element mentioned (4) will be parallel to the ground during the movement It must have the characteristics suitable for its positioning.

7. A workpiece clamping system conforming to Claim 1, whose characteristic is the aforementioned sensing mechanism. its element (7) is a sensor.

8. A workpiece clamping system conforming to Claim 1, the characteristic of which is; the aforementioned measuring element. (8) is that it is a load cell. 30 9. A workpiece clamping system conforming to Claim 1, the characteristic of which is the aforementioned second movement. element (4), the first motion element (3) mentioned inside it can move freely. It must contain at least one opening (4a) that allows passage in a suitable manner. 35 10. A workpiece clamping system conforming to Claim 1, the characteristic of which is; the first drive mentioned above. element (2), the aforementioned second drive element (5), the aforementioned sensing element (7) and 11 related to the mentioned measuring element (8), checking the operation of the system, While the pressure force value taken from the measuring element (8) is the first value mentioned, The physical dimension value of the workpiece (P) taken from the mentioned sensing element (7) and the mentioned If the movement position information of the second drive element (5) does not match, the workpiece (P) After it is determined that it does not exist or the location is incorrect, the system 5 stopping the operation and / or giving an audible and / or visual warning, matching at least one device, preferably a computer, that ensures the system continues to operate in this situation. It includes the control unit (9).

11. For use with the workpiece clamping system specified in any of the above requirements. It is a suitable workpiece clamping method, characterized by: - before the mentioned workpiece (P) is placed into the system, the first mentioned by means of the drive element (2) and the first motion element (3) mentioned above The pressure lever (1) is moved in the second direction mentioned above and the workpiece is easily to be placed in a suitable location in some way; 15 - the first drive element (2) and the first motion element (3) mentioned above by means of moving the mentioned pressure lever (1) in the mentioned first direction and bringing it closer to the mentioned workpiece (P) without applying any pressure force; - via the mentioned sensing element (7) the mentioned second actuating element (5) Determining the physical dimensions (P) of the workpiece depending on its position; 20 - via the second drive element (5) and connecting element (6) mentioned above, the second moving element (4) is moved in the aforementioned third direction and The mentioned work is done by moving the mentioned pressing arm (1) along the linear axis. pressure force on part (P) on an axis perpendicular to the workpiece (P) surface. implementation; 25 - the workpiece (P) is suitable via the aforementioned sensing element (7) whether it is in position and / or the movement of the second drive element (5) mentioned determining its location; - by means of the mentioned measuring element (8), the value of the applied pressure force the measurement and the pressure force applied by the mentioned pressure arms (1) is 30 If it reaches the first value, the second drive element (5) is informed to be given; 12 - when the pressure force value taken from the measuring element (8) is the first value mentioned, with the physical dimension value of the workpiece (P) taken from the mentioned sensing element (7) The mismatch of the motion position information of the second drive element (5) mentioned. In this case, it is determined that the workpiece (P) is either missing or its position is incorrect. the system's operation is stopped; 5 - with the termination of the process, the first drive element (2) and the first drive element mentioned above are terminated. By means of the moving element (3), the aforementioned pressure lever (1) in the aforementioned second direction movement and easy removal of the workpiece from the system It includes the steps.

12. A workpiece clamping method in accordance with claim 11, the characteristic of which is the mentioned control unit (9) By means of, the pressure force value taken from the measuring element (8) is the first mentioned first While the value is, the physical dimension value of the workpiece (P) taken from the mentioned sensing element (7) If the movement position information of the second drive element (5) mentioned above does not match, 15 after it is determined that the workpiece (P) is not present or its position is incorrect system shutdown and / or audible and / or visual warning, matching In this case, it involves the step of keeping the system running.

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