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WO2002034473A1 - Dispositif de fixation a commande par moteur electrique - Google Patents

Dispositif de fixation a commande par moteur electrique Download PDF

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Publication number
WO2002034473A1
WO2002034473A1 PCT/DE2001/003986 DE0103986W WO0234473A1 WO 2002034473 A1 WO2002034473 A1 WO 2002034473A1 DE 0103986 W DE0103986 W DE 0103986W WO 0234473 A1 WO0234473 A1 WO 0234473A1
Authority
WO
WIPO (PCT)
Prior art keywords
clamping device
circuit
electric motor
electronic circuit
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/DE2001/003986
Other languages
German (de)
English (en)
Inventor
Detlev Ulle
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
DESTACO Europe GmbH
Original Assignee
DE STA CO Metallerzeugnisse GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by DE STA CO Metallerzeugnisse GmbH filed Critical DE STA CO Metallerzeugnisse GmbH
Publication of WO2002034473A1 publication Critical patent/WO2002034473A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws
    • B25B5/12—Arrangements for positively actuating jaws using toggle links
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
    • B25B5/00—Clamps
    • B25B5/06—Arrangements for positively actuating jaws

Definitions

  • Clamping device which can be actuated by an electric motor
  • the invention relates to an electromotive actuable clamping device according to the preamble of claim 1.
  • a clamping device or workpiece clamping device with a so-called electric reversing motor is known, i.e. a motor that can turn in two directions.
  • This motor is (in the sense of the preamble of claim 1) connected to a clamping arm for clamping workpieces via a threaded spindle and an actuating mechanism or toggle lever mechanism.
  • the threaded spindle is a so-called trapezoidal threaded spindle, i.e. a spindle in which - similar to a worm gear drive - an unwanted turning back under load of the threads is practically impossible due to the corresponding self-locking.
  • control here and in the rest of the following always means in the technically correct sense the process of "regulating” (ie controlling with information feedback), a terminology that, however, hardly in the language of the experts for workpiece clamping devices or clamping devices is common and accordingly should not be used here.
  • the electronic circuit mentioned increases the current strength when the tension position is reached until a maximum current strength (for example 16 A) is present for the motor.
  • a maximum current strength for example 16 A
  • the power supply is switched off and the clamping or clamping device remains in the clamping position due to the self-locking threaded spindle.
  • a ⁇ so-called end position query or a limit switch is also provided to determine the actual clamping arm position, which is often also found in pneumatic clamping elements.
  • the invention is based on the object of improving an electromotively actuated clamping device of the type mentioned at the outset such that it can also be used without problems in systems with a higher-level control system for pneumatic clamps, that is to say to further develop the clamping device such that it is practically autonomous and just as a pneumatic tensioner can be used, without the problems mentioned above and without the need to convert the higher-level control system.
  • This object is achieved with an electromotively actuated clamping device of the type mentioned by the features mentioned in the characterizing part of claim 1.
  • the information coming from the end position interrogation device regarding the position of the at least one tension arm is fed to a software-controlled circuit part additionally provided on the electrical circuit in order to be able to control the motor current as a function of the actual tension arm position.
  • This circuit part consisting of preprogrammed electronic components (preferably a microcontroller) thus serves to set the actual tension arm position in relation to the supplied motor current. If it turns out, for example, that the tensioning arm has not yet reached the end position despite the maximum current, the conclusion suggests that the tensioning arm is impaired in its movement. On the other hand, it follows from the finding that the end position, but not the maximum motor current, can be reached, that the power supply to the clamping device is probably not working properly.
  • the signals coming from the end position interrogation device are fed to the additional circuit part via a signal input.
  • This circuit part which is otherwise adapted to the characteristics of the electric motor used in each case, like the electronic circuit of the workpiece clamping device, correlates the end position interrogation signal with the applied motor current. If, for example, this correlation shows that the maximum motor current for clamping has been reached and that the clamping arm has actually reached its end position, the higher-level control system is informed via the signal output that the closing signal supplied to the electronic circuit via the control input is now to be ended is.
  • the circuit part according to the invention reports to the higher-level circuit, possibly in spite of a corresponding signal from the end position query, that the clamping position cannot be reached, ie a check of the system by the operating personnel is necessary.
  • the clamping device can thus be connected to a higher-level control system exactly like a pneumatic tensioner, without having to change the information processing sequence there. If the tensioner is to be closed, for example, the higher-level control system sends a corresponding signal to the control input of the electronic circuit. This releases a corresponding motor current to move the tension arm. At the same time, the additional circuit part checks whether the motor current matches the signals coming from the end position interrogation device. If, for example, the motor current rises and the end position interrogation device then reports that the desired end position has been reached, a corresponding signal is passed on to the higher-level control via the signal output, which then interrupts the initial tensioner actuation signal, since the tensioner behaved as expected.
  • the higher-level control does not receive the expected confirmation signal from the additional circuit part according to the invention via the signal output. In this case, the higher-level control switches to a fault and interrupts operation until the fault has been eliminated.
  • both the electric motor and the electronic circuit including the circuit part according to the invention have an independent power supply. point.
  • the operating energy for the electric motor can be switched off without the monitoring functions for the tensioner having to fail at the same time.
  • the electric motor is provided with an electronic motor brake, which can be actuated either via the electronic circuit or the circuit part.
  • an electronic motor brake which can be actuated either via the electronic circuit or the circuit part.
  • the control input ie the input that is connected to the higher-level circuit
  • the clamping device can be particularly easily adapted to existing factory specifications: in some of the higher-level controls, the tensioner is only controlled by a single closing signal, which is only deleted when the tensioner is to open again. In other systems, the tensioner is only sent a brief closing pulse. To open the tensioner, the higher-level control system transmits an opening pulse to the tensioner via a further connection.
  • the electronic circuit has a rectifier, preferably designed as a bridge rectifier, for providing direct current to the electric motor. This makes it possible to connect the device to both a DC and an AC network.
  • the electronic circuit has a voltage regulator, preferably designed as a clocked step-down regulator, for supplying the electric motor with a defined voltage.
  • the clamping device according to the invention also provides that the threaded spindle is designed as a ball screw. Such has only an extremely low self-locking, so that problems regarding wedging of threads are avoided from the outset. So that the device can also remain in the tensioned position without motor operation, as mentioned, a motor brake is provided which reliably prevents rotation of the threaded spindle after reaching the tensioned position.
  • the electronic circuit and the circuit part are arranged in a housing directly on the workpiece clamping device.
  • This specification reduces the number of components to be installed separately on the overall system and allows the clamp to be used as an autonomous device, the connections has like a pneumatic tensioner and can be operated with the same control.
  • FIG 1 shows schematically in section an embodiment of the clamping device according to the invention.
  • FIG. 3 shows the circuit diagram of a voltage regulator in the form of a clocked downward regulator
  • Fig. 4 is a full bridge circuit for determining the direction of rotation of the electric motor
  • the electromotively operated clamping device according to the invention is shown schematically.
  • This comprises an electric motor 1, which is connected via a threaded spindle 2 and an adjoining adjusting mechanism 3 (here toggle lever mechanism) to at least one tensioning arm 4 pivotably mounted on the device, the clamping device for checking the opening angle or position of the tensioning arm 4 has an electronic end position interrogation device 5.
  • the clamping device consists of an electronic circuit 6 which is assigned to the electric motor 1 for motor current control and which can be actuated by a higher-order controller 24 to open and close the clamping device via a control input 7.
  • the clamping device according to the invention differs in particular from pneumatic clamps that can otherwise be connected to the higher-level control 24 in that in the latter the end position interrogation device is connected directly to the higher-level control 24, i.e.
  • a correlation of the information regarding the control command of the tensioner drive and the actual position of the tensioning arm takes place exclusively in the higher-level control, which, however, leads to the problems explained above in the case of tensioners driven by an electric motor.
  • the additional circuit part 8 which, of course and as shown, can be arranged on a common circuit board with the circuit 6, it is possible to directly relate tension arm position information to motor control data. Correspondingly filtered information is then passed on to the higher-order controller 24 via the signal output 10, in such a way that it cannot recognize any difference between the electromotive tensioner and a conventional pneumatic one.
  • both the electric motor 1 and the electronic circuit 6, including the circuit part 8 have an independent power supply 11, 12.
  • the power supply 11 thus serves, as indicated, exclusively to keep the electronic circuit 6 and the circuit part 8 operational even when by "Emergency stop” button the power supply 12 for the electric motor l was interrupted.
  • the electric motor 1 is provided with an electronic motor brake 13 which, as indicated, can be actuated via the circuit part 8 according to the invention.
  • corresponding control elements can also be provided on the electronic circuit 6.
  • the control input 7 of the electronic circuit 6 (in addition to an obligatory ground line) has two connections 14, 15.
  • This requirement makes it possible that the clamping device can be operated in so-called monostable as well as bi-stable operation, i.e. in the case of a higher-level control unit 24, which emits a closing and an opening pulse, both connections 14 and 15 are used, and in the case of a control unit 24 which only gives a closing command, only one of the two connections 14 and 15 is used.
  • the circuit 6 or 8 independently detects which operating mode is actually present on the basis of the input signal.
  • the electronic circuit 6 and the circuit part 8 are arranged in a housing 23 directly thereon.
  • the electronic circuit 6 has a rectifier 16 for providing direct current for the electric motor 1.
  • this rectifier 16 which is also indicated in FIG. 1, reference is made to FIG. 2.
  • a so-called, preferably used bridge rectifier with a total of eight diodes 25 is shown, the parallel connection of two diodes in the present case only being off Performance reasons is provided, ie in principle four individual diodes are sufficient to implement the rectifier function.
  • the supply voltage is connected to the two input poles 26 with any polarity reversal. If this is above the maximum permissible voltage, a fuse 27 ensures that the circuit is not damaged.
  • the rectified output voltage is present at the output pole 28.
  • the capacitors 29 shown provide a smoothing of the output voltage when AC voltage is applied to the input poles by appropriate charging and discharging processes. If a DC voltage is present at the input poles 26, this is always polarized by the rectifier in such a way that the output pole 28 is positively charged.
  • the negative output pole is shown as GND.
  • the electronic circuit 6 has a voltage regulator 17 for supplying the electric motor 1 with a defined voltage.
  • FIG. 3 shows the voltage regulation, which is preferably designed as a clocked down regulator.
  • An essential part of this regulation is the MOS-FET transistor 18, which is clocked by the electronics shown in the left half of the figure, which requires no further explanation in terms of understanding the invention.
  • the input pole 30 is connected to the output pole 28 of the bridge rectifier 16 (provided a rectifier 16 is present at all), ie there is one at the input pole 30 rectified voltage, the maximum value of which is ultimately determined by the fuse 27.
  • a so-called linear regulator could also be used as an alternative (not shown), which, although cheaper, would not be as useful as the use of the step-down regulator overall due to the high heat development of these linear regulators.
  • a DC voltage of preferably 18 volts is present at the output pole 31.
  • a DC motor is operated.
  • the use of 18 volts is particularly preferred because this voltage is generally below all the voltages found in conventional industrial companies, i.e. the voltage regulator is used exclusively to reduce a higher voltage present at its input 30 from, for example, 60 volts to 18 volts.
  • the 18 volts thus result to a certain extent empirically as the smallest common voltage that is always present.
  • FIG. 4 shows the integration of the electric motor 1 into the full-bridge circuit 19 consisting of four MOS-FET transistors 20, 32 being the voltage input pole which is connected directly to the output pole 31 of the voltage regulator 17, i.e. A DC voltage of preferably 18 volts is present at the input pole 32.
  • a DC motor is particularly suitable as an electric motor 1, specifically in order to make the motor control as simple as possible.
  • the use of an AC voltage motor is also not ruled out, since an alternating voltage with a frequency corresponding to the clocking can also be generated by means of a corresponding clocking of the full-bridge circuit 19.
  • a prior rectification of an AC voltage present at the input of the tensioning device by means of rectifier 16 is also not disadvantageous, since this measure means that the tensioning device is also in operation independently of the predetermined AC voltage frequencies, ie the tensioning device according to the invention can be used without problems both in Europe , where frequencies of 16 Hz, 50 Hz and 400 Hz can be found, as well as in the USA (where 60 Hz are common), without having to redesign the electrical components of the tensioning device.
  • the motor (not shown in FIG. 4) is connected with its poles to the output poles 33 of the full-bridge circuit. Depending on which transistor pair 20 is enabled by the electronics surrounding the bridge circuit, the direction of rotation of a DC motor results.
  • the measuring resistor labeled 21 is provided, which is connected to the measuring amplifier 22 shown in FIG. 5 via the measuring amplifier input 34.
  • the measuring amplifier 22 is in turn connected to the electronic circuit 6 or 8.
  • the power supply is switched off (and the electromagnetic brake may be closed).
  • the electronic circuit 6 can then send the signal to the higher-level system controller 24 that the clamping position has now been reached, the end position interrogation device 5 being used according to the invention to check this information. If the latter reports that the tension arm 4 has not yet reached the end position, a cross-comparison with the rise and shutdown of the current concludes that the tension arm 4 was probably interrupted in its movement by an unforeseen obstacle.

Landscapes

  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Direct Current Motors (AREA)
  • Gripping On Spindles (AREA)

Abstract

L'invention concerne un dispositif de fixation commandé par un moteur électrique, comprenant a) un moteur électrique (1) qui est connecté, via une broche filetée (2) et un mécanisme de réglage (3) associé à cette dernière, avec au moins un bras de serrage (4) monté réglable sur le dispositif de fixation, ce dernier présentant un dispositif électronique d'interrogation de fin de course (5) destiné au contrôle de la position d'ouverture dudit bras de serrage (4), et b) un circuit électronique (6) associé au moteur électrique (1), pour la régulation du courant du moteur, ledit circuit pouvant être actionné pour l'ouverture et la fermeture du dispositif de fixation via une entrée (7) d'une régulation pilote. L'invention est caractérisée en ce que le circuit électronique (6) pour le contrôle combiné du courant du moteur et de la position d'ouverture du bras de serrage (4) présente une portion de circuit supplémentaire (8) commandée par logiciel, comportant une entrée de signal (9) connectée au dispositif d'interrogation de fin de course et une sortie de signal (10) connectée à la régulation pilote.
PCT/DE2001/003986 2000-10-24 2001-10-24 Dispositif de fixation a commande par moteur electrique Ceased WO2002034473A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE10052857.0 2000-10-24
DE2000152857 DE10052857A1 (de) 2000-10-24 2000-10-24 Elektromotorisch betätigbare Werkstückspannvorrichtung

Publications (1)

Publication Number Publication Date
WO2002034473A1 true WO2002034473A1 (fr) 2002-05-02

Family

ID=7660999

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/DE2001/003986 Ceased WO2002034473A1 (fr) 2000-10-24 2001-10-24 Dispositif de fixation a commande par moteur electrique

Country Status (2)

Country Link
DE (2) DE10052857A1 (fr)
WO (1) WO2002034473A1 (fr)

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE102017121886A1 (de) 2017-09-21 2019-03-21 Destaco Europe Gmbh Anlage für den Karosseriebau
DE202017007667U1 (de) 2017-09-21 2024-02-07 Destaco Europe Gmbh Anlage für den Karosseriebau

Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3613644A1 (de) * 1986-04-23 1987-10-29 Josef Gerhard Tuenkers Kraftangetriebene kniehebelspannvorrichtung
EP0268176A1 (fr) * 1986-11-11 1988-05-25 DE-STA-CO Metallerzeugnisse GmbH Dispositif électromoteur de serrage de pièces
EP0348802A2 (fr) * 1988-06-29 1990-01-03 Eaton Corporation Régulateur pour serre-joints électriques
EP0930130A2 (fr) * 1998-01-16 1999-07-21 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
EP0938952A2 (fr) * 1998-02-28 1999-09-01 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
FR2776858A1 (fr) * 1998-03-27 1999-10-01 Genus Technologies Dispositif de maintien, de positionnement, ou de serrage, a actionnement electrique
DE10003961A1 (de) * 1999-03-03 2000-09-07 Festo Ag & Co Spannvorrichtung

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE928097C (de) * 1943-10-20 1955-05-23 Friedrich Henze Elektromotorisch spannbarer Schraubstock
DE4211183A1 (de) * 1992-04-03 1993-10-07 Bosch Gmbh Robert Umrichter mit Zwischenkreismonitor
DE19645310A1 (de) * 1996-11-04 1998-05-14 Braun Ag Steuerschaltung

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
DE3613644A1 (de) * 1986-04-23 1987-10-29 Josef Gerhard Tuenkers Kraftangetriebene kniehebelspannvorrichtung
EP0268176A1 (fr) * 1986-11-11 1988-05-25 DE-STA-CO Metallerzeugnisse GmbH Dispositif électromoteur de serrage de pièces
EP0348802A2 (fr) * 1988-06-29 1990-01-03 Eaton Corporation Régulateur pour serre-joints électriques
EP0930130A2 (fr) * 1998-01-16 1999-07-21 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
EP0938952A2 (fr) * 1998-02-28 1999-09-01 DE-STA-CO Metallerzeugnisse GmbH Dispositif de serrage
FR2776858A1 (fr) * 1998-03-27 1999-10-01 Genus Technologies Dispositif de maintien, de positionnement, ou de serrage, a actionnement electrique
DE10003961A1 (de) * 1999-03-03 2000-09-07 Festo Ag & Co Spannvorrichtung

Also Published As

Publication number Publication date
DE10052857A1 (de) 2002-05-02
DE20121630U1 (de) 2003-03-20

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DFPE Request for preliminary examination filed prior to expiration of 19th month from priority date (pct application filed before 20040101)
121 Ep: the epo has been informed by wipo that ep was designated in this application
122 Ep: pct application non-entry in european phase