Spring devices – Resilient shock or vibration absorber – Tool movement dampening
Patent
1988-11-21
1990-08-07
Reger, Duane A.
Spring devices
Resilient shock or vibration absorber
Tool movement dampening
267141, 267153, F16F 152
Patent
active
049461460
DESCRIPTION:
BRIEF SUMMARY
The invention relates to a holding device with a receiving part held on a holder by means of a linear and/or rotary guide means, in particular, for tools for industrial robots, wherein the motion of the receiving part relative to the holder can be damped by means of a restoring damping element.
Devices of theis kind are used, in particular, for flexibly mounting tools for industrial robots. With such holding devices, on the one hand, the machining force is absorbed by the tool mounting and, on the other hand; uncoupled from the industrial robot itself. The clamping of workspieces to be machined often diverges from an ideal clamping, as does the path of motion of the tools guided by handling apparatus.
In the cases where the workpiece clamping and/or tool guidance diverges from the ideal case, too, linear and/or rotary guide means permit machining of superior quality without the deviations from the ideal case having to be taken into consideration in the programming of the handling apparatus or industrial robots.
It is thereby possible to improve the machining quality and to greatly reduce the programming expenditure for the manufacturing sequence.
In this case, it is advantageous that the direction of deflection of the tool may be structurally fixed by the mounting of the receiving part, whereby the machining forces which do not have a component in the direction of deflection of the receiving part cannot cause undesired motion of the tool. This does, however, often require the direction of flexibility to be such that deflection from a middle position in two directions forming an angle of 280 degrees is possible. It is known to utilize compressed air cylinders or springs for this purpose and to make use of their restoring action in the direction of tension. These known constructions have the disadvantage that their damping behavior is very unsatisfactory, particularly in the case of small restoring forces as required, for example, for removing the burrs from non-ferrous metals, since there is hardly any damping action in this case (particularly with mechanical springs) or the friction does not ensure reliable setting of the middle poition of the receiving part relative to the holder.
Reliable maintenance of a middle position in the known assemblies is also not possible. Use of rubber spring elements instead of mechanical springs or compressed air cylinders offers no solution because tensile stresses result in only short service lives of the rubber spring elements.
The object of the invention is to provide a holding device of the generic kind which by virtue of a simple arrangement can provide both a damping of the motion of the receiving part relative to the holder and a restoring force which enables reliable maintenance of the middle position.
This object is achieved, in accordance with the invention, in the holding device described at the beginning in that the damping element can be subjected to tensile and shear stresses, in that the damping element is arranged so as to be structurally separate from the guide means for the linear and/or rotary motion and in that during motion of the receiving part relative to the holder deflection forces acting upon the damping element are exertable essentially perpendicular to its direction of tension.
The separation of guide means and damping means results firstly in the advantage that the damping element is easily exchangeable independently of the mounting of the receiving part, which, secondly, results in the possibility of adapting the damping effect and also the spring action of the damping element to the different conditions under which the device is to be used. In addition, the easy exchangeability of the damping element increases the serviceability of the inventive device, i.e.; worn damping elements may be quickly exchanged and so the device only has to be taken out of the production sequence for a short time.
The component of the tensile force in the deflection forces acting on the damping element should, in general, not exceed 50%.
The tensile force component
REFERENCES:
patent: 144058 (1873-10-01), Butterfield
patent: 2402400 (1946-06-01), Hewitt et al.
patent: 2583948 (1952-01-01), Keetch
patent: 2987291 (1961-06-01), Dyson
patent: 3861517 (1975-01-01), Theijsmeijer
patent: 4327496 (1982-05-01), Rebman
C & E Fein GmbH & Co.
Reger Duane A.
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