Abstract:
An adjustable clamp apparatus for use in automated handling equipment includes a ball mount portion that provides rotational adjustment and a clamp portion for securing a support arm in a plurality of different positions. The clamp portion comprises an opening having a rectilinear cross-section.

Description:
RELATED APPLICATIONS 
   This application claims priority to U.S. Provisional Application 60/664,344 filed on Mar. 23, 2005. 

   BACKGROUND OF THE INVENTION 
   The present invention relates generally to automated handling equipment and, more particularly, to an adjustable adapter for handling objects during movement. 
   Automated handling equipment, such as a robotic arm or a transfer press assembly, is often employed in an industrial setting to move objects between stations. For example, a metal component is stamped in a first stamping press and then transferred to a second stamping press for a second stamping operation. To achieve high cycle times, the automated handling equipment must move the object quickly and accurately. Typically, the automated handling equipment includes an adapter or an actuated gripper that supports the object during movement. 
   A conventional adapter assembly includes a shovel or gripper that engages and supports the object during movement. Typically, the shovel or gripper is mounted on a robotic arm that moves the object between the stations. In prior adapter assemblies, the robotic arm includes a swivel clamp that allows rotational adjustment of the robotic arm. However, the length of the robotic arm is fixed such that the shovel or gripper is limited to different rotational positions. For example, the robotic arm cannot be extended or retracted to a desired position for supporting the object. 
   Hence, there is a need in the art for an adapter assembly that is rotationally adjustable and is capable of telescoping toward and away from an object. 
   SUMMARY OF THE INVENTION 
   One example adjustable clamp apparatus for use in automated handling equipment includes a ball mount portion that provides rotational adjustment and a clamp portion for securing a support arm in a plurality of different positions. The clamp portion comprises an opening having a rectilinear cross-section. 
   One example adjustable clamp assembly for use in automated handling equipment includes a work piece handling tool and one or more support arms for moving the work piece handling tool. One or more clamps adjustably support the support arms. The clamps include a ball mount portion for rotational adjustment of the support arm and an adjustable clamp portion for extending or retracting the support arm. The clamp portion includes an opening having a rectilinear cross-section for receiving the support arm. 
   One example method of adjusting an adjustable clamp assembly for use in automated handling equipment includes sliding a first support arm within a rectilinear cross-section opening of a first clamp portion to extend or retract a work piece handling tool. 
   The various features and advantages of this invention will become apparent to those skilled in the art from the following detailed description of a currently preferred embodiment. Drawings that accompany the detailed description can be briefly described as follows. 

   
     BRIEF DESCRIPTION OF THE DRAWINGS 
       FIG. 1  illustrates a perspective view of an adapter assembly of the present invention; 
       FIG. 2  illustrates a perspective view of an adapter mount of the adapter assembly; 
       FIG. 3  illustrates a perspective view of a sliding clamp of the adapter assembly; 
       FIGS. 4 and 5  illustrate perspective views of an adjustable clamp of the adapter assembly; 
       FIG. 6  illustrates a perspective view of a socket clamp of the adapter assembly; and 
       FIGS. 7 and 8  illustrate perspective views of a mount portion of the adapter assembly. 
   

   DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT 
     FIG. 1  illustrates an adapter assembly  10  for securely supporting an object  12  (shown schematically), such as a multi-dimensional metal work piece, during movement of the object  12 . The adapter assembly  10  can be, for example, a robotic adapter or a transfer press assembly for moving the object  12  between various industrial presses or other machines. 
   In the illustrated example, the adapter assembly  10  includes an adapter mount  16  that is attached to an adapter  14  and a support arm  18  attached to the adapter mount  16 . In this example, the support arm  18  has a substantially square cross-section. Although only one adapter  14  and adapter mount  16  are illustrated, it is to be understood that any number of adapters  14  and adapter mounts  16  can be employed. 
   The adapter assembly  10  also includes a series of ball jointed links  20 . A sliding clamp  30  attaches the series of ball jointed links  20  to the support arm  18 . The ball jointed links  20  are positioned and secured in a desired position for the specific application. In this example, a shovel  22  is attached to an end of the series of ball jointed links  20  by an adapter clamp  27  having a mount portion  28 . Alternatively, other work piece handling tools, such as a fluid-actuated gripper  23  (shown in phantom), are attached to the end of the series of ball jointed links  20  instead of the shovel  22 . Two sets of series of ball jointed links  20  are shown in  FIG. 1 , although any number can be employed. 
     FIG. 2  illustrates a perspective view of the adapter mount  16 . The adapter mount  16  includes a substantially square shape opening  32  that matches the shape of the support arm  18 . In this example, the substantially square opening  32  includes rounded corners  47  and linear sides  49 . The corresponding rectilinear shape of the opening  32  and the support arm  18  prevent the support arm  18  from rotating about its own longitudinal axis. The term “rectilinear” as used in this description refers to a shape having at least one substantially straight side. 
   The adapter mount  16  includes a first half  34   a  and a second half  34   b  that each include an opening  36 . A fastener  38  (shown in  FIG. 1 ) is received in the openings  36  to secure the first half  34   a  and the second half  34   b  together and retain the support arm  18  in a stationary position relative to the adapter mount  16 . If the fastener  38  is loosened, the support arm  18  can move relative to the adapter mount  16 . If the fastener  38  is tightened, the first half  34   a  and the second half  34   b  of the adapter mount  16  tighten around the support arm  18 , and the support arm  18  cannot move relative to the adapter mount  16 . 
     FIG. 3  illustrates a perspective view of the sliding clamp  30  that attaches the series of ball jointed links  20  to the support arm  18 . The sliding clamp  30  includes a substantially square opening  46  that matches the shape of the support arm  18 . In this example, the opening  46  includes rounded corners  47  and linear sides  49 . The corresponding rectilinear shape of the opening  46  and the support arm  18  prevent the support arm  18  from rotating about its own longitudinal axis. 
   In this example, the sliding clamp  30  includes a first half  40   a  and a second half  40   b  that each include an opening  42 . A fastener  48  (shown in  FIG. 1 ) is received in the openings  42  to secure the first half  40   a  and the second half  40   b  together and retain the sliding clamp  30  in a stationary position relative to the support arm  18 . If the fastener  48  is loosened, the sliding clamp  30  can move relative to the support arm  18 . If the fastener  48  is tightened, the first half  40   a  and the second half  40   b  tighten around the support arm  18 , and the sliding clamp  30  cannot move relative to the support arm  18 . The sliding clamp  30  also includes a ball mount  44 . In the illustrated example, the ball mount  44  is serrated. 
   In this example, the two halves  40   a  and  40   b  and the ball mount  44  form a single, unitary piece, such as from a casting process. The unitary piece provides a relatively high degree of strength between the halves  40   a  and  40   b  and the ball mount  44 . Additionally, the unitary piece is less complex compared to previous clamps having multiple separate pieces. 
   The series of ball jointed links  20  also includes an adjustable clamp  24 , as shown in  FIGS. 4 and 5 . In this example, the adjustable clamp  24  includes a substantially square opening  52  that matches the shape of a support arm  26  that has a substantially square cross-section. The opening  52  defines an axis A. In this example, the opening  52  includes rounded corners  47  and linear sides  49 . The corresponding rectilinear shape of the opening  52  and the support arm  26  prevent the support arm  26  from rotating about its own longitudinal axis L. 
   In the illustrated example, the adjustable clamp  24  includes a clamp portion  53  having a first half  54   a  and a second half  54   b  that each include an opening  56 . A fastener  60  (shown in  FIG. 1 ) is received in the openings  56  to secure the first half  54   a  and the second half  54   b  together and retain the support arm  26  in a stationary position relative to the adjustable clamp  24 . If the fastener  60  is loosened, the support arm  26  can move relative to the adjustable clamp  24 . If the fastener  60  is tightened, the halves  54   a  and  54   b  tighten around the support arm  26 , and the support arm  26  cannot move relative to the adjustable clamp  24 . 
   The adjustable clamp  24  also includes a ball mount  58 , which allows rotational adjustment of the support arm  26 . In this example, the ball mount  58  extends from the clamp portion  53  in a direction that is about parallel to the axis A of the opening  52 . In one example, the ball mount  58  is serrated, similar to the example illustrated in  FIG. 3 . Alternatively, the ball mount extends in a different non-perpendicular direction relative to the axis A. Such a configuration provides a desirably wide range of rotational motion because the support arm  26  can rotate over a wide range without interfering with the socket clamp  66  ( FIG. 1 ) to impede rotational movement, which is a problem with some prior clamps. 
   In the illustrated example, the adapter assembly  10  includes three adjustable clamps  24   a ,  24   b  and  24   c , as shown in  FIG. 1 . However, it is possible that the adapter assembly  10  can only include one or two adjustable clamps  24  or more than three adjustable clamps  24 . 
   As shown in  FIG. 6 , the adapter assembly  10  also includes a socket clamp  66 . In this example, the socket clamp  66  includes two clamp halves  50   a  and  50   b  which are secured together by fasteners  60  received in apertures  62 . Four fasteners  60  are employed in the illustrated example, although any number of fasteners can be employed. The clamp halves  50   a  and  50   b  define two sockets  78  (only one shown) that each receive either the ball mount  44  of the sliding clamp  30  or the ball mount  58  of the adjustable clamp  24 . A plane defined by side surfaces  64  of the socket clamp  66  that define the sockets  78  are slightly inclined upwardly with respect to a plane defined by a lower surface  68  of the socket clamp  66 . When assembled, a small gap  82  is formed between the clamp halves  50   a  and  50   b . When the fasteners  60  are loosened, the ball mounts  44  and  58  can move within the sockets  78 . When the fasteners  60  are tightened, the ball mounts  44  and  58  cannot move within the sockets  78 . 
   As illustrated in the example shown in  FIG. 1 , two socket clamps  66   a  and  66   b  are employed in the series of ball jointed links  20 . One socket clamp  66   a  receives the ball mount  44  of the sliding clamp  30  and the ball mount  58  of the adjustable clamp  24   a , and the other socket clamp  66   b  receives the ball mount  58  of the adjustable clamp  24   b  and the ball mount  58  of the adjustable clamp  24   c.    
   When the fasteners  60  of the socket clamp  66   a  are loosened, the ball mounts  44  and  58  can rotate within the sockets  78 , allowing the sliding clamp  30  and the adjustable clamp  24   a  to move with respect to the socket clamp  66   a . When the fasteners  60  of the socket clamp  66   a  are tightened, the sliding clamp  30  and the adjustable clamp  24   a  are secured relative to the socket clamp  66   a  and cannot move. When the fasteners  60  secured relative to the socket clamp  66   a  are loosened, the ball mounts  58  of the adjustable clamps  24   b  and  24   c  can rotate within the sockets  78 , allowing the adjustable clamps  24   b  and  24   c  to move with respect to the socket clamp  66   b . When the fasteners  60  of the socket clamp  66   b  are tightened, the adjustable clamps  24   b  and  24   c  are secured relative to the socket clamp  66   b  and cannot move. 
     FIGS. 7 and 8  illustrate a perspective view of the adapter clamp  27  that mounts the shovel  22  or gripper  23 . The mount portion  28  of the adapter clamp  27  includes a substantially square opening  76  that matches the shape of the support arm  26 . In this example, the opening  76  includes rounded corners  47  and linear sides  49 . The corresponding rectilinear shape of the opening  76  and the support arm  26  prevents the support arm  26  from rotating about its own longitudinal axis. 
   In this example, the mount portion  28  includes a first half  72   a  and a second half  72   b  that each include an opening  74 . A fastener  80  (shown in  FIG. 1 ) is received in the openings  74  to secure the first half  72   a  and the second half  72   b  together and retain the support arm  26  in a stationary position relative to the mount portion  28 . If the fastener  80  is loosened, the support arm  26  can move relative to the mount portion  28 . If the fastener  80  is tightened, the support arm  26  cannot move relative to the mount portion  28 . The mount portion  28  includes a mount  70  having an opening  100  that is adapted to support the shovel  22  or gripper  23  in a known manner. 
   In the example of  FIG. 1 , the support arm  26  includes a first support arm  26   a  received in the opening  52  of the adjustable clamps  24   a  and  24   b  and a second support arm  26   b  received in the opening  52  of the adjustable clamp  24   c  and the opening  76  of the mount portion  28 . The support arms  26   a  and  26   b  allow the series of ball jointed links  20  to telescopically extend or retract to achieve a desirable shovel  22  or gripper  23  position. 
   When the fastener  60  of the adjustable clamp  24   a  is loosened, the support arm  26   a  can slide within the opening  52  of the adjustable clamp  24   a , and when the fastener  60  of the adjustable clamp  24   b  is loosened, the support arm  26   a  can slide within the opening  52  of the adjustable clamp  24   b . When the fastener  60  of the adjustable clamp  24   c  is loosened, the support arm  26   b  can slide within the opening  52  of the adjustable clamp  24   c , and when the fastener  80  of the mount portion  28  of the adapter clamp  27  is loosened, the support arm  26   b  can slide within the opening  76  of the mount portion  28 . 
   In this example, each clamp portion  53  of the adjustable clamps  24  and the mount portion of the adapter clamp  27  has an associated clamp width X and W, respectively ( FIGS. 4 and 7 ). The clamp widths of the individual clamps need not be equal to each other, depending on the desired amount of extension and retraction. The end portion of the support arm  26  slides along the width X of the opening  52  and along the width W of the opening  76  to control the amount of extension or retraction. Thus, the widths W and X correspond to the amount of available extension or retraction. 
   In one example, the series of ball jointed links  20  can adjust over a range of approximately ¼ of an inch at each of the adjustable clamps  24   a ,  24   b  and  24   c  and the mount portion  28  by movement of the support arm  26   a  and  26   b . Therefore, approximately one inch of extension is possible in this example. This allows the series of ball jointed links  20  to telescopically extend or retract by approximately one inch towards the shovel  22  or gripper  23 . This allows for more accurate positioning of the shovel  22  or gripper  23  relative to the object  12 . Given this description, one of ordinary skill in the art will recognize suitable clamp widths W and X to meet their particular extension and retraction needs. 
   When the support arm  26   a  and  26   b  are in the desired position, the fasteners  60  of the adjustable clamps  24   a ,  24   b ,  24   c  and the fastener  80  of the mount portion  28  are tightened, and the support arm  26   a  and  26   b  cannot slide relative to the adjustable clamps  24   a ,  24   b , and  24   c  and the mount portion  28 , securing the series of ball jointed links  20  in a desired position. 
   The foregoing description is exemplary of the principles of the invention. Many modifications and variations of the present invention are possible in light of the above teachings. The preferred embodiments of this invention have been disclosed, however, so that one of ordinary skill in the art would recognize that certain modifications would come within the scope of this invention.