Mechanical positioning device, system provided with said device and positioning process

Abstract

A mechanical positioning device (100) for positioning a component (200), the device (100) comprising:-a toothed first crown (1) integrally connected to the component (200) during use and rotating about an axis of rotation (X); the first crown piece (1) comprises a first tooth part (D1) with N1 teeth and a lower tooth part (D1-2); -a fixed toothed second crown (2) comprising a second toothing (D2) with N2 teeth and an upper toothing (D2-3); -a third toothed crown (3) interposed between the first crown (1) and the second crown (2) and rotating about an axis of rotation (X); the third crown piece (3) comprises a third tooth part (D3), a main connecting tooth part (D3-1) with the same tooth number as the lower tooth part (D1-3) and an auxiliary connecting tooth part (D3-2) with the same tooth number as the upper tooth part (D2-3); -at least one planetary gear (4) rotating about the axis of rotation (X) by the third crown (3) and engaging with the first toothing (D1) and the second toothing (D2); wherein N1 is different from N2, and the device (100) is configurable between: a closed configuration (P1) wherein the first crown (1), the second crown (2) and the third crown (3) are integral with one another; -an open configuration (P2) in which the first crown (1), the second crown (2) and the third crown (3) are spaced apart from one another.

Description

Technical Field

[0001] The object of the present invention is a mechanical positioning device. In particular, the object of the present invention is a mechanical positioning device particularly suitable for accurately positioning an instrument or device connected thereto, such as a tool. The mechanical positioning device according to the present invention finds particular application in systems in which the positioning, in particular the inclination, of a working instrument or device connected to the device itself is particularly important.

[0002] The invention also aims at a system comprising said mechanical positioning device, and at a relative positioning process of an actuator involving the mechanical positioning device. Background Art

[0003] In various branches of industry, actuators are known for precisely controlling the position of other entities connected to and controlled by these actuators. Depending on the type of load to be moved and / or other structural constraints, such as cost and space in particular, certain types of actuators are preferred over other actuators on the market.

[0004] In particular, it is known to use manipulators that are suitable for modifying the position and / or orientation of components within a tool or a system / device for performing automated processing in the industrial field.

[0005] Typically, the above-mentioned manipulators are driven by means of an electric motor which moves the associated tool by means of a transmission mechanism which typically comprises gears, belts or chains connecting shafts of the moving elements.

[0006] When positioning accuracy is particularly critical in the operation to be performed, the choice of actuator type is often reduced or even mandatory.

[0007] In the printing or watchmaking sectors, where precise positioning of the various components of a system is crucial for the acceptable quality of the final product, stepper motors are often used. Such motors are particularly popular due to their low cost and small size. These characteristics allow stepper motors to be housed inside a printer or watch case, while keeping the overall volume small at a low production cost.

[0008] However, stepper motors are generally capable of delivering low power, which makes them unsuitable for handling and positioning loads of non-negligible weight.

[0009] Furthermore, while the accuracy of stepper motors in positioning the relevant components is acceptable in some applications, it is insufficient for other applications where accuracy is particularly important. This problem is largely due to poor control of power supply transients, which makes it difficult to control the position of the initial and final stages of the movement of the controlled component.

[0010] In order to overcome the disadvantages discussed above, other types of motors are used, such as asynchronous motors, for example with vector control, which, however, are particularly expensive and are usually too large for the actual needs of the field in which they are used.

[0011] Furthermore, all known solutions present problems with maintaining the reached position, which may be accidentally modified if the modified component is subjected to a force sufficient to overcome the resistance to movement of the component and the connected actuator.

[0012] Therefore, the actuation accuracy in terms of positioning of the component or the connected tool depends on the technology used in the design of the motor driving the entire actuator. Generally, the higher the required accuracy, the higher the production cost and structural complexity of the entire system. In addition to this, the spatial and temporal constraints of the response usually do not allow the provision of an actuator corresponding to all design requirements, so that people can only adopt essentially suboptimal compromise solutions.

[0013] Thus, although the above-mentioned known actuators allow precise positioning of connected components, the Applicant has discovered that these known solutions could be further improved, for example in terms of positioning accuracy, retention of the reached position, production / installation costs and structural simplicity.

[0014] Purpose of the Invention

[0015] It is therefore a general object of the present invention to address at least one of the disadvantages and / or limitations of previous solutions.

[0016] The object of the invention is to provide a mechanical positioning device which is particularly precise in positioning a component connected thereto and which allows a selection between a large number of possible positionings, thereby ensuring a fine adjustment of the position externally.

[0017] Another object of the invention is to provide a mechanical positioning device which is structurally simple and particularly robust in order to ensure that the position reached during the positioning operation is reliably maintained.

[0018] Another object of the invention is to provide a mechanical positioning device which is particularly economical and durable.

[0019] In addition, another object of the present invention is to provide a system, which includes the mechanical positioning device and related components connected to the mechanical positioning device, and a motor for moving the mechanical positioning device itself.

[0020] Another object of the present invention is to illustrate the positioning process of components using the mechanical positioning device.

[0021] One or more of the above objects are substantially achieved by a mechanical positioning device, a system provided with said mechanical positioning device and a positioning process according to one or more of the appended claims and / or the following aspects. Summary of the invention

[0022] According to a first aspect, the invention relates to a device for mechanically positioning a component. Depending on the application, the component may be a precision tool for carrying out, for example, a machining / operation, or a sensor, for example an optical sensor with high precision.

[0023] According to one aspect, the mechanical positioning device comprises a first toothed crown, which is integrally connected to the component during use, and is configured to rotate about a rotation axis so as to rotate the component into position.

[0024] According to another aspect, the first crown has a substantially annular shape, preferably defined by a solid body resulting from a complete rotation of a quadrilateral, in particular a rectangle, about the rotation axis, wherein the rotation axis does not represent any side of the quadrilateral. According to this aspect, the first crown has:

[0025] - a first outer face;

[0026] - a first inner face;

[0027] - a first upper face;

[0028] - A first lower face.

[0029] In other words, the face represents the face obtained by completely rotating each of the sides of the quadrilateral about an axis of rotation, whose rotation determines the geometry of the first crown.

[0030] According to another aspect, the first crown comprises a first toothing located at said first inner face or said first outer face.The first crown then has a series of teeth projecting from the first inner face or from the first outer face along the entire circumferential development.

[0031] According to another aspect, the first crown comprises a lower toothing at said first lower face.The first crown then has a series of teeth projecting from the first lower face along its entire circumferential development and over at least a portion of its radial development.

[0032] According to one aspect, the number of teeth of the first toothed portion is equal to N1. The number N1 is an integer equal to the number of peaks and valleys present in the first toothed portion.

[0033] According to another aspect, the mechanical positioning device comprises a second toothed crown. During use, the second toothed crown is rotationally fixed relative to the rotation axis. The first crown is then rotationally movable relative to the second rotationally fixed crown.

[0034] According to another aspect, the second crown has a substantially annular shape, preferably defined by a solid body resulting from a complete rotation of a quadrilateral, in particular a rectangle, about the rotation axis, wherein the rotation axis does not represent any side of the quadrilateral. According to this aspect, the second crown has:

[0035] - a second outer face;

[0036] - a second inner face;

[0037] - a second upper face;

[0038] - Second lower face.

[0039] In other words, the face represents the face obtained by completely rotating each of the sides of the quadrilateral about an axis of rotation, whose rotation determines the geometry of the second crown.

[0040] According to another aspect, the second crown comprises a second toothing at said second inner face or at said second outer face.The second crown then has a series of teeth projecting from the second inner face or from the second outer face along the entire circumferential development.

[0041] According to another aspect, the second crown comprises an upper toothing at said second upper face.The second crown has a series of teeth projecting from the second upper face along its entire circumferential development and over at least a portion of its radial development.

[0042] According to one aspect, the number of teeth of the second toothed portion is equal to N2. The number N2 is an integer equal to the number of peaks and valleys present in the second toothed portion.

[0043] Note that in this document, the terms "upper", "upper", "up", "upward" and similar terms "lower", "lower", "lower", "downward" are intended to refer to a direction parallel to the axis of rotation and to the direction from the second crown to the first crown.

[0044] In a similar manner, the terms "interior", "interior", "inward", "inwardly" and the like terms "exterior", "outwardly", "outwardly", "outwardly" are meant to refer to directions lying in a plane perpendicular to the axis of rotation and directions moving away from the axis of rotation.

[0045] According to another aspect, the mechanical positioning device comprises a third crown with teeth. During use, the third crown with teeth is configured to rotate about the rotation axis. As will become clear later, the third crown is configured to rotate relative to the first crown and the second crown.

[0046] According to another aspect, the third crown has a substantially annular shape, preferably defined by a solid body resulting from a complete rotation of a quadrilateral, in particular a rectangle, about the rotation axis, wherein the rotation axis does not represent any side of the quadrilateral. According to this aspect, the third crown has:

[0047] - a third outer face;

[0048] - third inner face;

[0049] - a third upper face;

[0050] -Third lower face.

[0051] In other words, the face represents the face obtained by completely rotating each of the sides of the quadrilateral about an axis of rotation, whose rotation determines the geometry of the third crown. In particular, the third upper face faces the first lower face of the first crown, and the third lower face faces the second upper face of the second crown.

[0052] According to another aspect, the third crown comprises a third toothing located at said third external face or said third internal face.The third crown has a series of teeth projecting from the third external face or from the third internal face along its entire circumferential development.

[0053] According to another aspect, the third crown comprises a primary coupling toothing at the third upper face and a secondary coupling toothing at the third lower face.The third crown has a series of teeth projecting from the third upper face and the third lower face along its entire circumferential development and over at least a portion of its radial development.

[0054] According to one aspect, the number of teeth of the main coupling toothing is equal to the number of teeth of the lower toothing of the first crown. According to this aspect, the main coupling toothing and the lower toothing have the same profile to allow coupling between the third crown and the first crown, as will become clearer below.

[0055] According to another aspect, the number of teeth of the secondary coupling toothing is equal to the number of teeth of the upper toothing of the second crown. According to this aspect, the secondary coupling toothing and the upper toothing have the same profile to allow coupling between the third crown and the second crown, as will become clearer below.

[0056] According to another aspect, the mechanical positioning means comprises at least one planetary gear. The at least one planetary gear is associated with the third crown and rotates relative to the third crown itself around the axis of rotation. In other words, the at least one planetary gear is connected to and supported by the third crown, and the third crown brings the at least one planetary gear into rotation when it rotates around the axis of rotation.

[0057] According to another aspect, the at least one planet gear is engaged with the first crown and the second crown simultaneously. According to this aspect, the at least one planet gear comprises two toothings arranged at opposite sides of the third crown along the axis of rotation, one of the two toothings being coupled to the first toothing and the other being coupled to the second toothing.

[0058] According to another aspect, said number of teeth N1 and number of teeth N2 are different from each other. As will become clear later, the difference between the number of teeth of the toothing determines the rotation of the first crown, thus ensuring extremely precise positioning of the working part constrained to the first crown itself.

[0059] According to yet another aspect, the mechanical positioning device can be configured between the following configurations:

[0060] a closed configuration or working configuration, in which the lower toothing and the primary coupling toothing engage with one another, the secondary coupling toothing and the second upper toothing also engage with one another, and in which the first crown, the second crown and the third crown are integral with one another;

[0061] - an open configuration or a positioned configuration, in which the first crown, the second crown and the third crown are spaced apart from each other and the lower toothing, the primary coupling toothing, the secondary coupling toothing and the upper toothing are not engaged with each other.

[0062] It is particularly important to note that, in the closed position or working configuration, no relative movement is possible between said first crown, said second crown and said third crown. In other words, the mechanical positioning device actually constitutes a single block in which the three crowns remain constrained as one. Specifically, the second crown is fixed, as are the first crown and the third crown. Therefore, the working part constrained to the first crown is also fixed. Then, when the mechanical positioning device is in said closed configuration or working configuration, it is not possible to change the position of the parts connected to the mechanical positioning device.

[0063] On the contrary, when the mechanical positioning device is in the open configuration or the positioning configuration, there is a relative movement between the first crown, the second crown and the third crown. In particular, the rotation of the first crown involves a change in the position of the components. Bringing the mechanical positioning device back to the closed configuration, the position adopted in the open configuration can be maintained without the need for the action of additional blocking means.

[0064] As mentioned above, the number of teeth N1 and the number of teeth N2 are different from each other. Specifically, N1 and N2 represent two integers that differ by a certain unit number. Generally, there is a relationship between the number N1 and the number N2 of N1=N2±K, where K is an integer greater than 0.

[0065] In the embodiment, the number of teeth N1 and the number of teeth N2 differ by one unit (K=1), that is, N1=N2±1.

[0066] In another embodiment, the number of teeth N1 and the number of teeth N2 differ by two or more units (K>1), that is, N1=N2±n, where n is an integer greater than 1.

[0067] According to a non-limiting aspect, the number of teeth of the lower toothing of the first crown is equal to N1, ie the same as the number of teeth of the first toothing. Therefore, the number of teeth of the main coupling toothing is also equal to N1 to allow engagement with the lower toothing.

[0068] According to another non-limiting aspect, the number of teeth of the upper toothing of the second crown is equal to N2, ie the same as the number of teeth of the second toothing. Therefore, the number of teeth of the secondary coupling toothing is also equal to N2 to allow engagement with the upper toothing.

[0069] According to another non-limiting aspect, the number of teeth of the third toothed portion of the third crown is equal to N2, ie the same as the number of teeth of the second toothed portion of the second crown.

[0070] According to an embodiment, the first toothing is arranged at the first inner face and the second toothing is arranged at the second inner face. In other words, the toothing engaged by the at least one planet gear is located on the inner faces of the first crown and the second crown, i.e. on the portion facing the axis of rotation. In contrast, the third toothing is arranged at the third outer face, i.e. facing outwards, for engagement by the other toothed element, as will be described below.

[0071] According to another embodiment, the first toothing is arranged at the first outer face and the second toothing is arranged at the second outer face. In other words, the toothing engaged by the at least one planet gear is located on the outer faces of the first crown and the second crown, i.e. on the parts facing outwards. In contrast, the third toothing is arranged at the third inner face, i.e. facing the axis of rotation, for engagement by other toothed elements, as will be described below.

[0072] It should be noted that it is appropriate that the first toothing and the second toothing are both on the inner face of the respective crown or both on the outer face of the respective crown so as to be engaged by the planetary gear at the same time. The third toothing preferably faces in the opposite direction to the first toothing and the second toothing. However, by appropriate measures, the third toothing can face in the same direction as the first toothing and the second toothing.

[0073] According to a non-limiting aspect, the at least one planetary gear comprises a shaft, a first pinion and a second pinion. The shaft develops along a longitudinal extension axis and passes through the third crown from the third lower face to the third upper face, thereby protruding from the third lower face and the third upper face. In particular, the longitudinal extension axis is parallel to the rotation axis of the first crown and the third crown.

[0074] According to a non-limiting aspect, the third crown comprises a seat for said at least one planetary gear, allowing to house said shaft. Said shaft is configured to rotate relative to said third crown about said longitudinal extension axis. According to this aspect, said shaft is free to rotate about its own longitudinal extension axis inside a relative seat in the third crown, which is preferably provided with a suitable bearing.

[0075] According to another non-limiting aspect, at least one of the first pinion and the second pinion is integrally mounted on the shaft relative to the shaft. According to yet another non-limiting aspect, at least one of the first pinion and the second pinion is realized as a single piece with the shaft.

[0076] According to what has been described above, the assembly consisting of the shaft, the first pinion and the second pinion - in fact, consistent with the planetary gear - is configured to rotate integrally around the longitudinal extension axis of the shaft. In particular, the planetary gear is configured to rotate around the longitudinal extension axis while being rotated around the rotation axis by the third crown.

[0077] According to another non-limiting aspect, the first pinion and the second pinion are provided with associated toothings. Specifically, the first pinion is provided with a first planetary toothing and the second pinion is provided with a second planetary toothing. According to this aspect, the first planetary toothing is engaged to the first toothing of the first crown and the second planetary toothing is engaged to the second toothing of the second crown.

[0078] According to another non-limiting aspect, the first planetary gear portion and the second planetary gear portion have an equal number of teeth N3. Preferably, the first planetary gear portion and the second planetary gear portion have the same pitch diameter. In fact, the first planetary gear portion and the second planetary gear portion are two identical gear portions, and therefore the first pinion and the second pinion are identical in structure.

[0079] According to another non-limiting aspect, the first and second teeth have equal pitch diameters. In fact, according to this embodiment, the first and second crowns have first and second teeth on respective inner or outer faces, the first and second teeth having substantially equal diameters.

[0080] According to a non-limiting aspect, the first toothing and the second toothing each have one tooth with a modulus-corrected involute profile in order to engage with the first planetary gearing and the second planetary gearing, respectively. In fact, given the difference between the number of teeth N1 and N2 and the equality between the pitch circle diameters, it is not possible to simultaneously engage the first planetary gearing and the second planetary gearing, which are considered to be coincident, without applying the modulus-correction technique to the first toothing and / or the second toothing. In this sense, the use of the modulus-correction technique allows at least one planetary gear to correctly engage both the first toothing and the second toothing at the same time without significant structural differences between the first planetary gearing and the second planetary gearing.

[0081] In an alternative embodiment, the first planetary gear section and the second planetary gear section differ from each other in the number of teeth and / or the profile of the teeth and / or the respective pitch circle diameters to allow correct engagement with both the first gear section and the second gear section without the first gear section and the second gear section having to have the same pitch circle diameter, and / or modulus correction techniques should be applied to ensure correct engagement between the teeth of the first gear section and the second gear section and the associated first planetary gear section and second planetary gear section.

[0082] According to a non-limiting aspect, the mechanical positioning device comprises a plurality of planetary gears, i.e. at least two planetary gears. In particular, each of the planetary gears forms a determined angle with another planetary gear adjacent thereto relative to the axis of rotation, i.e. the planetary gears occupy different positions along the circumferential development of the third crown.

[0083] According to another non-limiting aspect, at least one planetary gear has a first planetary gear portion that is rotated by an angle relative to the second planetary gear portion around the longitudinal extension axis. In fact, the number of teeth N1 and N2 are different, and most of the teeth of the first gear portion and the second gear portion are not aligned along the rotation axis. In particular, the first gear portion and the second gear portion can have a limited number of aligned teeth according to their relative positioning, and more precisely, at most a number of aligned pairs equal to the absolute value of the difference N1-N2. If the number of planetary gears is greater than this number and the first planetary gear portion and the second planetary gear portion are fully aligned, it is impossible to properly engage with the teeth of the first gear portion and / or the second gear portion. In this sense, in order to ensure the correct engagement of all planetary gears with the first gear portion and the second gear portion, at least one of the planetary gears has a first planetary gear portion that is rotated relative to the second planetary gear portion around the longitudinal extension axis.

[0084] According to another non-limiting aspect, the lower teeth and the main coupling teeth are face teeth configured to establish a face coupling between the first crown and the third crown when the device is in the closed configuration.

[0085] According to another non-limiting aspect, the upper teeth and the secondary coupling teeth are face teeth configured to establish a face coupling between the second crown and the third crown when the device is in the closed configuration.

[0086] It is noted that in the case of the mechanical positioning device according to the invention, a toothing functionally equivalent to the face toothing can be used. The use of the face toothing advantageously ensures a particularly stable engagement between the crowns when the mechanical positioning device is in the closed position and therefore ensures a particular stability of the components positioned by the device itself.

[0087] According to another non-limiting aspect, the mechanical positioning device comprises at least an opening actuator. The at least opening actuator is configured to cause the transition of the device from the closed configuration to the open configuration. As will become clearer in the following of this specification, when the mechanical positioning device is not acted upon by other elements suitable for keeping it in the closed configuration, at least the opening actuator ensures the transition from the closed configuration to the open configuration, resulting in a spacing between the first crown, the second crown and the third crown, so as to allow the positioning of the parts connected to the first crown after the relative movement between the crown and the planetary gear.

[0088] In particular, the at least opening actuator is positioned on the third crown and is configured to act on the first crown and the second crown so as to space them apart from the third crown and allow the mechanical positioning device to enter the open configuration.

[0089] According to an embodiment, the at least opening actuator comprises a spring piston acting on the first crown and / or the second crown.In the case of the mechanical positioning device of the invention, other elements functionally similar to the spring piston may be used as actuator for the opening.

[0090] According to another non-limiting aspect, said third crown has a housing portion comprising at least a seat for said at least one planetary gear. In particular, said housing portion is configured not to be in contact with said first crown and said second crown when said device is in said closed position. In fact, according to an embodiment, the third crown is oversized relative to said first crown and said second crown, and the housing portion substantially has an internal or external flange on which seats for housing the planetary gears are obtained. As previously mentioned, these seats are preferably provided with bearings to allow the planetary gears to rotate freely about the main deployment axis.

[0091] According to another aspect, the present invention also relates to a positioning system, which comprises at least the following elements:

[0092] - A mechanical positioning device according to one or more of the preceding aspects;

[0093] - a component to be positioned, constrained to said first crown;

[0094] - an actuator module operatively connected to said device and configured to impart a rotational movement to said third crown.

[0095] The components are constrained to the first crown by suitable constraining means known in the art.

[0096] In particular, when the mechanical positioning device is in the open configuration, the actuator module is activated so as to position the component by relative rotation between the first crown, the second crown and the third crown. As will become clear later, the rotational movement applied to the third crown by the actuator module is transmitted to the first crown through the planetary gears and then to the component constrained to the first crown.

[0097] According to another non-limiting aspect, the positioning system includes a fastening module configured to be enabled to maintain the mechanical positioning device in a closed configuration and to be released to allow the device to be transformed from the closed configuration to an open configuration. Specifically, the fastening module is configured to resist and control the action of at least the opening actuator when enabled so as to maintain the mechanical positioning device in the closed configuration and ensure the stability of the associated components. When the fastening module is released, the action of at least the opening actuator is no longer resisted, and the mechanical positioning device is transformed to an open configuration to allow the positioning of the component by relative rotation between the first crown, the second crown, and the third crown. Once the desired position of the component is reached, the fastening module is enabled again and the mechanical positioning device returns to the closed configuration.

[0098] According to yet another non-limiting aspect, the actuator module comprises a motor and a transmission member operatively connected to the third crown and configured to transmit to said third crown the movement applied by said motor. In particular, the motor is configured to be activated only when said mechanical positioning device is in the open configuration. In fact, when said mechanical positioning device is in the closed position, the third crown is integral with the fixed second crown and it is therefore impossible to move the third crown. Activating the motor when the mechanical positioning device is in the closed configuration may expose the entire system to the risk of malfunction and damage.

[0099] According to another non-limiting aspect, the transmission member comprises at least a toothed wheel engaged with said third toothing, the toothed wheel being intended to rotate said third crown about said rotation axis according to the movement imparted by said motor.

[0100] According to yet another non-limiting aspect, the component to be positioned is a tool head suitable for machining and / or operating an object. Alternatively, the component to be positioned is a sensor, such as a precision optical sensor.

[0101] Another object of the invention is the positioning process of said components.

[0102] According to one aspect, the positioning process includes at least the following steps:

[0103] - Arranging an apparatus according to one or more of the previously described aspects;

[0104] - constraining said component to said first crown;

[0105] - placing the device in the open position;

[0106] - rotating the third crown, thereby rotating the first crown;

[0107] - Placing the device in the closed position.

[0108] In particular, said step of rotating said third crown also provides for rotating said at least one planetary gear which engages said first and second toothings with said first and second planetary gearings. Due to the difference between the number of teeth N1 of the first toothing and the number of teeth N2 of the second toothing, and due to the fact that said second crown is fixed in rotation, the first crown undergoes a rotation about the axis of rotation which is a function of said difference N1-N2 between the teeth of the first toothing and the teeth of the second toothing. In fact, when the mechanical detent moves in the open configuration, it behaves as a planetary gear motor with offset teeth, wherein the reduction ratio is a function of the difference N1-N2.

[0109] According to a non-limiting aspect, said step of rotating said third crown provides for rotating said third crown having a number of teeth N. In an embodiment in which the number of teeth of the third toothing is equal to N2, this rotation corresponds to rotating the third crown about said axis of rotation by an angle equal to 360° / N2. Due to the interaction between the planetary gears and said first crown and said second crown, the rotation of the third crown causes the first crown to rotate by an angle equal to N·360°·(N2-N1) / (N1·N2). In fact, the rotational movement of the first crown is divided into a number of positions, the number of which is equal to a multiple of the number N1 and at most equal to the product N1·N2. In fact, for example when N1=N2±1, each time a tooth of the third crown moves, the first crown rotates by an angle equal to 360° / (N1·N2). The first crown can then assume N1·N2 different angular positions, a number significantly greater than the N1 positions that it could occupy when it is used alone. BRIEF DESCRIPTION OF THE DRAWINGS

[0110] Some embodiments and some aspects of the present invention will be described hereinafter with reference to the accompanying drawings, which are provided for illustrative purposes only and are therefore non-limiting, in which:

[0111] - Figure 1 is a perspective view of a mechanical positioning device according to a first configuration of the present invention;

[0112] - Figure 2 yes Figure 1 A plan elevation view of the device shown in ;

[0113] - Figure 3 According to the second configuration Figure 1 A perspective view of the device shown in ;

[0114] - Figure 4 yes Figure 3A plan elevation view of the device shown in ;

[0115] - Figure 5 yes Figure 1 A plan view of the device shown in FIG. 1 as viewed from above;

[0116] - Figure 6 yes Figure 1 A plan view of the device shown in FIG. 1 as viewed from below;

[0117] - Figure 7 yes Figure 1 A perspective view of a first component of the device shown in ;

[0118] - Figure 8 yes Figure 1 a perspective view of a second component of the device shown in ;

[0119] - Fig. 9A and Fig. 9B They are Figure 1 Two perspective views from above and from below of a third component of the device shown in ;

[0120] - Fig. 10A and Fig. 10B They are Figure 1 A perspective view and a plan view of a fourth component of the device shown in , wherein some parts are indicated by dotted lines or hidden for the sake of clarity;

[0121] - Fig.11 is an element that has another associated element Figure 1 A perspective view of the device shown in ;

[0122] - Fig.12 Shown include Figure 1 A system of devices as shown in ;

[0123] - Fig.13A and Fig. 13B Two different configurations are shown Fig.12 of systems, some parts of which have been omitted for the sake of greater clarity;

[0124] - Fig.14 and Fig.15 Shows FIG. 13A to FIG. 13B Two other stereograms of the device. DETAILED DESCRIPTION

[0125] Note that in this detailed description, corresponding parts shown in various figures are denoted by the same reference numerals. The figures may illustrate the purpose of the present invention by representations not drawn to scale; therefore, parts and components related to the purpose of the present invention shown in the figures may only relate to schematic representations.

[0126] With reference to the drawings, a mechanical positioning device has been generally indicated by reference numeral 100, hereinafter indicated for simplicity as device 100. In particular, the present description relates to device 100 for positioning a component 200. Depending on the application, the component 200 may include a tool or a sensor, such as a precision optical sensor, for performing, for example, precision machining / processing.

[0127] like Figures 1 to 4 As shown in , the device 100 includes three toothed crowns. Specifically, the device 100 includes:

[0128] - a first toothed crown 1;

[0129] - a second crown 2 with teeth;

[0130] A third toothed crown 3 interposed between said first crown 1 and said second crown 2 .

[0131] As represented in the figures, the first, second and third crowns have a substantially annular shape, preferably defined by a solid body resulting from a complete rotation of a quadrilateral, in particular a rectangle, about an axis of rotation X, wherein the axis of rotation does not represent any side of the quadrilateral. The first 1, second 2 and third 3 crowns are aligned along the axis of rotation X.

[0132] It is noted that, in this document, the terms "upper", "upper", "up", "upwards" and the like terms "lower", "lower", "lower", "downwards" are intended to refer to the alignment direction of the three crowns 1, 2 and 3, i.e. the axis of rotation X, and the direction leading from the second crown 2 to the first crown 1. The relative positions between the various elements of the device 100 are also apparent from the graphic representations of the drawings designed according to this specification.

[0133] In a similar manner, the terms "inner", "inside", "inward", "inwardly" and similar terms "outer", "outside", "outwardly", "outwardly" are meant to refer to directions on a plane perpendicular to the rotation axis X and directions approaching / moving away from the rotation axis X.

[0134] According to what has been described previously, the device 100 comprises a first crown 1. Figures 2 to 15 As shown in , the first crown 1 is integrally connected to the component 200 during use. Specifically, the first crown 1 is configured to rotate around the rotation axis X so as to drive the component 200 to rotate. The first crown 1 has:

[0135] - a first outer face 10 facing outwards;

[0136] - a first inner face 1i facing inwards;

[0137] - a first upper face 1d facing downwards;

[0138] - A first lower face 1u facing upwards.

[0139] Said face represents the face obtained by a complete rotation about the axis of rotation X of each of the sides of the quadrilateral, the rotation of which determines the geometry of first crown 1 .

[0140] The first crown 1 comprises a first toothing D1 at the first internal face 1i or at the first external face 1o. The first crown 1 then has a series of teeth emerging from the first internal face 1i or from the first external face 1o along the entire circumferential development. In the embodiment shown, the first toothing D1 is placed on the first internal face.

[0141] The number of teeth of the first tooth portion D1 is equal to N1. The number N1 is an integer equal to the number of peaks and valleys present in the first tooth portion D1.

[0142] Furthermore, the first crown D1 comprises a lower toothing D1 - 3 situated at said first lower face 1 d. The first crown 1 then has a series of teeth emerging from the first lower face 1 d along its entire circumferential development and over at least a portion of its radial development.

[0143] In the embodiment shown in the drawings, in particular Figure 7 In the embodiment, the number of teeth of the lower tooth portion D1-3 is also equal to N1, that is, the same as the number of teeth of the first tooth portion D1.

[0144] According to what has been previously established, the device 100 comprises a toothed second crown 2. This second crown 2 is rotationally fixed during use relative to said axis of rotation X. The first crown 1 can then be moved in rotation relative to the rotationally fixed second crown 2. The second crown 2 has:

[0145] - a second outer face 2o facing outwards;

[0146] - a second inner face 2i facing inwards;

[0147] - a second lower face 2d facing downwards;

[0148] - A second upper face 2u facing upwards.

[0149] In other words, the face represents the face obtained by a complete rotation about the axis of rotation X of each of the sides of the quadrilateral, the rotation of which determines the geometry of second crown 2 .

[0150] The second crown 2 comprises a second toothing D2 located at the second inner face 2i or at the second outer face 2o. The second crown then has a series of teeth emerging from the second inner face 2i or from the second outer face 2o along the entire circumferential development. In the embodiment shown, the second toothing D2 is placed at the second inner face 2i.

[0151] The number of teeth of the second tooth portion D2 is equal to N2. The number N2 is an integer equal to the number of peaks and valleys present in the second tooth portion D2.

[0152] Furthermore, the second crown 2 comprises an upper toothing D2-3 situated at said second upper face 2u.The second crown 2 has a series of teeth emerging from the second upper face 2u along its entire circumferential development and over at least a portion of its radial development.

[0153] In the embodiment shown in the drawings, in particular Figure 8 In the embodiment, the number of teeth of the upper tooth portion D2-3 is also equal to N2, that is, the same as the number of teeth of the second tooth portion D2.

[0154] The device 100 further comprises a third crown 3. The third crown 3 is configured to rotate around the rotation axis X during use. As will become clear later, the third crown 3 is configured to rotate relative to the first crown 1 and the second crown 2. Fig. 9A and Fig. 9B As shown in , the third crown 3 has:

[0155] - a third outer face 3o facing outwards;

[0156] - a third inner face 3i facing inwards;

[0157] - a third lower face 3d facing downwards;

[0158] - A third upper face 3u facing upwards.

[0159] In other words, the face represents the face obtained by a complete rotation of each of the sides of the quadrilateral about the axis of rotation X, the rotation of which quadrilateral determines the geometry of the third crown. In particular, the third upper face 3u faces the first lower face 1d of the first crown 1 and the third lower face 3d faces the second upper face 2u of the second crown 2.

[0160] As shown in the drawings, the third crown 3 comprises a third toothing D3 located at the third outer face 3o or at the third inner face 3i. The third crown 3 has a series of teeth emerging from the third outer face 3o or from the third inner face 3i along its entire circumferential development. In the embodiment shown, the third toothing D3 is arranged on the third outer face 3o.

[0161] The third crown 3 comprises a primary coupling tooth portion D3-1 at the third upper face 3u and a secondary coupling tooth portion D3-2 at the third lower face 3d. The third crown has a series of teeth emerging from the third upper face 3u and the third lower face 3d along its entire circumferential development and on at least a portion of its radial development.

[0162] In particular, the number of teeth of the main coupling toothing D3-1 is equal to the number of teeth of the lower toothing D1-3 of the first crown 1. More specifically, the main coupling toothing D3-1 and the lower toothing D1-3 have the same profile for allowing the coupling between the third crown 3 and the first crown 1, as will become clearer below.

[0163] In substantially the same manner, the number of teeth of the secondary coupling tooth portion D3-2 is equal to the number of teeth of the upper tooth portion D2-3 of the second crown 2. Specifically, the secondary coupling tooth portion D3-2 and the upper tooth portion D2-3 have the same profile for allowing the coupling between the third crown 3 and the second crown 2, as will become clearer below.

[0164] As described previously, in the embodiment of the drawings, the lower tooth portion D1-3 has N1 teeth and the upper tooth portion D2-3 has N2 teeth. Therefore, the main coupling tooth portion D3-1 has N1 teeth and the auxiliary coupling tooth portion D3-2 has N2 teeth.

[0165] Furthermore, in the embodiment shown in the drawings, the number of teeth of the third tooth portion D3 is also equal to N2.

[0166] The number of teeth N1 and the number of teeth N2 are different from each other. As will become clear later, the difference between the number of teeth of the toothing determines the rotation of the first crown 1 so as to ensure an extremely precise positioning of the part 200 constrained to the first crown 1 itself. In particular, N1 and N2 represent two integers that differ from each other by a determined number of units. Generally, there is a relationship of the type N1=N2±K between the number N1 and the number N2, where K is an integer greater than 0.

[0167] In the embodiment shown in the drawings, the number of teeth N1 and the number of teeth N2 differ by one unit (K=1), that is, N1=N2±1. In particular, in the embodiment shown, N1=136 and N2=135.

[0168] As from Figure 1 to Figure 2 and Figure 3 to Figure 4 As is apparent from the comparison between the above, the device 100 can be constructed between the following configurations:

[0169] - Closed configuration P1 or working configuration ( Figure 1 to Figure 2), wherein the lower tooth portion D1-3 and the main coupling tooth portion D3-1 are engaged with each other, the auxiliary coupling tooth portion D3-2 and the upper tooth portion D2 are also engaged with each other, and wherein the first crown member 1, the second crown member 2 and the third crown member 3 are integral with each other;

[0170] - Open configuration P2 or positioning configuration ( Figure 3 and Figure 4 ), wherein the first crown member 1, the second crown member 2 and the third crown member 3 are spaced apart from each other and the lower tooth portion D1-3, the main coupling tooth portion D3-1, the auxiliary coupling tooth portion 3-2, and the upper tooth portion D2-3 are not engaged with each other.

[0171] It is particularly noted that, in the closed position P1, there is no possibility of relative movement between said first crown 1, said second crown 2 and said third crown 3. In other words, the device 100 constitutes in fact a single block in which the three crowns remain constrained as one. In particular, since the second crown 2 is fixed, the first crown 1 and the third crown 3 are also fixed. Therefore, the part 200 constrained to the first crown 1 is also fixed. Then, when the device 100 is in said closed configuration P1, it is not possible to change the position of the part 200 connected to the device 100.

[0172] Conversely, when the device 100 is in the open configuration P2, relative movements are possible between the first crown 1, the second crown 2 and the third crown 3. In particular, the rotation of the first crown 1 about the axis of rotation X involves a change in the position of the part 200. Returning the device 100 to the closed configuration P1, the position adopted in the open configuration P2 can be maintained without requiring the action of further blocking means.

[0173] The device 100 further comprises at least one planetary gear 4. The at least one planetary gear 4 is associated with the third crown 3 and is driven by the third crown to rotate around the rotation axis X. In other words, the at least one planetary gear 4 is connected and supported by the third crown 3, and the third crown 3 causes the at least one planetary gear 4 to rotate when the third crown 3 rotates around the rotation axis X.

[0174] As shown, the at least one planetary gear 4 is simultaneously engaged to the first crown 1 and the second crown 2. According to this aspect, the at least one planetary gear 4 comprises two toothings placed at opposite sides of the third crown 3 along the axis of rotation X, one of the two toothings being coupled to the first toothing D1 and the other to the second toothing D2.

[0175] like Fig. 10A and Fig. 10B, the at least one planetary gear 4 comprises a shaft 40, a first pinion 41 and a second pinion 42. The shaft 40 develops along a longitudinal extension axis Y and traverses the third crown 3 from the third lower face 3d to the third upper face 3u, thereby protruding from the third lower face 3d and the third upper face 3u. In particular, the longitudinal extension axis Y is parallel to the rotation axis X.

[0176] The third crown 3 comprises at least one seat for said at least one planetary gear 4, in particular for allowing the accommodation of said shaft 40. The shaft is configured for rotation relative to said third crown 3 about said longitudinal extension axis Y in a relative seat, preferably provided with appropriate bearings.

[0177] If still FIG. 10A to FIG. 10B As shown in , at least one of the first pinion 41 and the second pinion 42 is integrally fitted to the shaft 40 on the shaft 40, and / or at least one of the first pinion 41 and the second pinion 42 is realized as a single piece with the shaft 40. In the illustrated embodiment, the first pinion 41 is integrally fitted to the shaft 40 on the shaft 40, while the second pinion 42 is realized as a single piece with the shaft 40 itself.

[0178] In particular, the assembly comprising the shaft 40 , the first pinion 41 and the second pinion 42 —in fact identical to the planetary gear 4 —is configured to rotate integrally about the longitudinal extension axis Y while it is rotated about the rotation axis X by the third crown 3 .

[0179] like Figure 5 , Figure 6 and FIG. 9A to FIG. 9B As shown in , the first pinion 41 and the second pinion 42 are provided with related tooth portions. Figure 5 and Fig. 9A As shown in , the first pinion 41 is provided with a first planetary gear portion D41, which is engaged with the first gear portion D1 of the first crown 1. Figure 6 and Fig. 9B As shown in FIG. 4 , the second pinion 42 is provided with a second planetary gear portion D42 which engages with the second gear portion D2 of the second crown 2 .

[0180] In the embodiment shown, the first toothing D1 is arranged at the first internal face 1i and the second toothing D2 is arranged at the second internal face 2i. In other words, the toothing engaged by the at least one planetary gear 4 is located on the internal face of the first crown and the internal face of the second crown, i.e. on the portion facing the axis of rotation X. Conversely, the third toothing D3 is arranged at the third external face 3o, i.e. facing outwards for engagement by a further toothed element, as will be described below. The at least one planetary gear 4 is then positioned internally to the first crown 1 and the second crown 2.

[0181] In another embodiment not shown, the first toothing D1 is arranged at the first external face 1o and the second toothing D2 is arranged at the second external face 2o. In other words, the toothing engaged by the at least one planetary gear 4 is located on the external face of the first crown and the external face of the second crown, i.e. on the part facing outwards. In this embodiment, then, at least one planetary gear 4 is positioned externally to the first crown 1 and the second crown 2. Conversely, the third toothing D3 is arranged at the third internal face 3i, i.e. facing the axis of rotation X, for engagement by a further toothed element.

[0182] Note that it is appropriate that both the first toothing D1 and the second toothing D2 are located on the inner face or the outer face of the respective crown so as to be simultaneously engaged by the planetary gear 4. The third toothing D3 preferably faces in the opposite direction to the first toothing D1 and the second toothing D2. However, by appropriate measures, the third toothing D3 may face in the same direction as the first toothing D1 and the second toothing D2.

[0183] In the illustrated embodiment, the first planetary gear portion D41 and the second planetary gear portion D42 have an equal number of teeth N3. The first planetary gear portion D41 and the second planetary gear portion D42 also have the same pitch diameter. In fact, the first planetary gear portion D41 and the second planetary gear portion D42 are two identical gear portions, and therefore the first pinion 41 and the second pinion 42 are identical in structure.

[0184] Preferably, said first toothing D1 and said second toothing D2 have equal pitch diameters. In fact, according to an embodiment, the first crown 1 and the second crown 2 have first teeth D1 and second teeth D2 of substantially equal diameters on respective inner or outer faces.

[0185] As shown in the figures, the first toothing D1 and the second toothing D2 each have one tooth with a modulus-corrected involute profile in order to engage with the first planetary gearing D41 and the second planetary gearing D42, respectively. In fact, given the difference between the number of teeth N1 and the number of teeth N2 and the equality between the pitch diameters, it would not be possible to correctly engage the first planetary gearing D41 and the second planetary gearing D42, which are coincident as intended, simultaneously without applying the modulus correction technique to the first toothing D1 and / or the second toothing D2. In this sense, the use of the modulus correction technique allows at least one planetary gear 4 to correctly engage simultaneously and simultaneously engage both the first toothing D1 and the second toothing D2 without substantial structural differences between the first planetary gearing D41 and the second planetary gearing D42.

[0186] In an alternative embodiment not shown, the first planetary gear portion D41 and the second planetary gear portion D42 differ from each other in terms of the number of teeth and / or profile teeth and / or corresponding pitch circle diameters to allow correct engagement with both the first gear portion D1 and the second gear portion D2 without the first gear portion D1 and the second gear portion D2 having the same pitch circle diameter, and / or modulus correction technology should be applied to ensure correct engagement between the teeth of the first gear portion D1 and the teeth of the second gear portion D2 and the associated first planetary gear portion D41 and second planetary gear portion D42.

[0187] Preferably, the device 10 comprises a plurality of planetary gears 4, i.e. at least two planetary gears 4. In particular, each of the planetary gears 4 forms a determined angle with another planetary gear adjacent thereto relative to the axis of rotation X, i.e. the planetary gears occupy different positions along the circumferential development of the third crown 3. In the embodiment shown, the device 100 comprises three planetary gears 4, which share a common circumference and are angularly spaced equidistantly and equally spaced relative to the axis of rotation X. In other words, the third crown 3 has three seats, which are placed on a common circumference and are angularly spaced 120° relative to the axis of rotation X.

[0188] like Fig. 10BAs shown in , at least one planet gear 4 has a first planet gear portion D41 rotated about the longitudinal extension axis Y by an angle A relative to the second planet gear portion D42. In fact, due to the different number of teeth N1 and the number of teeth N2, most of the teeth of the first tooth portion D1 and the second tooth portion D2 are not aligned along the rotation axis. In particular, the first tooth portion D1 and the second tooth portion D2 have a limited number of pairs of aligned teeth, the number of aligned pairs being exactly equal to the absolute value of the difference N1-N2. In the embodiment shown, in which N1-N2=136-135=1, the first tooth portion D1 and the second tooth portion D2 have at most a single pair of teeth aligned along the rotation axis X according to the relative positioning relative to the first tooth portion D1 and the second tooth portion D2. If the number of planet gears is greater than the absolute value of the difference N1-N2, and the first planet gear portion D41 and the second planet gear portion D42 are completely aligned, it is impossible to properly engage with the teeth of the first tooth portion D1 and / or the teeth of the second tooth portion D2. In this sense, in order to ensure correct engagement of all planetary gears with the first and second toothings D1 and D2, at least one of the planetary gears 4 has a first planetary gear D41 which rotates about the longitudinal extension axis Y relative to the second planetary gear D42.

[0189] In the embodiment shown in the figures, N1-N2=136-135=1 and thus the first tooth portion D1 and the second tooth portion D2 may show at most a single pair of aligned teeth depending on the relative positioning with respect to the first tooth portion D1 and the second tooth portion D2. Fig. 10B As shown in detail in , the pair of aligned teeth can be engaged by only one of the three planet gears 4. In order to ensure proper engagement with both the tooth portion D1 and the tooth portion D2, the other two planet gears 4 have a first planet gear portion D41 rotated about the longitudinal extension axis Y relative to the second planet gear portion D42. Since the three planet gears 4 are angularly spaced 120° apart along a common circumference centered on the rotation axis X, the planet gears have a first planet gear portion D41 rotated about the longitudinal extension axis Y relative to the second planet gear portion D42 corresponding to an angle A of one-third of a tooth. Similarly, the remaining planet gears have a first planet gear portion D41 rotated about the longitudinal extension axis Y relative to the second planet gear portion D42 corresponding to an angle A of two-thirds of a tooth. Refer to Fig. 10B The device 100 has:

[0190] a planetary gear 4 ′ having a first planetary gear section D41 which does not rotate relative to a second planetary gear section D42 ;

[0191] a planet gear 4 ″ having a first planet gear portion D41 rotated clockwise about the longitudinal extension axis Y by an angle A corresponding to one-third of a tooth relative to a second planet gear portion D42;

[0192] A planet gear 4''' having a first planet gear section D41 rotated clockwise about the longitudinal extension axis Y by an angle A corresponding to two thirds of a tooth relative to a second planet gear section D42.

[0193] In order to house the planetary gears 4, the third crown 3 has a housing portion 3S comprising at least one seat for at least one planetary gear 4. In particular, the housing portion 3S is configured to be out of contact with the first crown 1 and the second crown 2 when the device is in the closed position P1. Figure 5 and Figure 6 As shown in , the third crown 3 is oversized relative to the first crown 1 and the second crown 2. In fact, the housing portion 3S substantially represents a flange on which the seats for housing the planetary gears 4 are obtained. In the embodiment shown, the housing portion 3S constitutes an internal flange comprising three seats for housing the three planetary gears 4. As previously mentioned, these seats are preferably provided with bearings for allowing the planetary gears 4 to rotate freely about the main deployment axis Y.

[0194] As shown in the figures, the lower toothing D1-3 and the primary coupling toothing D3-1 are face teeth configured to establish a face connection between the first crown 1 and the third crown 3 when the device 100 is in the closed configuration P1. In substantially the same manner, the upper toothing D2-3 and the secondary coupling toothing D3-2 are face teeth configured to establish a face connection between the second crown 2 and the third crown 3 when the device 100 is in the closed configuration P1. It is noted that teeth functionally equivalent to face teeth can be used in the context of the device 100. Advantageously, the use of face teeth ensures a particularly stable meshing between the crowns when the device 100 is in the closed position P1, and therefore ensures a particular stability of the component 200 positioned by the device itself.

[0195] like FIG. 9A to FIG. 9BAs shown in detail in FIG. 1 , the device 100 comprises at least one opening actuator 5. The at least one opening actuator 5 is configured to transform the device 100 from the closed configuration P1 to the open configuration P2. As will become clearer later in this specification, the at least one opening actuator 5 ensures the transition from the closed configuration P1 to the open configuration P2 when the device 100 is not subjected to the action of other elements suitable for keeping the device 100 in the closed configuration P1. In other words, at least one actuator 5 causes a spacing between the first crown 1, the second crown 2 and the third crown 3 so as to allow the positioning of the part 200 connected to the first crown 1 after the relative movement between the crown 1, the second crown 2, the third crown 3 and the planetary gear 4. Preferably, said at least one opening actuator 5 is positioned on said third crown 3 and is configured to act on said first crown 1 and said second crown 2 so as to space them apart from said third crown 3 and allow said device 100 to be transferred to the open configuration P2.

[0196] In the embodiment shown in the drawings, the device 100 includes six opening actuators 5, three of which are configured to act on the first crown 1, and the other three are configured to act on the second crown 2. Specifically, each of the opening actuators 5 includes a spring piston that acts on the associated first crown / second crown. Other elements that are functionally similar to the spring piston can be used as opening actuators in the context of the device 100 without causing substantial structural changes to the device itself.

[0197] exist Figures 12 to 15 A positioning system S is shown, which is also the object of the present invention. The system S comprises at least the following elements:

[0198] - the device 100 previously described;

[0199] - a component 200 to be positioned, constrained to the first crown 1 of the device 100 ;

[0200] An actuator module 300 operatively connected to said device 1 and configured to impart a rotational movement to the third crown 3 of said device 100 .

[0201] As mentioned previously, depending on the application, the component 200 may include tools or sensors, such as precision optical sensors, for performing, for example, precision machining / processing. Specifically, the component 200 is constrained to the first crown 1 by appropriate constraining means, which are known in the art and are therefore not shown or described.

[0202] The actuator module 300 is configured to be activated when the device 100 is in the open configuration P2, so as to position the component 200 by relative rotation between the first crown 1, the second crown 2 and the third crown 3. Specifically, the rotational movement applied to the third crown 3 by the actuator module 300 is transmitted to the first crown 1 through the planetary gear 4, and then transmitted to the component 200 constrained to the first crown. The relationship between the rotational movement of the third crown 3 and the rotational movement of the first crown 1 will be described below.

[0203] Preferably, the system S comprises a fastening module 400 configured to be activated in order to keep the device 100 in the closed configuration P1 and to be released in order to allow the device 100 to be transferred from the closed configuration P1 to the open configuration P2. Specifically, the fastening module 400 is configured to resist and win the action of at least one opening actuator 5 when activated, so as to keep the device 100 in the closed configuration P1 and ensure the stability of the component 200. When the fastening module 400 is released, the action of at least one opening actuator 5 is no longer resisted, and the device 100 is transferred to the open configuration P2, so as to allow the positioning of the component 200 by the relative rotation between the first crown, the second crown and the third crown. Once the desired positioning of the component 200 is reached, the fastening module 400 is activated again and the device 100 returns to the closed configuration P1.

[0204] like FIG. 13A to FIG. 15 In the embodiment shown in FIG. 1 , the actuator module 300 comprises a motor 301 and a transmission member 302. The transmission member 302 is operatively connected to the third crown 3 and is configured to transmit the movement applied by the motor 301 to the third crown 3. In particular, the motor 301 is configured to be activated only when the device 100 is in the open configuration P2. In fact, when the device 100 is in the closed position P1, the third crown 3 is integral with the fixed second crown 2, and then the third crown 3 may not move. Activating the motor 301 when the device 100 is in the closed configuration P1 may expose the entire system to the risk of malfunction and damage.

[0205] Preferably, the transmission member 302 comprises at least one toothed wheel 303. Fig.11 A toothed wheel 303 is configured for rotation about a transmission axis Z preferably parallel to the axis of rotation X. This toothed wheel 303 engages the third toothing D3 for rotating the third crown 3 about the axis of rotation X according to the movement imparted by the motor 301 .

[0206] The function of the positioning system S will now be described with reference to the technical features of the device 100, namely the components 200 as described in the example of FIG. Fig.13A The configuration to Fig. 13B The configurational transformation is shown in the positioning process of the change in position.

[0207] As previously determined, when the device 100 is in the closed configuration P1 , the first crown 1 , the second crown 2 and the third crown 3 are integral with one another and the component 200 is fixed in place. The closed configuration P1 is maintained as long as the tightening module 400 is activated.

[0208] After releasing the tightening module 400, the action of the at least one opening actuator 5 is no longer resisted and the device 100 is transformed into the open configuration P2, in which the first crown 1 and the second crown 2 are spaced apart from the third crown 3, which is free to rotate around the rotation axis X according to the action of the actuator module 300. In particular, the activation of the motor 301 causes the third crown 3 to rotate around the rotation axis X through the transmission member 302. More specifically, the toothed wheel 303 rotating around the transmission axis Z meshes with the third toothing D3 determining the number of teeth N, thereby rotating the third crown around the rotation axis X proportionally by an angle equal to N·360° / N2.

[0209] The third crown 3 also drives at least one planetary gear 4 in rotation about the axis of rotation X, at least one planetary gear simultaneously meshing with the first toothing D1 and the second toothing D2 with a first planetary gearing D41 and said second planetary gearing D42, respectively. Due to the difference between the number of teeth N1 of the first toothing D1 and the number of teeth N2 of the second toothing D2 and due to the fact that said second crown 2 is fixed in rotation, the first crown 1 undergoes a rotation about the axis of rotation X that is a function of said difference N1-N2. In fact, when the device 100 moves in the open configuration P2, it behaves as a planetary gear motor with eccentric teeth, wherein the reduction ratio is a function of the difference N1-N2.

[0210] Due to the interaction between said at least one planetary gear 4 and said first crown, and between said at least one planetary gear 4 and said second crown, a rotation of the third crown 3 by an angle equal to N·360° / N2 causes a rotation of the first crown 1 by an angle equal to N·360°·(N2-N1) / (N1·N2). The rotational movement of the first crown 1 is therefore divided into a number of positions equal to a multiple of the number N1 and at most equal to the product N1·N2. In fact, for example when N1=N2±1, the first crown 1 rotates by an angle equal to 360° / (N1·N2) each time a tooth on the third crown 3 moves. The first crown can then assume N1·N2 different angular positions, a number significantly greater than the N1 positions that it could occupy when it was used alone in a traditional gear.

[0211] In the embodiment shown, in which N1=136 and N2=135, the rotational movement of the first crown 1 about the axis of rotation X is divided into 136·135=18360 different positions. Then, each time a tooth of the third crown 3 is engaged by the toothed wheel 303, the third crown 3 rotates about the axis of rotation X by an amount equal to Thus, at least one planet gear 4 also rotates by the same angle about the axis of rotation X, while engaging the first toothing D1 and the second toothing D2 with the first planetary toothing D41 and the second planetary toothing D42, respectively. The second crown 2 remains fixed, while the first crown 1 undergoes a rotation at the axis of rotation X due to the difference between the number N1 and the number N2, in order to maintain the correct engagement between the first toothing D1 and the first planetary toothing D41. This rotation is equal to This angle is certainly smaller than the angle that the first crown would experience if it were to rotate directly from the toothed crown engaged with the first toothing D1. The rotation angle of .

[0212] In summary, each time the third crown 3 rotates due to meshing with the teeth of the toothed wheel 303, the first crown 1 rotates compensatingly. During said compensating rotation, the angle spaced from the first crown 1 is significantly smaller than the angle spaced by the third crown 3 and has the purpose of maintaining the correct meshing between the first toothing D1 and the first planetary toothing D41. It is also noted that if the toothed wheel 303 meshes by mistake one tooth more or less, that is to say N±1 teeth instead of N teeth, the positioning error of the first crown 1 and then of the component 200 will be of a moderate degree, even negligible for many applications. This aspect allows the use of a conventional actuator module 300 without having to specifically design an actuator meeting high precision requirements.

[0213] The structure of the system S means that the rotation of the first crown 1 involves a rotation about the axis of rotation X, which also involves the component 200, bearing in mind that the component 200 is constrained to the first crown 1. Once the desired position of the component 200 is reached, such as for example in Fig. 13B As shown in , the tightening module 400 is activated so as to bring the device 100 into the closed configuration P1 in which the first crown 1 is constrained by the third crown 3, which in turn is constrained to the fixed second crown 2. The first crown 1 is then unable to perform any rotation about the axis of rotation X and the component 200 remains stably in the assumed position. This stability of position allows the component 200 to perform the work for which it is intended, by releasing the tightening module 400 and appropriately moving the crowns of the device 100 before moving again.

[0214] Advantages of the present invention

[0215] The present invention has significant technical effects compared to the prior art.

[0216] Firstly, the device 100 according to the invention allows an extremely precise positioning of the component 200, which can then be used to perform operations requiring extremely high precision. In particular, the device 100 allows the rotation of the first crown 1 to be divided into a plurality of positions with extremely small pitches. In particular, the device 100 allows the component 200 to be positioned in a plurality of different positions, which is a multiple of the number of positions that can be ensured by a traditional gear. As previously described, the use of the device 100 allows the first crown 1 and the component 200 connected to it to be positioned in a plurality of different positions, which is equal to a multiple of the number N1, when, for example, N1=N2±1, it is at most equal to N2·N1 different positions. This characteristic makes the device 100 particularly suitable for technical fields in which extremely high operating precision is required.

[0217] In this sense, the device 100 is particularly easy and then cost-effective to produce, and is durable. In fact, if the same effect were to be achieved with conventional gears, an extremely laborious and cumbersome manufacturing process would be required in order to produce a toothed wheel with a high number of teeth with a precise profile. In fact, only with extremely complex and precise gears would it be possible to guarantee a number of positions comparable to that allowed by the device 100. In addition to the drawbacks related to production costs, such gears would experience rapid degradation due to wear during positioning operations.

[0218] Another advantage is related to the moderate effects caused by too much or too little engagement of the wrong number of teeth. The positive coincidence of the teeth of the third crown 3 produces a rotation of the first crown 1 that is significantly lower than that of the third crown 3. In this sense, the positioning errors of the first crown 1 due to the errors in the number of teeth meshing on the third crown 3 are significantly reduced and the part 200 is still found to operate in a position suitable for the correct performance of its assigned task.

[0219] Another advantage is related to the toughness of the part 100 when it is in the closed configuration P1. The mutual engagement of the toothings of the various crowns of the device 100, especially when they have face toothings, makes it absolutely certain that the position reached during the positioning operation, that is, when the part 100 is in the open configuration P2, remains.

[0220] A further advantage of the device 100 is that it makes the system S particularly easy and cost-effective to use. In particular, the reduction ratio between the rotation of the third crown 3 and the rotation of the first crown 1 allows the use of an actuator module 300 that is already commercially available, without the need to design an actuator with very high precision and accuracy in handling the connecting parts.

[0221] Finally, the relative positioning process performed using device 100 requires a simple conversion between the desired angular displacement of first crown 1 (and then of component 200) and the number of teeth meshing with actuator module 300, and in particular with toothed wheel 303. Moreover, due to the characteristics of device 100, an error of a few units in the above conversion leads to a moderate deviation in the positioning of first crown 1, which generally allows a correct operation of component 200.

Claims

1. A mechanical positioning device (100) for positioning a component (200), the mechanical positioning device (100) comprising: - a first toothed crown (1) which, during use, is integrally connected to said component (200), said first crown (1) being configured to rotate about an axis of rotation (X) and having a substantially annular shape with a first external face (1o), a first internal face (1i), a first upper face (1u), a first lower face (1d); said first crown (1) comprising a first toothing (D1) situated at said first internal face (1i) or at said first external face (1o); said first crown (1) further comprising a lower toothing (D1-3) situated at said first lower face (1d); said first toothing (D1) having a number of teeth equal to N1; - a second toothed crown (2), said second crown (2) being rotationally fixed relative to said axis of rotation (X); said second crown (2) having a substantially annular shape with a second outer face (2o), a second inner face (2i), a second upper face (2u), and a second lower face (2d); said second crown (2) comprising a second toothing (D2) situated at said second inner face (2i) or at said second outer face (2o), said second crown (2) further comprising an upper toothing (D2-3) situated at said second upper face (2u); said second toothing (D2) having a number of teeth equal to N2; - a third crown (3) with teeth, the third crown (3) being interposed between the first crown (1) and the second crown (2); the third crown (3) being configured to rotate about the rotation axis (X) and having a substantially annular shape with a third outer face (3o), a third inner face (3i), a third upper face (1u), and a third lower face (3d); the third crown (3) comprising a third toothing (D3) located at the third inner face (3i) or the third outer face (3o), a main coupling toothing (D3-1) located at the third upper face (3u), and a secondary coupling toothing (D3-2) located at the third lower face (3d); the number of teeth of the main coupling toothing (D3-1) being equal to the number of teeth of the lower toothing (D1-3); the number of teeth of the secondary coupling toothing (D3-2) being equal to the number of teeth of the upper toothing (D2-3); - at least one planetary gear (4) associated with the third crown (3) and driven by the third crown (3) in rotation about the axis of rotation (X); the at least one planetary gear (4) being engaged with the first toothing (D1) and the second toothing (D2); The number of teeth N1 and the number of teeth N2 are different from each other; The device (100) can be configured between the following configurations: - a closed configuration (P1) or a working configuration, in which the lower toothing (D1-3) and the primary coupling toothing (D3-1) engage with each other, the upper toothing (D2-3) and the secondary coupling toothing (D3-2) engage with each other, and in which the first crown (1), the second crown (2) and the third crown (3) are integral with each other; - an open configuration (P2) or a positioned configuration, wherein the first crown member (1), the second crown member (2) and the third crown member (3) are spaced apart from each other, and the lower tooth portion (D1-3), the primary coupling tooth portion (D3-1), the secondary coupling tooth portion (D3-2) and the upper tooth portion (D2-3) are not engaged with each other.

2. The device (100) according to claim 1, wherein: The number of teeth N1 and the number of teeth N2 differ by one unit, that is, N1=N2±1; Or wherein the number of teeth N1 and the number of teeth N2 differ by two or more units, that is, N1=N2±n, wherein n is an integer greater than 1; and / or wherein the number of teeth of the lower tooth portion (D1-3) is equal to N1; and / or wherein the number of teeth of the upper tooth portion (D2-3) is equal to N2; And / or wherein the number of teeth of the third tooth portion (D3) is equal to N2.

3. The device (100) according to claim 1 or 2, wherein the first tooth portion (D1) is arranged at the first inner face (1i), the second tooth portion (D2) is arranged at the second inner face (2i), and the third tooth portion (D3) is arranged at the third outer face (3o); or among them, The first toothing (D1) is arranged on the first outer face (1o), the second toothing (D2) is arranged on the second outer face (2o), and the third toothing (D3) is arranged on the third inner face (3i).

4. The device (100) according to any one of the preceding claims, wherein The at least one planetary gear (4) comprises a shaft (40), a first pinion (41) provided with a first planetary gear portion (D41), and a second pinion (42) provided with a second planetary gear portion (D42); and / or wherein the first planetary gear portion (D41) is engaged with the first gear portion (D1), and the second planetary gear portion (D42) is engaged with the second gear portion (D2); And / or wherein the shaft (40), the first pinion (41) and the second pinion (42) are configured to rotate relative to the third crown (3) about the longitudinal extension axis (Y) of the shaft (40).

5. The device (100) according to the preceding claim, wherein The first planetary gear portion (D41) and the second planetary gear portion (D42) have an equal number of teeth N3; And / or wherein the first tooth portion (D1) and the second tooth portion (D2) have equal pitch circle diameters; And / or wherein the first toothing (D1) and the second toothing (D2) have teeth with a modulus-corrected involute profile so as to engage with the first planetary toothing (D41) and the second planetary toothing (D42), respectively.

6. The device (100) according to any one of the preceding claims, comprising a plurality of planetary gears (4), and wherein: at least one planetary gear (4) having said first planetary gear (D41) rotated by an angle (A) about said longitudinally extending axis (Y) relative to said second planetary gear (D42), and / or wherein the lower tooth portion (D1-3) and the main coupling tooth portion (D3-1) are end face tooth portions configured to establish an end face connection between the first crown member (1) and the third crown member (3) when the device (100) is in the closed configuration (P1); And / or wherein the upper tooth portion (D2-3) and the auxiliary connecting tooth portion (D3-2) are end face tooth portions configured to establish an end face connection between the second crown member (2) and the third crown member (3) when the device (100) is in the closed configuration (P1).

7. The device (100) according to any one of the preceding claims, comprising at least one opening actuator (5) configured for transferring the device (100) from the closed configuration (P1) to the open configuration (P2); and / or where The at least one opening actuator (5) is positioned on the third crown (3) and acts on the first crown (1) and the second crown (2); and / or wherein the at least one opening actuator (5) comprises a spring piston, And / or wherein the third crown (3) has a housing portion (3S) comprising at least one seat for the at least one planetary gear (4), the housing portion (3S) being configured not to be in contact with the first crown (1) and the second crown (2) when the device is in the closed configuration (P1).

8. A positioning system (S), comprising: - an apparatus (100) according to any one of the preceding claims; - a component (200) to be positioned, said component (200) being constrained to said first crown (1); - an actuator module (300) operatively connected to the device (100) and configured to impart a rotational movement to the third crown (3).

9. The system (S) according to the preceding claim, comprising a fastening module (400) configured to be activated to keep the device (100) in the closed configuration (P1) and configured to be released to allow the device (100) to pass from the closed configuration (P1) to the open configuration (P2), and / or where The actuator module (300) comprises a motor (301) and a transmission member (302) operatively connected to the third crown (3); and / or where Said transmission member (302) comprises at least one toothed wheel (303) engaged with said third toothing (D3) so as to cause said third crown (3) to rotate.

10. The system (S) according to claim 8 or 9, wherein: The component (200) is a tool head suitable for completing processing and / or operation on an object.

11. A positioning process for positioning a component (200), the positioning process comprising the following steps: - Arrangement of a device (100) according to any one of claims 1 to 7; - constraining the component (200) to said first crown (1); - placing the device (100) in the open position (P1); - causing the third crown (3) to rotate, thereby causing the first crown (1) to rotate; - Placing said device (100) in said closed position (P2).

12. Positioning process according to the preceding claim, wherein: The step of rotating the third crown (3) provides for rotating the third crown (3) by engaging N teeth, thereby rotating the third crown (3) around the rotation axis (X) by an angle equal to N·360° / N2; the rotation of the third crown (3) causes the first crown (1) to rotate around the rotation axis (X) by an angle of N·360°·(N2-N1) / (N1·N2).

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