Positioning and fixing device

Abstract

The positioning and fixing device is provided with: a rod member fixed to the first mechanism; a cylinder mechanism provided to the second mechanism; a first member having a first reference surface serving as a reference for positioning in the first direction; and a second member that is in contact with the rod member and has a second reference surface that serves as a reference for positioning in at least a second direction orthogonal to the first direction. The second member is movable relative to the first member at least in the first direction. The cylinder mechanism can draw the rod member toward the second mechanism in the first direction.

Description

Technical Field

[0001] The present technology relates to a positioning and fixing device. Background Art

[0002] As positioning and fixing devices for positioning and fixing a fixing object (a workpiece pallet on which a workpiece to be machined is mounted, a mold, etc.) on a base, devices described in the following Patent Documents 1 to 4 can be cited.

[0003] Prior art literature

[0004] Patent Literature

[0005] Patent Document 1: International Publication No. 2021 / 079749

[0006] Patent Document 2: German Patent Invention No. 102011080504

[0007] Patent Document 3: European Patent No. 2764952

[0008] Patent Document 4: German Patent Application Publication No. 10317336 Summary of the invention

[0009] Problem that the invention aims to solve

[0010] For positioning fixtures, high clamping force and high-precision positioning are required.

[0011] Solutions for solving problems

[0012] The positioning and fixing device of the present technology can perform relative positioning between a first mechanism and a second mechanism and fix the first mechanism and the second mechanism to each other.

[0013] The positioning and fixing device comprises: a rod member fixed to a first mechanism; a cylinder mechanism provided in a second mechanism; the first member having a first reference surface serving as a reference for positioning in a first direction; and a second member abutting against the rod member and having a second reference surface serving as a reference for positioning in a second direction at least orthogonal to the first direction. The second member is movable at least in the first direction relative to the first member. The cylinder mechanism is capable of pulling the rod member toward the second mechanism along the first direction.

[0014] Effects of the Invention

[0015] According to the present technology, since the second member can move in the first direction relative to the first member, the first member and the second member can each have a positioning function in different directions. Specifically, the first member having the first reference surface can be used to perform positioning in the first direction, and the second member having the second reference surface can be used to perform positioning in the second direction.

[0016] In addition, since the second reference surface of the second member is positioned in the second direction by abutting against the rod member, the rod member generating the clamping force can have a positioning function. In this way, by serving as both a member generating the clamping force for fixing and a positioning member, the limited space of the positioning and fixing device can be effectively utilized to perform positioning and fixing of the first mechanism and the second mechanism.

[0017] As a result of the above, it is possible to provide a positioning and fixing device capable of performing high-precision positioning and fixing while improving the clamping force. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 It is a cross-sectional view showing the clamping state (first state) of the positioning and fixing device.

[0019] Figure 2 Yes means Figure 1 An enlarged view of the surrounding area of ​​the engaging member in the state shown.

[0020] Figure 3 It is a cross-sectional view showing the mechanism (second mechanism) on the base body side in the released state (second state) of the positioning and fixing device.

[0021] Figure 4 yes Figure 3 A top view of the mechanism shown.

[0022] Figure 5 yes Figure 3 Bottom view of the mechanism shown.

[0023] Figure 6 It is a cross-sectional view showing a mechanism on the side of the fixing object (first mechanism) separated from a mechanism on the side of the base body (second mechanism).

[0024] Figure 7 yes Figure 6 A top view of the mechanism shown. DETAILED DESCRIPTION

[0025] The following describes an embodiment of the present technology. In addition, the same reference numerals are attached to the same or corresponding parts, and the description thereof may not be repeated.

[0026] In addition, in the embodiments described below, when the number, amount, etc. are mentioned, unless otherwise specified, the scope of the present technology is not necessarily limited to the number, amount, etc. In addition, in the following embodiments, unless otherwise specified, each component is not necessarily essential to the present technology. In addition, the present technology is not necessarily limited to exerting all the effects mentioned in the present embodiment.

[0027] In addition, in this specification, the descriptions of "comprise", "include", and "have" are open-ended. That is, when a certain structure is included, other structures other than the structure may be included or not included.

[0028] In addition, in this specification, when geometrical terms and terms indicating position and direction relationships, such as "parallel", "orthogonal", "oblique 45°", "coaxial", "along", etc., are used, these terms allow for manufacturing errors or slight changes. In this specification, when terms such as "upper side" and "lower side" are used to indicate relative positional relationships, these terms are used as terms indicating relative positional relationships in one state, and the relative positional relationship can be flipped or rotated to any angle depending on the installation direction of each mechanism (for example, turning the entire mechanism upside down, etc.).

[0029] Figure 1 It is a cross-sectional view showing the clamping state (first state) of the positioning and fixing device. Figure 1 The positioning and fixing device shown can perform relative positioning (in the X-axis direction, the Y-axis direction, and the Z-axis direction) of the first mechanism 10 and the second mechanism 20 and fix the first mechanism 10 and the second mechanism 20 to each other.

[0030] like Figure 1 As shown, the first mechanism 10 includes a tray 10A (fixed object). The second mechanism 20 includes a base 20A. A workpiece for cutting is mounted on the tray 10A, for example. The tray 10A is an example of a fixed object, and the fixed object in the present technology is not limited to this. For example, a mold may be used as a fixed object instead of the tray 10A. The base 20A may be fixed to a stationary object, or may be supported by a rotating support mechanism, etc., so as to be movable. In addition, the positioning and fixing device of the present technology can also be applied to robots (arms, etc.).

[0031] In the first mechanism 10, a base plate 100 is attached to a tray 10A. A rod member 200 is screwed to the base plate 100. The rod member 200 is provided so as to protrude from the base plate 100 toward the second mechanism 20 side.

[0032] In the second mechanism 20, a seating member 300 (first member) is provided so as to face the base plate 100. An annular member 400 (second member) is attached to the seating member 300. The annular member 400 is disposed substantially concentrically with the rod member 200.

[0033] The second mechanism 20 further includes an engaging member 500 , a housing 600 , a cover member 700 , a cylinder mechanism 800 , and a biasing member 900 .

[0034] The engaging member 500 is held by the annular member 400. The housing 600 and the cover member 700 together constitute the cylinder mechanism 800. In order to reduce the weight of the positioning and fixing device, the housing 600 can be made of a lightweight material such as aluminum. In order to improve the positioning accuracy, the seating member 300 can be formed of a material with a higher hardness than the housing 600. The engaging member 500 engages with the rod member 200 to transmit the driving force of the cylinder mechanism 800 to the rod member 200. A force member 900 is accommodated in the cylinder mechanism 800.

[0035] In the first mechanism 10, the rod member 200 includes a plurality of ( Figure 1 In the example of the embodiment of the present invention, the rod members 201 and 202 are a pair. The rod members 201 and 202 are arranged in a row in the X-axis direction. In the second mechanism 20, a plurality of clamping devices 1 and 2 are formed. The plurality of clamping devices 1 and 2 respectively include annular members 401 and 402, engaging members 501 and 502, cover members 701 and 702, cylinder mechanisms 801 and 802, and force applying members 901 and 902.

[0036] The cylinder mechanisms 801 and 802 include cylinder chambers 811 and 812 and piston members 821 and 822, respectively. The cylinder chambers 811 and 812 are divided into clamping chambers 811A and 812A and unclamping chambers 811B and 812B by the piston members 821 and 822, respectively.

[0037] The urging members 901 and 902 are provided in the clamping chambers 811A and 812A, respectively. The urging members 901 and 902 urge the piston members 821 and 822 in a direction (clamping direction) to make the piston members 821 and 822 approach the first mechanism 10, respectively. Figure 1 Apply force in the downward direction.

[0038] In the clamping devices 1 and 2 provided in the second mechanism 20, the cylinder mechanisms 801 and 802 drive the piston members 821 and 822 to the retracting side (direction of bringing the first mechanism 10 closer to the second mechanism 20) and the advancing side (direction of moving the first mechanism 10 away from the second mechanism 20). Thus, the clamping state and the releasing state of the pallet 10A relative to the base 20A are switched.

[0039] An air passage 1000 (fluid passage) for supplying working air (working fluid) to the cylinder mechanisms 801 and 802 is provided in a portion of the housing 600 located between the cylinder mechanisms 801 and 802. A detection air passage 1100 is provided in the seating member 300. Air for detecting the seating of the substrate 100 is supplied to the detection air passage 1100. The seating state of the substrate 100 is detected based on the increase in air pressure in the detection air passage 1100.

[0040] exist Figure 1In the example, the pair of annular members 400 are not constrained in the Z-axis direction (first direction) relative to the seating member 300 and can move slightly in the Z-axis direction. That is, the annular members 401 and 402 are held by the seating member 300 and the housing 600 with a slight gap in the Z-axis direction.

[0041] exist Figure 1 In the pair of annular members 400 shown, the annular member 401 is constrained by the seating member 300 in the X-axis direction (third direction). The annular member 402 is not constrained by the seating member 300 in the X-axis direction (third direction) and can move slightly in the X-axis direction. That is, the annular member 401 is fitted to the seating member 300 with substantially no gap in the X-axis direction, and the annular member 402 is fitted to the seating member 300 with a slight gap in the X-axis direction.

[0042] Figure 1 The pair of annular members 400 shown are both constrained in the Y-axis direction (second direction) by the seating member 300. That is, the annular members 401 and 402 are both fitted to the seating member 300 with substantially no gap in the Y-axis direction.

[0043] In other words, Figure 1 In the pair of annular members 400 shown, the annular member 401 can move slightly in the Z-axis direction (first direction) relative to the seating member 300, and is constrained in the Y-axis direction (second direction) and the X-axis direction (third direction) by the seating member 300. On the other hand, the annular member 402 can move slightly in the Z-axis direction (first direction) and the X-axis direction (third direction) relative to the seating member 300, and is constrained in the Y-axis direction (second direction) by the seating member 300.

[0044] so, Figure 1 The pair of annular members 400 shown in the figure can move relative to the seating member 300 at least in the Z-axis direction (first direction).

[0045] As described above, by making only one of the pair of annular members 401 and 402 movable in the X-axis direction, eccentricity of the rod members 201 and 202 in the X-axis direction can be absorbed when the first mechanism 10 and the second mechanism 20 are combined.

[0046] Figure 2 Yes means Figure 1 FIG. 5 is an enlarged view of the periphery of the engaging member 501 in the clamped state. Figure 2 , the structure of the periphery of the engaging member 501 of the clamping device 1 is shown, but the structure of the periphery of the engaging member 502 of the clamping device 2 is similar to that of the clamping device 2 except that the annular member 402 can move slightly in the X-axis direction. Figure 2It's the same.

[0047] like Figure 2 As shown, the substrate 100 has a main surface 100A, and the rod member 201 has an outer peripheral surface 201A and a recessed portion 201B.

[0048] The seating member 300 has a reference surface 300A (first reference surface) that serves as a reference for positioning in the Z-axis direction and a peripheral surface 300B that constrains the annular member 401 in the X-axis direction and the Y-axis direction. The reference surface 300A of the seating member 300 abuts against the main surface 100A of the substrate 100, thereby performing positioning in the Z-axis direction.

[0049] The annular member 401 has an outer peripheral surface 401A abutting against the peripheral surface 300B of the seating member 300, an inner peripheral surface 401B abutting against the outer peripheral surface 201A of the rod member 201, and a holding portion 401C for holding the engaging member 501. Positioning in the X-axis direction and the Y-axis direction is performed by abutting the inner peripheral surface 401B (second reference surface) of the annular member 401 against the outer peripheral surface 201A of the rod member 201 and the outer peripheral surface 401A (third reference surface) of the annular member 401 against the peripheral surface 300B of the seating member 300. The outer peripheral surface 201A of the rod member 201 and the outer peripheral surface 401A and the inner peripheral surface 401B of the annular member 401 have a circular shape when viewed from the Z-axis direction.

[0050] exist Figure 1 , Figure 2 In the clamping state shown, air pressure is supplied to the clamping chambers 811A and 812A of the cylinder mechanism 800. As a result, the piston members 821 and 822 are moved toward Figure 1 , Figure 2 The lower side drive in.

[0051] The piston member 821 of the cylinder mechanism 801 has an inclined surface 821A that abuts against the engaging member 501. Figure 2 When the engaging member 501 is driven in the inner diameter direction and the substrate 100 side (the oblique downward direction in the figure), the inclined surface 821A presses the engaging member 501 toward the inner diameter side and the substrate 100 side (the oblique downward direction in the figure). The engaging member 501 pressed by the inclined surface 821A presses the annular member 401 toward the tray 10A side (the downward direction in the figure), and engages with the recessed portion 201B of the rod member 201 to press the rod member 201 toward the base 20A side (the oblique upward direction in the figure). A plurality of engaging members 501 composed of steel balls are arranged in a circumferential direction of the rod member 201. The rod member 201 pressed in the oblique upward direction by each engaging member 501 is driven in the upward direction in the figure, and the substrate 100 is pressed against the seating member 300. At this time, positioning in the Z-axis direction is performed by the reference surface 300A of the seating member 300 , and positioning in the X-axis direction and the Y-axis direction is performed by the outer peripheral surface 401A and the inner peripheral surface 401B of the annular member 401 .

[0052] The urging member 900 urges the cylinder mechanism 800 in the clamping direction. Therefore, even if the supply of air pressure is interrupted, the urging force of the urging member 900 maintains the positioned and fixed state.

[0053] Thus, in the positioning and fixing device of the present embodiment, the seating member 300 having the reference surface 300A can be used for positioning in the Z-axis direction, and the annular member 401 having the outer peripheral surface 401A and the inner peripheral surface 401B can be used for positioning in the X-axis direction and the Y-axis direction. That is, the seating member 300 and the annular member 400 can each have positioning functions in different directions.

[0054] In addition, since the inner peripheral surface 401B (second reference surface) of the annular member 401 is in contact with the outer peripheral surface 201A of the rod member 201 to perform positioning in the X-axis direction and the Y-axis direction, the rod member 201 that generates the clamping force can have a positioning function. In this way, by serving as both a member that generates the clamping force for fixing and a positioning member, the limited space of the positioning and fixing device can be effectively utilized to perform positioning and fixing of the first mechanism 10 and the second mechanism 20. As a result, high-precision positioning and fixing can be performed while increasing the clamping force.

[0055] By inclining the outer peripheral surface 201A of the rod member 201 so as to go toward the outer diameter side as going toward the root side (lower side in the drawing) of the rod member 201 , the positioning accuracy can be further improved.

[0056] In addition, in the clamping device 2, in the X-axis direction, a slight gap is formed between the peripheral surface 300B of the seating member 300 and the annular member 402. Therefore, the annular member 402 is not constrained in the X-axis direction, but is constrained only in the Y-axis direction. Therefore, in the clamping device 2, positioning in the Y-axis direction of the X-axis direction and the Y-axis direction is performed only by the rod member 202 and the annular member 402. In the clamping device 2, positioning in the Z-axis direction is also performed by the seating member 300. By simultaneously operating the clamping devices 1 and 2 including the above-mentioned seating member 300 and a pair of rod members 201, 202 and annular members 401, 402, it is possible to absorb the spacing error of the rod members 201, 202 in the X-axis direction while performing positioning in the X-axis direction, the Y-axis direction and the Z-axis direction.

[0057] Next, use Figure 3 to Figure 7 The released state (second state) of the positioning and fixing device will be described.

[0058] Figure 3 is a cross-sectional view showing the second mechanism 20 in a released state, Figure 4 , Figure 5 They are Figure 3The top view and bottom view of the second mechanism 20 are shown. Figure 6 is a cross-sectional view showing the first mechanism 10 separated from the second mechanism 20, Figure 7 yes Figure 6 A top view of the first mechanism 10 is shown.

[0059] If from Figure 1 , Figure 2 From the clamping state shown in FIG. 1 , air pressure is supplied to the release chambers 811B and 812B of the cylinder mechanism. Figure 3 As shown, the piston members 821, 822 overcome the force of the force application members 901, 902 and are moved to the release side ( Figure 3 As a result, the engagement between the engaging piece 500 and the rod member 200 is released, and the rod member 200 can be separated from the second mechanism 20.

[0060] like Figure 4 , Figure 5 As shown, in the second mechanism 20, the housing 600 and the seating member 300 are screwed to the base 20A via the mounting hole 20B. The air passage 1010 for supplying working air pressure to the clamping chambers 811A and 812A and the air passage 1020 for supplying working air pressure to the unclamping chambers 811B and 812B are formed in a manner aligned in the Y-axis direction.

[0061] like Figure 5 As shown, the annular members 401, 402 are respectively fitted into the fitting holes 301, 302 provided in the seating member 300. The fitting holes 301, 302 constitute the peripheral surface 300B of the seating member 300. The fitting hole 301 has a circular shape. Therefore, the annular member 401 is constrained by the seating member 300 in the X-axis direction and the Y-axis direction. The fitting hole 302 has a shape that is slightly longer in the X-axis direction than in the Y-axis direction. Therefore, the annular member 402 is constrained by the seating member 300 in the Y-axis direction, but can move a certain amount relative to the seating member 300 in the X-axis direction. As a result, the spacing error between the rod members 201, 202 in the X-axis direction can be absorbed.

[0062] like Figure 6 , Figure 7 As shown, in the first mechanism 10, the base plate 100 is screwed to the tray 10A via the mounting hole 10B. Figure 6 , Figure 7 As shown, a simple structure of providing a pair of rod members 201 and 202 on the base plate 100 is sufficient, so there is no need for the user of the positioning and fixing device to prepare a complicated structure. In addition, the rod members 201 and 202 can also be screwed directly to the tray 10A.

[0063] According to the positioning and fixing device of this embodiment, a pair of clamping devices 1 and 2 can be used to perform positioning for displacement in the X-axis direction, the Y-axis direction, and the Z-axis direction and rotation around the three axes of the X-axis, the Y-axis, and the Z-axis (in this specification, this state is referred to as "complete positioning"). In this way, since the clamping devices 1 and 2 have a positioning function, the limited space of the positioning and fixing device can be effectively utilized to perform complete positioning of the first mechanism 10 and the second mechanism 20. As a result, both high clamping force and high-precision positioning can be achieved.

[0064] However, the scope of the present technology is not limited to the case where a pair of clamping devices 1 and 2 are included, and also includes the case where the clamping devices 1 and 2 are used alone.

[0065] When the clamping device 1 is used alone, in order to perform complete positioning, it is necessary to set up a mechanism that constrains the rotation around the Z axis. When the clamping device 2 is used alone, in order to perform complete positioning, it is necessary to set up a mechanism that constrains the displacement in the X-axis direction and the rotation around the Z axis. With respect to these mechanisms, known structures can be applied. In either case, the clamping device at least constrains the displacement in the Y-axis direction and the Z-axis direction and the rotation around the X-axis and the Y-axis. Therefore, compared with the case of using a clamping device without a positioning function, the separately set mechanism can be simplified. Therefore, the limited space of the positioning and fixing device can be effectively utilized to perform complete positioning of the first mechanism 10 and the second mechanism 20. As a result, it is possible to achieve both high clamping force and high-precision positioning.

[0066] Although the embodiments of the present technology have been described above, the embodiments disclosed this time should be considered to be illustrative in all aspects and not restrictive. The scope of the present technology is indicated by the claims, and is intended to include all modifications within the meaning and scope equivalent to the claims.

[0067] Description of Reference Numerals

[0068] 1, 2, clamping device; 10, first mechanism; 10A, tray; 10B, mounting hole; 20, second mechanism; 20A, base; 20B, mounting hole; 100, substrate; 100A, main surface; 200, 201, 202, rod member; 201A, outer peripheral surface; 201B, recess; 300, seat member; 300A, reference surface; 300B, peripheral surface; 301, 302, fitting hole; 400, 401, 402, annular member; 401A, outer peripheral surface; 401B, inner peripheral Surface; 401C, retaining portion; 500, 501, 502, snap-fitting part; 600, housing; 700, 701, 702, cover member; 800, 801, 802, cylinder mechanism; 811, 812, cylinder chamber; 811A, 812A, clamping chamber; 811B, 812B, release chamber; 821, 822, piston member; 821A, inclined surface; 900, 901, 902, force-applying member; 1000, 1010, 1020, air passage; 1100, detection air passage.

Claims

1. A positioning and fixing device, which can perform relative positioning of a first mechanism and a second mechanism and fix the first mechanism and the second mechanism to each other, wherein: The positioning and fixing device comprises: a rod member fixed to the first mechanism; A cylinder mechanism, which is provided in the second mechanism; a first member having a first reference surface serving as a reference for positioning in a first direction; and a second member that contacts the rod member and has a second reference surface that serves as a reference for positioning in at least a second direction orthogonal to the first direction; The second member is movable relative to the first member at least in the first direction. The cylinder mechanism can pull the rod member toward the second mechanism side along the first direction.

2. The positioning and fixing device according to claim 1, wherein: The second member is constrained by the first member in a third direction that is orthogonal to the first direction and the second direction.

3. The positioning and fixing device according to claim 1, wherein: The second member is movable relative to the first member in a third direction that is orthogonal to the first direction and the second direction.

4. The positioning and fixing device according to claim 1, wherein: A pair of the second members are provided so as to be aligned in a third direction orthogonal to the first direction and the second direction, One of the pair of second members is movable in the third direction relative to the first member. The other of the pair of second members is constrained by the first member in the third direction.

5. The positioning and fixing device according to claim 1, wherein: A pair of the cylinder mechanisms are provided so as to be aligned in a third direction orthogonal to the first direction and the second direction. The positioning and fixing device is provided with a fluid path which is located between the pair of cylinder mechanisms and supplies working fluid to the pair of cylinder mechanisms.

6. The positioning and fixing device according to any one of claims 1 to 5, wherein: The positioning and fixing device further includes an engaging member that engages with the rod member to transmit the driving force of the cylinder mechanism to the rod member. The second member has a holding portion that holds the engagement tool.

7. The positioning and fixing device according to any one of claims 1 to 6, wherein: The cylinder mechanism includes a piston member and a cylinder chamber divided by the piston member. The positioning and fixing device further includes a biasing member provided in the cylinder chamber and biasing the piston member in a direction causing the rod member to approach the first mechanism.

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