Displacement control mechanism, conformity mechanism

Abstract

To provide an easy-to-use displacement regulation mechanism and a tracing mechanism.SOLUTION: A displacement regulation mechanism, which is a displacement regulation mechanism for regulating displacement in the axial direction of a shaft, includes an outer cylinder having a taper surface formed on an inner peripheral surface enclosing a peripheral surface of the shaft, an inner cylinder arranged inside the outer cylinder, a rolling element held in the inner cylinder, and an energization component for energizing the rolling element toward the taper surface through the inner cylinder. In the state where the inner cylinder is not moved in the axial direction, the outer cylinder can be relatively moved in the axial direction to the inner cylinder.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a displacement restriction mechanism and a conformity mechanism. [Background technology]

[0002] The following Patent Document 1 describes a workpiece supporting device that positions, places, and supports a workpiece when machining the workpiece. This workpiece supporting device is a workpiece supporting device that can be used for a plurality of different types of workpieces with different shapes, and includes a plurality of workpiece supporting means having a contact part at one end that can contact the workpiece and that can support one workpiece in cooperation with each other, a guide means that movably guides the workpiece supporting means so that the contact part moves up and down due to the movement of the workpiece supporting means, a movement restricting means that can restrict the downward movement of the contact part to an arbitrary height and can release this restriction, a moving means that automatically operates when the workpiece supporting means is placed at a predetermined position corresponding to each of the workpiece supporting means, and moves the workpiece supporting means so that the contact part is at a height set corresponding to each of the various types of workpiece, and a transporting means that can automatically transport the moving means to the predetermined positions corresponding to each of the workpiece supporting means in sequence.

[0003] This type of workpiece support device eliminates the need to create multiple jigs to fit the shapes of a wide variety of workpieces, and eliminates the need to change jigs to fit the shape of the workpiece. In addition, even if the shape of the workpiece is changed, there is no need to process the jig to fit the shape of the workpiece, which is particularly advantageous for small-lot production of a wide variety of workpieces. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] JP 2003-1535 A Summary of the Invention [Problem to be solved by the invention]

[0005] However, in the above-mentioned conventional technology, the work support means that changes shape according to the shape of the work and the device body that changes shape of the work support means are integrated, so the work support means cannot be moved as a pallet, making it difficult to move the work together with the pallet on a production line, for example, and leaving room for improvement in usability.

[0006] The present invention has been made in consideration of the above problems, and has an object to provide a displacement restriction mechanism and a tracking mechanism that are easy to use. [Means for solving the problem]

[0007] In order to solve the above problems, the displacement regulation mechanism of the present invention is a displacement regulation mechanism that regulates the axial displacement of a shaft, and comprises an outer tube having a tapered surface formed on its inner circumferential surface surrounding the circumferential surface of the shaft, an inner tube arranged inside the outer tube, rolling elements held in the inner tube, and a biasing member that biases the rolling elements toward the tapered surface via the inner tube, and adopts a configuration in which the outer tube is capable of moving axially relative to the inner tube while the inner tube does not move axially.

[0008] In addition, the conformation mechanism of the present invention is equipped with a plurality of shafts and a plurality of displacement regulation mechanisms that regulate axial displacement of the plurality of shafts, and conforms the tips of the plurality of shafts to the shape of a workpiece, and adopts a configuration in which the displacement regulation mechanisms are equipped with the displacement regulation mechanisms described above. Effect of the Invention

[0009] According to the present invention, it is possible to obtain a displacement restriction mechanism and a copying mechanism that are easy to use. [Brief description of the drawings]

[0010] [Figure 1] 1 is an external perspective view showing a multi-item pallet device in a first embodiment of the present invention. FIG. [Diagram 2]1 is an external perspective view showing a state in which a multi-item pallet is removed from an apparatus main body in a first embodiment of the present invention. FIG. [Diagram 3] FIG. 1 is a plan view of a multi-item pallet in a first embodiment of the present invention. [Figure 4] FIG. 2 is a right side view of the multi-item pallet in the first embodiment of the present invention. [Diagram 5] FIG. 2 is an enlarged view of a workpiece contact portion in the first embodiment of the present invention. [Figure 6] FIG. 6 is a view taken along line AA in FIG. 5. [Figure 7] FIG. 2 is a plan view of the device main body according to the first embodiment of the present invention. [Figure 8] FIG. 8 is a view taken along line BB in FIG. [Figure 9] FIG. 8 is a view taken along line CC in FIG. [Figure 10] 1 is a configuration diagram showing a schematic configuration of a control system of a multi-item pallet device in a first embodiment of the present invention. [Figure 11] 11 is a functional block diagram of a driver included in the control system shown in FIG. 10. [Figure 12] 11 is a functional block diagram of a shape reconstruction data generating device included in the control system shown in FIG. 10. [Figure 13] FIG. 4 is a diagram showing an example of shape restoration data stored in a driver of each actuator in the first embodiment of the present invention. [Figure 14] The shape reconstruction data shown in FIG. 13 is graphically represented as a bar graph. [Figure 15] FIG. 2 is an explanatory diagram illustrating a method of generating shape restoration data in the first embodiment of the present invention. [Figure 16] FIG. 2 is an explanatory diagram illustrating the operation of the multi-item pallet device in the first embodiment of the present invention. [Figure 17] FIG. 11 is an explanatory diagram illustrating a modified example of a method for generating shape restoration data in the first embodiment of the present invention. [Figure 18] FIG. 11 is a front view showing a three-dimensional vice according to a second embodiment of the present invention. [Figure 19]FIG. 11 is a cross-sectional configuration diagram of a displacement restriction mechanism according to a second embodiment of the present invention. [Figure 20] 20 is a cross-sectional view taken along the line DD in FIG. 19. [Figure 21] FIG. 11 is a cross-sectional view of a displacement restriction mechanism in which an outer ring 31 is fixed in the axial direction, as a comparative example. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. In the following description, a "multi-product compatible" pallet refers to a pallet that can be adapted to the shapes of multiple types of workpieces by modifying the shape of the pallet according to the shape of the workpieces.

[0012] (First embodiment) FIG. 1 is an external perspective view showing a multi-item pallet device 1 according to a first embodiment of the present invention. As shown in FIG. 1, the multi-item pallet device 1 has a multi-item pallet 2 (trading mechanism) and a device main body 3.

[0013] The multi-item pallet 2 has a pallet body 10 that is generally a rectangular plate in plan view, and a plurality of workpiece abutment parts 20 that are displaceable relative to the pallet body 10. The device body 3 displaces the plurality of workpiece abutment parts 20 to change the shape of the multi-item pallet 2 to match the shape of the workpieces (not shown). The multi-item pallet 2 shown in Figure 1 shows an example of the deformed state.

[0014] FIG. 2 is an external perspective view showing a state in which the multi-item pallet 2 in the first embodiment of the present invention has been removed from the device main body 3. As shown in FIG. The multi-item pallet 2 can be removed from the device body 3, and in the example shown in Fig. 2, it is placed on an auxiliary stand 4. The auxiliary stand 4 is provided with four support columns 5 which fit into holes 10a formed in the four corners of the pallet body 10 of the multi-item pallet 2.

[0015] The support pillars 5 form a space between the pallet body 10 and the auxiliary table 4 such that the lower ends of the workpiece abutment parts 20 extending downward from the pallet body 10 (more specifically, the lowermost ends of the workpiece abutment parts 20 that have not been displaced) do not come into contact with the auxiliary table 4. In this way, by placing the multi-item pallet 2 on the auxiliary table 4, the support stability of the multi-item pallet 2 after deformation can be improved. Therefore, for example, it becomes easy to move the multi-item pallet 2 along with the workpieces on a production line.

[0016] Next, the configuration of the multi-item pallet 2 will be described in detail.

[0017] Fig. 3 is a plan view of the multi-item compatible pallet 2 in the first embodiment of the present invention. Fig. 4 is a right side view of the multi-item compatible pallet 2 in the first embodiment of the present invention. Fig. 5 is an enlarged view of the work abutment portion 20 in the first embodiment of the present invention. Fig. 6 is a view taken along the line AA shown in Fig. 5. As shown in FIG. 3, the pallet body 10 is provided with a plurality of workpiece abutment rows 21 (workpiece abutment rows 21-1 to 21-10) in which a plurality of workpiece abutment portions 20 (workpiece abutment portions 20A to 20H) are arranged in a row.

[0018] In the following description, an XYZ orthogonal coordinate system is set, and the positional relationship of each member may be described with reference to this XYZ orthogonal coordinate system. The X-axis direction is the direction in which the workpiece abutment rows 21-1 to 21-10 are lined up (also referred to as the longitudinal direction of the pallet body 10), the Y-axis direction is the direction in which the workpiece abutment portions 20A to 20H are lined up (also referred to as the width direction of the pallet body 10), and the Z-axis direction is the displacement direction in which the workpiece abutment portion 20 is displaced (also referred to as the thickness direction of the pallet body 10).

[0019] The workpiece abutting portions 20 of this embodiment are arranged in an 8×10 matrix (8×10 is just an example) as shown in Fig. 3. The workpiece abutting portions 20 are arranged at equal pitches in the Y-axis direction in which the workpiece abutting portions 20A-20H form rows, and are also arranged at equal pitches in the X-axis direction in which the workpiece abutting rows 21-1-21-10 form rows. In other words, the intervals between each workpiece abutting portion 20 and the workpiece abutting portion 20 adjacent to it in the X-axis direction and the Y-axis direction are equal.

[0020] The pallet body 10 is formed slightly larger than the 8×10 arrangement area of ​​the workpiece abutment portions 20 in a plan view, and in this embodiment, is formed in a rectangular plate shape that is long in the X-axis direction. Positioning holes 10b are formed on both side surfaces of the pallet body 10 in the width direction (Y-axis direction) at positions corresponding to the workpiece abutment rows 21-1 to 21-10. In other words, the positioning holes 10b are formed on both side surfaces of the pallet body 10 in the longitudinal direction (X-axis direction) at the same pitch as the workpiece abutment rows 21.

[0021] As shown in Fig. 5 and Fig. 6, the work abutment portion 20 has a shaft 22, a tip portion 23 attached to the upper end of the shaft 22, and a receiving portion 24 attached to the lower end of the shaft 22. The shaft 22 extends in the Z-axis direction and is guided by a linear guide mechanism 11 attached to the pallet body 10 so as to be displaceable in the Z-axis direction. The linear guide mechanism 11 is attached so as to sandwich the upper and lower surfaces of the pallet body 10 with a retaining ring 12. The linear guide mechanism 11 guides the peripheral surface of the shaft 22 by rolling with a rolling body (not shown). The linear guide mechanism 11 may be configured to guide the peripheral surface of the shaft 22 by sliding on the inner peripheral surface of a cylinder.

[0022] The tip portion 23 is removable from the shaft 22 depending on the type of workpiece. In this embodiment, the tip portion 23 is a substantially conical rubber (elastic body), but it may be a sphere, or may be a hard material such as plastic or metal instead of an elastic body. The tip portion 23 may also be a suction cup or suction pad capable of adsorbing a workpiece. The receiving portion 24 is a disk body having a conical countersink 24 a formed on the lower surface thereof, and is fixed to the lower end of the shaft 22 via a flat head screw 25 .

[0023] Displacement restriction mechanisms 30 (30A, 30B) that regulate the displacement of the workpiece contact portion 20 in the Z-axis direction are provided above and below the linear guide mechanism 11. As shown in FIG. 6, the displacement restriction mechanism 30 includes an outer ring 31 having a tapered surface 31a formed on the inner circumferential surface surrounding the circumferential surface of the shaft 22, an inner ring 32 (holder) disposed inside the outer ring 31, a rolling element 33 held by the inner ring 32, a spring 34 that biases the rolling element 33 toward the tapered surface 31a via the inner ring 32, and a spring receiver 35 that fits into the inner circumferential surface of the outer ring 31 and receives a reaction force due to the bias of the spring 34. Note that a well-known ratchet mechanism or the like may be used as the displacement restriction mechanism 30.

[0024] The outer ring 31 and the inner ring 32 are both formed in a cylindrical shape and are combined to be relatively displaceable in the Z-axis direction. The tapered surface 31a of the outer ring 31 is formed so that the inner diameter gradually decreases toward the linear guide mechanism 11. The end face of the inner ring 32 on the linear guide mechanism 11 side is in contact with the linear guide mechanism 11 with a washer 36 sandwiched therebetween. The inner ring 32 is formed with a plurality of through holes 32a that penetrate in the radial direction and hold the rolling elements 33, spaced apart in the circumferential direction.

[0025] The rolling elements 33 are arranged to be capable of rolling in the respective through holes 32a of the inner ring 32. The rolling elements 33 may be balls, rollers (cylinders), or gourd-shaped elements in which the peripheral surface of the roller is recessed according to the peripheral surface of the shaft 22. In this embodiment, the gourd-shaped rolling elements 33 are used, which can ensure a large contact area (friction area) with the peripheral surface of the shaft 22.

[0026] According to the above configuration, when the rolling elements 33 held by the inner ring 32 are pressed into a wedge-shaped space formed between the peripheral surface of the shaft 22 and the tapered surface 31a of the outer ring 31 by the bias of the spring 34, the rolling elements 33 become wedges and restrict the displacement of the workpiece abutment portion 20 (shaft 22) in the Z-axis direction. The displacement restriction mechanism 30A arranged on the upper side of the linear guide mechanism 11 restricts the vertical downward movement of the workpiece abutment portion 20. The displacement restriction mechanism 30B arranged on the lower side of the linear guide mechanism 11 has a configuration in which the displacement restriction mechanism 30A is turned upside down, and restricts the vertical upward movement of the workpiece abutment portion 20.

[0027] In this embodiment, the above-mentioned displacement control mechanisms 30A, 30B are provided to prevent the work contact portion 20 from being displaced up and down due to vibrations, etc. after the multi-item pallet 2 is removed from the device main body 3. However, when used in an environment where vibrations, etc. do not need to be taken into consideration, it is sufficient to have at least the displacement control mechanism 30A (which restricts movement in the direction of gravity).

[0028] 3 and 4, the multi-item pallet 2 has connecting mechanisms 40 (40A, 40B) that connect the displacement regulation mechanisms 30 to each workpiece contact row 21. As shown in Fig. 4, the connecting mechanism 40A is disposed on the upper side of the pallet body 10, and connects all of the displacement regulation mechanisms 30A in that workpiece contact row 21. Moreover, the connecting mechanism 40B is disposed on the lower side of the pallet body 10, and connects all of the displacement regulation mechanisms 30B in that workpiece contact row 21.

[0029] The connecting mechanisms 40A and 40B are each formed in a long plate shape extending in the width direction (Y-axis direction) of the pallet body 10, and both ends thereof are connected via a shaft 41 so as to be displaceable in the thickness direction (Z-axis direction) of the pallet body 10. The shaft 41 is fixed to the connecting mechanism 40B, extends in the Z-axis direction, and is guided displaceably in the Z-axis direction by a linear guide mechanism 11 (having the same configuration as the linear guide mechanism 11 of the work abutment portion 20 described above) attached to the pallet body 10 and the connecting mechanism 40A. A stopper is provided at the upper end of the shaft 41 to prevent it from coming off from the linear guide mechanism 11.

[0030] As shown in Fig. 6, the connecting mechanisms 40A, 40B contact the end faces (end faces opposite the pallet body 10) of the outer rings 31 of the displacement restriction mechanisms 30A, 30B, and receive the reaction force of the springs 34. In this state, the displacement of the workpiece abutment parts 20 (shafts 22) in the Z-axis direction is restricted in both cases (also called a clamped state). Here, when the connecting mechanisms 40A, 40B are pressed toward the pallet body 10 against the bias of the springs 34, the outer rings 31 (tapered surfaces 31a) move toward the pallet body 10, the rolling elements 33 roll out of the wedge-shaped spaces, and both displacement restrictions in the Z-axis direction of the workpiece abutment parts 20 (shafts 22) are released (also called an unclamped state).

[0031] As shown in Fig. 3, the connecting mechanism 40A is formed with a position detection pattern 42 for the device body 3 (described later) to detect the position of the workpiece abutment row 21, and a row detection pattern 43 for detecting which row the workpiece abutment row 21 is. The position detection pattern 42 is formed by two holes spaced apart in the X-axis direction. The row detection pattern 43 is formed by a combination of four (4 bits) holes. That is, the row detection pattern 43 has a different hole formation pattern for each of the workpiece abutment rows 21-1 to 21-10.

[0032] Next, the configuration of the device main body 3 will be described in detail.

[0033] Fig. 7 is a plan view of the device body 3 in the first embodiment of the present invention, Fig. 8 is a view taken along line BB in Fig. 7, Fig. 9 is a view taken along line CC in Fig. 7. The device body 3 has a bottom plate 3a having a rectangular shape in a plan view, as shown in Fig. 7, a pair of side plates 3b standing on both sides in the width direction of the bottom plate 3a, and a top plate 3c connecting the upper ends of the pair of side plates 3b, as shown in Fig. 9. A support plate 3d (beam material) that supports an actuator row 92, which will be described later, is installed between the pair of side plates 3b. In addition, the pair of side plates 3b are connected to the bottom plate 3a by a plurality of connection plates 3e (reinforcement materials) shown in Fig. 7.

[0034] In addition, an XYZ Cartesian coordinate system is set in the explanation of the device body 3, and the positional relationship of each member may be explained with reference to this XYZ Cartesian coordinate system. The X-axis direction is the longitudinal direction (also called the conveying direction of the multi-item pallet 2) of the device body 3 (bottom plate 3a having a rectangular shape in a plan view), the Y-axis direction is the width direction of the device body 3 (the direction in which the pair of side plates 3b face each other), and the Z-axis direction is the height direction of the device body 3.

[0035] As shown in Figures 7 and 8, the device main body 3 has a pallet transporting section 50 that transports the multi-item pallet 2, and as shown in Figure 9, a pallet position detection section 60 that detects the position of the multi-item pallet 2 transported by the pallet transporting section 50, a pallet position fixing section 70 that fixes the position of the multi-item pallet 2 based on the result of the pallet position detection section 60, a pallet displacement restriction release section 80 that releases the displacement restriction imposed by the above-mentioned displacement restriction mechanism 30 on the multi-item pallet 2 whose position has been fixed by the pallet position fixing section 70, and a pallet shape restoration section 90 that displaces the work abutment section 20 of the multi-item pallet 2 whose displacement restriction has been released by the pallet displacement restriction release section 80.

[0036] As shown in FIG. 7, the pallet conveying section 50 has a pair of conveying belts 51 that support the bottom surface of the pallet body 10 of the multi-item pallet 2. The pair of conveying belts 51 are installed so as to be endlessly movable in the X-axis direction by a plurality of pulleys 52 attached to a pair of side plates 3b. One of the plurality of pulleys 52 is connected to the opposing pulley 52 in the Y-axis direction via a drive shaft 53. The drive shaft 53 is rotated forward and backward around an axis extending in the Y-axis direction by a stepping motor 54. The stepping motor 54 rotates the drive shaft 53 via a drive pulley 55 fixed to the drive shaft 53 and a drive belt 56 wound around the drive pulley 55.

[0037] As shown in Fig. 9, the pallet position detection unit 60 is provided on each of the pair of side plates 3b. The pallet position detection unit 60A provided on one side (-Y side) of the side plate 3b has an optical sensor (such as a photointerrupter) having a light projecting unit 61 and a light receiving unit 62. The pallet position detection unit 60A has two sets of the optical sensor spaced apart in the conveying direction (X-axis direction) of the multi-item pallet 2, and detects the position detection pattern 42 formed on the connecting mechanism 40A shown in Fig. 3 described above. The pallet position detection unit 60B provided on the other side (+Y side) of the side plate 3b has four sets of the optical sensor described above, and detects the 4-bit row detection pattern 43 formed on the connecting mechanism 40A shown in Fig. 3 described above.

[0038] The pallet position fixing unit 70 is located below the pallet position detection unit 60, and is provided on each of the pair of side plates 3b. The pallet position fixing unit 70 has a positioning pin 71 with a tapered tip, and an actuator 72 that moves the positioning pin 71 in the Y-axis direction. The actuator 72 has, for example, an air cylinder and a solenoid valve that supplies air to the air cylinder, and by turning the solenoid valve ON / OFF, the positioning pin 71 is inserted into and removed from the positioning hole 10b formed in the pallet body 10 described above.

[0039] The pallet displacement restriction release units 80 are disposed above and below the transport path of the multi-item pallet 2 by the pallet transport unit 50. The pallet displacement restriction release unit 80A disposed on the upper side (+Z side) of the transport path has a pressing member 81a capable of pressing the above-mentioned connecting mechanism 40A, and a pair of actuators 82a for moving the pressing member 81a in the Z-axis direction. The pressing member 81a has comb-tooth-shaped pressing portions 81a1 capable of pressing the connecting mechanism 40A while avoiding the workpiece abutment portions 20. The pressing portions 81a1 in this embodiment are half of the workpiece abutment portions 20 included in the workpiece abutment row 21, and are disposed at equal intervals in the Y-axis direction.

[0040] The pair of actuators 82a are located above the pallet position detection unit 60, are provided on each of the pair of side plates 3b, and are connected to both ends of the pressing member 81a in the Y-axis direction. The pair of actuators 82a each have, for example, an air cylinder and a solenoid valve that supplies air to the air cylinder, and move the pressing member 81a up and down by turning the solenoid valve ON / OFF.

[0041] On the other hand, the pallet displacement restriction release unit 80B arranged on the lower side (-Z side) of the conveying path has a pressing member 81b capable of pressing the above-mentioned connecting mechanism 40B, and a pair of actuators 82b (see FIG. 7) that move the pressing member 81a in the Z-axis direction. The pair of actuators 82b are air cylinders driven by electromagnetic valves, similar to the pair of actuators 82a described above, and are attached to the surface facing the +X side of the support plate 3d. Similarly to the above-mentioned pressing member 81a, the pressing member 81b has a comb-shaped pressing portion 81b1, but extends from directly above the pair of actuators 82a to directly above the actuators 91A to 91H described later. As shown in FIG. 9, the pressing member 81a has a through hole 81b2 formed therein to avoid interference with the shafts 93 of the actuators 91A to 91H.

[0042] The pallet shape restoring unit 90 is disposed below the transport path of the multi-item pallet 2. The pallet shape restoring unit 90 has a row of actuators 92 in which the same number of actuators 91A-91H as the number of work abutting portions 20 included in one row of the workpiece abutment rows 21 are arranged, and the actuator row 92 displaces each of the workpiece abutting portions 20 for each workpiece abutment row 21. Hereinafter, the position at which the actuator row 92 is disposed in the transport direction (X-axis direction) of the multi-item pallet 2 may be referred to as the shape restoring position.

[0043] The actuators 91 are arranged at equal pitches in the Y-axis direction in which the actuators 91A to 91H form a row. The pitch of the actuators 91 in the Y-axis direction is equal to the pitch of the workpiece contact portion 20 in the Y-axis direction. The actuator 91 has a shaft 93, a linear guide mechanism 94 that guides the shaft 93 in the Z-axis direction, a drive unit 95 that moves the shaft 93 in the Z-axis direction via the linear guide mechanism 94, and a driver 96 that drives the drive unit 95.

[0044] A truncated cone-shaped cap that can be inserted into the counterbore 24a shown in FIG. 6 described above is attached to the upper end of the shaft 93. The linear motion guide mechanism 94 is, for example, a ball screw mechanism, and moves the shaft 93 (screw shaft) in the Z-axis direction by rotating a nut (not shown). The driving unit 95 has, for example, a motor that rotates a nut of the linear guide mechanism 94 and a rotary encoder that detects the number of rotations of the motor. Note that the actuator 91 may be equipped with another displacement sensor (such as a linear encoder) as long as it can detect the amount of displacement of the shaft 93.

[0045] Next, the configuration of the driver 96 and the configuration of the control system 100 including the driver 96 will be described in detail.

[0046] Fig. 10 is a configuration diagram showing a schematic configuration of a control system 100 of a multi-item pallet machine 1 in a first embodiment of the present invention. Fig. 11 is a functional block diagram of a driver 96 included in the control system 100 shown in Fig. 10. Fig. 12 is a functional block diagram of a shape restoration data generating device 101 included in the control system 100 shown in Fig. 10. As shown in FIG. 10, the multi-item pallet device 1 (device body 3) can be electrically connected to an external shape restoration data generating device 101 via an I / O unit .

[0047] The I / O unit 102 is composed of I / O nodes, a line concentrator, etc., and is communicatively connected to the shape restoration data generating device 101 described later and various devices provided in the device main body 3 described above (the pallet transport unit 50, the pallet position detection unit 60, the pallet position fixing unit 70, the pallet displacement restriction release unit 80, and the pallet shape restoration unit 90 (i.e., each of the actuators 91A to 91H). The I / O unit 102 also has a control unit for monitoring and issuing commands to the various connected devices. The control unit monitors the various connected devices using a dedicated processor or a program executed by the processor, etc., and adjusts the timing of operations, etc. This control unit stores an ID for identifying the I / O unit 102.

[0048] The driver 96 of each actuator 91 of the pallet shape restoration unit 90 is integrally provided with a control unit for controlling the drive unit 95 of each actuator 91. The control unit is formed by a dedicated processor, a program executed by the processor, or the like. In the control system 100, as shown in Fig. 10, the control units mounted on the driver 96 of each actuator 91 are connected in series in a daisy chain, and CAN (Controller Area Network) communication is possible between the control units. An ID for identifying each driver is set in each driver 96 of each actuator 91, and the ID is stored in the control unit of the driver.

[0049] A shape restoration data generating device 101 can be connected to the I / O unit 102 from the outside. The shape restoration data generating device 101 is connected to a CAN communication line in the above-mentioned daisy chain connection, and through this connection, it is possible to rewrite a control script (program) for driving the actuators that is possessed by the driver 96 of each of the multiple actuators 91 connected in the daisy chain. Therefore, when it is not necessary to rewrite the script, it is not necessary to establish a connection between the shape restoration data generating device 101 and the I / O unit 102. The shape restoration data generating device 101 is formed as a personal computer or a microcomputer that executes the program for rewriting the script.

[0050] Fig. 11 shows a functional block diagram visualizing the functions exerted in the control unit of the driver 96 of the actuator 91. The functions represented by the functional blocks are realized by a program executed in the control unit using hardware such as a processor, input / output ports, and memory provided on the driver 96. Fig. 12 shows an image of the control executed by the shape reconstruction data generation device 101 displayed in the form of functional blocks. The control contents performed by these functional blocks are also realized by various methods such as the processor of the shape reconstruction data generation device 101 and the program executed therein.

[0051] The control unit of the driver 96 is formed with an input unit 96a, an output unit 96b, an ID holding unit 96c, a coordinate data holding unit 96d, a script holding unit 96e, a script rewrite reception unit 96f, and a program execution unit 96g. The input unit 96a is a functional unit to which data required for drive control of the drive unit 95 that the driver 96 directly corresponds is input via an input port of the driver 96. The input unit 96a is also a functional unit to which a command signal for the drive unit 95 is input from the driver 96 of another actuator 91.

[0052] Contrary to the input unit 96a, the output unit 96b is a functional unit that outputs command signals for driving the respective driving units 95 directly associated with the driver 96 of the other actuators 91 to the control unit of the other driver 96 via the output port of the driver 96. Therefore, the command signal output from the output unit 96b of the control unit of the driver 96 is input to the input unit 96a of the control unit of the other driver 96 to which the command signal is output.

[0053] The ID storage unit 96c is a functional unit that stores an identification ID that is set for each driver 96 as described above. Specifically, the identification ID is stored in a memory on the driver 96. The coordinate data storage unit 96d is a functional unit that stores coordinate data that belongs to a movable range that the actuator 91 can take with respect to the driving of the driving unit 95. A command that directly specifies the coordinates of the destination of the driving unit 95 (the upper end of the shaft 93) is prepared in the program in the script storage unit 96e, and the coordinate data stored in the coordinate data storage unit 96d is used as an argument for the command.

[0054] The script holding unit 96e is a functional unit that holds, in a memory in the driver 96, a script including a program related to drive control of the drive unit 95 with which the driver 96 is directly associated. The script rewrite receiving unit 96f is a functional unit that receives a rewrite instruction when the script is rewritten by the external shape restoration data generating device 101. Therefore, the script edited on the shape restoration data generating device 101 side is received by the script rewrite receiving unit 96f together with the rewrite instruction, whereby the program (script) for drive control held by the script holding unit 96e is rewritten.

[0055] The program execution unit 96g executes a program (script) for drive control stored in the script storage unit 96e, and actually controls the drive of the actuator 91. The program is configured so that the actuator 91 to be driven can be specified by the identification ID of the driver 96. The program execution unit 96g can also be considered a motor control unit that controls the drive unit 95 (motor). In this way, the driver 96 is electrically connected to the driver 96 of the other actuator 91 so that a mutual communication state is formed, and the number of wirings for mutual connection is small, and the control system 100 can be easily constructed. It is preferable to connect similar drivers 96 to the actuators of various devices other than the pallet shape restoration unit 90 provided in the device body 3 and electrically connect them to each other so that a mutual communication state is formed. It is preferable that the control unit of the I / O unit 102 described above is the master (head) of the control units of the various connected devices. The control unit of the I / O unit 102 also holds a script with a configuration substantially similar to that of the driver 96 shown in FIG. 11 described above, and communicates with, monitors, and commands the various connected devices using the script. It can be said that the control unit of the I / O unit 102 is obtained by adding a functional block called an I / O input / output unit to the configuration of the driver 96 shown in FIG. 11.

[0056] 12, the shape restoration data generating device 101 includes a driver recognizing unit 101a, a script editing unit 101b, and a script rewriting unit 101c. The driver recognizing unit 101a is a functional unit that recognizes a driver included in the control system 100 when the shape restoration data generating device 101 is connected to the control system 100 via a CAN communication connection. The driver 96 recognized by the driver recognizing unit 101a becomes a target for editing or rewriting the script by the shape restoration data generating device 101.

[0057] The script editing unit 101b is a functional unit that performs editing processes such as addition, change, and deletion on the script held by the control unit of the driver 96 included in the control system 100. The script rewriting unit 101c is a functional unit that reflects the script editing performed by the script editing unit 101b in the script held in the script holding unit 96e of the driver 96, and rewrites the script. The script rewriting is performed via a CAN communication connection between the shape restoration data generating device 101 and the control system 100 and a daisy chain connection between the input / output ports of each driver 96 and the drivers 96.

[0058] Next, a detailed description will be given of drive control of the actuators 91. A driver 96 of each actuator 91 drives a drive unit 95 of each actuator 91 based on shape restoration data as shown in the following Figs.

[0059] Fig. 13 is a diagram showing an example of shape restoration data stored in the driver 96 of each actuator 91 in the first embodiment of the present invention. Fig. 14 is a diagram showing the shape restoration data shown in Fig. 13 in the form of a bar graph. 13 is table data that holds coordinate data that specifies how much the driver 96 of each actuator 91A-91H drives the drive unit 95 for which row of the workpiece contact row 21. Note that the table data shown in FIG. 13 is 8×10, but can be expanded appropriately depending on the number of actuators 91 and the number of workpiece contact rows 21.

[0060] The driver 96 of each of the actuators 91A-91H stores a sequence (columns 1-10) corresponding to A-H. That is, the driver 96 of the actuator 91A stores coordinate data corresponding to columns 1-10 of A, the driver 96 of the actuator 91B stores coordinate data corresponding to columns 1-10 of B, and similarly, the driver 96 of the actuators 91C-91H stores coordinate data corresponding to columns 1-10 of C-H, respectively.

[0061] 10 generates the above-mentioned shape restoration data, and stores the generated shape restoration data in the driver 96 of each actuator 91 of the device main body 3. The shape restoration data generating device 101 can generate shape restoration data based on three-dimensional data of a workpiece W, for example, as shown in FIG.

[0062] Specifically, the shape restoration data generating device 101 determines the bottom surface (support surface) of the three-dimensional data of the workpiece W, and slices the bottom surface into slices according to the number of workpiece contact rows 21 (vertical direction in the example shown in FIG. 15, i.e., width direction perpendicular to the transport direction of the multi-item pallet 2). Next, when the bottom surface is cut horizontally (i.e., in the transport direction of the multi-item pallet 2) from A to H according to the number of actuators 91 (workpiece contact portions 20), a point where the vertical and horizontal intersect is extracted, and the distance at that point from a reference surface (the surface of the initial position (zero displacement) of the workpiece contact portion 20) is obtained as coordinate data.

[0063] Next, the shape restoration data generating device 101 generates table data as shown in FIG. 13 from the acquired coordinate data. Then, the driver 96 of each actuator 91A-91H corresponding to A-H stores the sequence of numbers in the table data. This allows the driver 96 of each actuator 91A-91H to read out the stored coordinate data and drive the drive unit 95 based on the coordinate data. For example, if the coordinate data shown in FIG. 13 is specified, the driver 96 of each actuator 91A-91H can drive each actuator 91 according to the coordinate data, and displace the workpiece contact portion 20 of the multi-item pallet 2 in the same way as the shape restoration data that has been diagrammed as shown in FIG. 14 (see FIGS. 16(a) and (b)).

[0064] To explain the specific operation, first, the multi-item pallet 2 is set in the device body 3 as shown in Fig. 16(a). Next, when a start switch (not shown) connected to the I / O unit 102 (see Fig. 10) of the device body 3 is pressed, the pallet transport unit 50 transports the multi-item pallet 2. The pallet transport unit 50 sends out the workpiece abutment rows 21 of the multi-item pallet 2 one row at a time to the shape restoration position where the actuator row 92 is arranged (directly above the actuator row 92 shown in Fig. 8).

[0065] 9 detects the position detection pattern 42 formed on the connecting mechanism 40A in the shape restoration position, the pallet transport unit 50 stops feeding the multi-item pallet 2. Next, the pallet position fixing unit 70 is driven and the positioning pins 71 are inserted into the positioning holes 10b to fix the position of the multi-item pallet 2. Next, the pallet displacement restriction release units 80A, 80B are driven and press the connecting mechanisms 40A, 40B to release the displacement restriction of the workpiece abutment parts 20 included in the workpiece abutment row 21 positioned in the shape restoration position.

[0066] Next, the pallet shape restoration unit 90 is driven, and the actuators 91A-91H provided in the same number as the pallet shape restoration unit 90 lift up each of the workpiece abutment units 20A-20H, for which the displacement restriction has been released. Note that, at the shape restoration position, the pallet position detection unit 60B shown in Fig. 9 detects the row detection pattern 43 formed on the connecting mechanism 40A, and each of the actuators 91A-91H reads out the coordinate data of the shape restoration data stored in the driver 96 from the detection result of the pallet position detection unit 60B, and drives the drive unit 95 based on the coordinate data.

[0067] When the driver 96 confirms with a rotary encoder or the like that the drive unit 95 (upper end of the shaft 93) has moved to the specified coordinates, it stops the drive unit 95. Next, the pallet displacement restriction release units 80A, 80B are driven to release the pressure on the connecting mechanisms 40A, 40B. As a result, as shown in FIG. 6, the workpiece abutment unit 20 cannot be displaced in the Z-axis direction, and the state after displacement can be maintained. Then, each of the actuators 91A-91H returns the shaft 93 to the initial position, and the pallet transport unit 50 sends out the next workpiece abutment row 21 to the shape restoration position.

[0068] By repeating the above operation for the workpiece contact rows 21-1 to 21-10, the shape of the multi-item pallet 2 can be restored based on the shape restoration data, as shown in FIG. 16(b). Once the shape of the multi-item pallet 2 has been restored in this manner, the multi-item pallet 2 can be removed from the device body 3 and placed on an auxiliary table 4 or the like as shown in FIG. 2 for transport together with the workpieces.

[0069] In this manner, the multi-item pallet device 1 of the present embodiment described above includes the multi-item pallet 2 capable of changing its shape according to the shape of the workpiece, the device main body 3 storing shape restoration data for changing the multi-item pallet 2 and restoring the shape of the multi-item pallet 2 based on the shape restoration data, and the multi-item pallet 2 is removable from the device main body 3. This configuration allows the workpiece to be sent to a production line together with the multi-item pallet 2, and improves usability. In addition, since the device main body 3 stores shape restoration data for changing the multi-item pallet 2, one device main body 3 can restore the shape of a large number of multi-item pallets 2. In other words, multi-item pallets 2 having a shape according to the workpiece can be mass-produced. Furthermore, when restoring the shape of the multi-item pallet 2, it is not necessary to press the multi-item pallet 2 against the workpiece to change its shape, as in the conventional technology, so that the device can be applied to soft workpieces or workpieces that are easily broken, for example.

[0070] Furthermore, in this embodiment, the multi-item pallet 2 has multiple work abutment rows 21 in which work abutment portions 20 that are displaceable relative to the pallet body 10 are arranged, and the device body 3 has one actuator row 92 in which the same number of actuators 91 as the number of work abutment portions 20 included in one row of the work abutment rows 21 are arranged, and the actuator row 92 displaces each of the work abutment portions 20 for each work abutment row 21. With this configuration, the time required to restore the shape of the multi-item pallet 2 can be significantly reduced compared to a configuration in which the work abutment portions 20 are displaced one by one as in the prior art.

[0071] Furthermore, in this embodiment, each actuator 91 included in the actuator row 92 has a drive unit 95 and a driver 96 that drives the drive unit 95, and the drivers 96 are electrically connected to the drivers 96 of the other actuators 91 so as to establish a mutual communication state. With this configuration, the number of wires connecting the actuators 91A to 91H to each other can be reduced, and the control system 100 can be easily constructed. In other words, a control system 100 with excellent expandability can be constructed.

[0072] In this embodiment, the multi-item pallet 2 includes a displacement restriction mechanism 30 provided for each workpiece contacting portion 20, which restricts the displacement of the workpiece contacting portion 20 in at least one of the displacement directions of the workpiece contacting portion 20, and a connecting mechanism 40 which connects the displacement restriction mechanisms 30 so as to be able to release the restriction on the displacement of the workpiece contacting portion 20 for each workpiece contact row 21. With this configuration, the displacement restriction mechanism 30 can maintain the state of the workpiece contacting portion 20 after displacement, and since each displacement restriction mechanism 30 is connected by the connecting mechanism 40, even if a load is locally applied to some of the displacement restriction mechanisms 30, it is possible to eliminate the concern that the displacement restriction of only some of the workpiece contacting portions 20 by the displacement restriction mechanism 30 will be unexpectedly released.

[0073] Furthermore, in this embodiment, the device body 3 has a pallet transport section 50 which sends the workpiece abutment rows 21 of the multi-item pallet 2 row by row to the shape restoration position where the actuator row 92 is arranged, and a pallet displacement restriction release section 80 which presses the connecting mechanism 40 at the shape restoration position to release the displacement restriction of the workpiece abutment parts 20 for each workpiece abutment row 21 and releases the pressure on the connecting mechanism 40 after the workpiece abutment parts 20 included in each workpiece abutment row 21 are displaced by the actuator row 92. With this configuration, it is possible to release the displacement restriction for each workpiece abutment row 21 and restrict displacement after the workpiece abutment parts 20 are displaced, so that the time required to restore the shape of the multi-item pallet 2 can be significantly shortened.

[0074] In addition, the control system 100 of the multi-item pallet device 1 of this embodiment includes the multi-item pallet device 1 and a shape restoration data generating device 101 that generates shape restoration data. The shape restoration data generating device 101 generates shape restoration data based on three-dimensional data of the workpieces and stores the generated shape restoration data in the device main body 3, so that shape restoration data for the multi-item pallet device 2 can be generated even for soft workpieces or workpieces that are easily broken.

[0075] In addition, if the workpiece W is relatively hard, the shape restoration data generating device 101 may generate shape restoration data based on actual data obtained when the multi-item compatible pallet device 1 actually deforms the multi-item compatible pallet 2 to match the shape of the workpiece W, as shown in Figure 17.

[0076] Specifically, as shown in FIG. 17(a), the workpieces W are placed on the multi-item pallet 2, and the multi-item pallet 2 is sent out in the same manner as in FIG. 16 described above. The workpieces W may be fixed on the multi-item pallet 2 using a fixture (such as a rope or a vice) not shown. The top plate 3c and the pressing member 81a shown in FIG. 9 may be removed or may have a different shape depending on the shape of the workpieces W. As shown in FIG. 17(a), when all the workpiece contacting parts 20 are lowered to the initial position, it is not necessary to release the downward displacement restriction of the workpiece contacting parts 20 in the displacement restriction release described later, so the displacement restriction release by the pallet displacement restriction release part 80A described above does not have to be performed. In other words, the pressing member 81b is sufficient, and the pressing member 81a may be removed.

[0077] At the shape restoration position directly above the actuator row 92, the workpiece abutment rows 21 are sent out row by row, and the above-mentioned position detection, position fixing, and displacement restriction release are performed. After the displacement restriction is released, the driver 96 of each actuator 91A to 91H drives the drive unit 95 until the upper end of the shaft 93 abuts against the workpiece W. The driver 96 stops the drive unit 95 when the upper end of the shaft 93 abuts against the workpiece W and the value of the rotary encoder stops moving, or when the current value of the drive unit 95 exceeds a predetermined threshold value due to abutment with the workpiece W. The driver 96 also stops the drive unit 95 when the upper end of the shaft 93 does not abut against the workpiece W for a certain period of time (for example, when a hole is opened in the workpiece W).

[0078] When the driving parts 95 of the actuators 91A to 91H are stopped, the pallet displacement restriction release part 80 is driven to restrict the displacement of each of the workpiece contact parts 20A to 20H. After that, the shape restoration data generating device 101 acquires the displacement data (actual data) of the driving parts 95 of each of the actuators 91A to 91H from a displacement sensor (rotary encoder, etc.) and generates coordinate data for the workpiece contact row 21. Note that the coordinate data may be zero for a location where the upper end of the shaft 93 does not contact the workpiece W. By repeating the above operation for all of the workpiece contact rows 21 (21-1 to 21-10) as shown in FIG. 17(b), it is possible to generate shape restoration data as shown in FIG. 13 and FIG. 14. With this configuration, even if there is no three-dimensional data of the workpiece W, it is possible to generate shape restoration data of the multi-item compatible pallet 2 from the workpiece W (actual object).

[0079] Second embodiment Next, a second embodiment of the present invention will be described. In the following description, the same or equivalent configurations as those in the above-mentioned embodiment are given the same reference numerals, and the description thereof will be simplified or omitted.

[0080] FIG. 18 is a front view showing a three-dimensional vice 200 according to the second embodiment of the present invention. The three-dimensional vice 200 shown in Fig. 18 is a conforming mechanism that has a plurality of the shafts 22 described above and a plurality of displacement restriction mechanisms 30, and conforms the tips of the plurality of shafts 22 to the shape of the workpiece W (a sphere in the example shown in Fig. 18). In other words, the three-dimensional vice 200 is a type of conforming mechanism, the same as the multi-item pallet 2 described above.

[0081] The three-dimensional vice 200 includes a pair of tracing units 201 and a base member 202 that faces the pair of tracing units 201 with a gap therebetween. The base member 202 has a pair of fixing parts 203 to which the tracing units 201 are fixed, and a connecting part 204 that connects the pair of fixing parts 203. The pair of fixing parts 203 are erected vertically from both ends of the connecting part 204 in the longitudinal direction. Therefore, the base member 202 is formed in a substantially U-shape when viewed from the front.

[0082] The tracing unit 201 includes the above-mentioned multiple shafts 22 and multiple displacement restriction mechanisms 30. The tracing unit 201 also includes a moving member 210 for releasing the displacement restriction in the axial direction of the shaft 22 of the multiple displacement restriction mechanisms 30. The moving member 210 is formed, for example, in a rectangular plate shape. Although not shown, the moving member 210 is guided movably in the axial direction of the shaft 22 with respect to the fixed part 203 of the base member 202 via the linear guide mechanism 11 and the shaft 41 (see FIG. 4), in the same manner as the above-mentioned connecting mechanism 40 (see FIG. 4).

[0083] An actuator 211 is connected to the moving member 210 via an actuator rod 212. The actuator 211 applies a load L to the moving member 210 to release the displacement restrictions of the multiple displacement restriction mechanisms 30. An example of this actuator 211 is an air cylinder. A spring 205 is provided between the moving member 210 and the workpiece contact portion 20.

[0084] When the actuator 211 moves the movable member 210 in the axial direction and the displacement restriction by the displacement restriction mechanism 30 is released, the spring 205 biases the work abutment portion 20 (tip) to come into contact with the work W. This makes it possible to clamp the work W by making the tip of the shaft 22 conform to the shape of the work W. Once the work W is clamped, the load L by the actuator 211 is released, and the displacement restriction mechanism 30 restricts the displacement of the shaft 22, and the shape is maintained (fixed).

[0085] Fig. 19 is a cross-sectional view of a displacement restriction mechanism 30 according to a second embodiment of the present invention. Fig. 20 is a cross-sectional view taken along the line DD shown in Fig. 19. 19, the shaft 22 is disposed by being inserted through a through hole 203a formed in the fixed portion 203 and a through hole 210a formed in the moving member 210. The displacement restriction mechanism 30 restricts the displacement of the shaft 22 in the axial direction.

[0086] Specifically, the displacement restriction mechanism 30 includes an outer ring 31 (outer cylinder) having a tapered surface 31a formed on its inner circumferential surface surrounding the circumferential surface of the shaft 22, an inner ring 32 (inner cylinder) disposed inside the outer ring 31, rolling elements 33 held by the inner ring 32, and a spring 34 (urging member) that urges the rolling elements 33 toward the tapered surface 31a via the inner ring 32. The inner ring 32 has a plurality of through holes 32a formed at intervals in the circumferential direction, which penetrate the inner ring 32 radially and hold the rolling elements 33.

[0087] The tapered surface 31a of the outer ring 31 decreases in diameter toward the fixed portion 203. The outer ring 31 receives the bias of the spring 34 via the spring receiver 35. This allows the outer ring 31 to come into contact with the moving member 210 and to move together with the moving member 210 in the axial direction of the shaft 22. On the other hand, the inner ring 32 comes into contact with the fixed portion 203 and is unable to move in the axial direction of the shaft 22 at least in the direction toward the fixed portion 203. In other words, the outer ring 31 is able to move relative to the inner ring 32 in the axial direction.

[0088] The inner ring 32 has a step formed at one end 32A thereof for receiving the end of the spring 34. Therefore, the inner ring 32 is immovable at least in the direction toward the fixed part 203 due to the reaction force of the biasing force of the spring 34. The other end 32B of the inner ring 32 is flat, and the inner ring 32 is movable in the radial and circumferential directions of the shaft 22. That is, the inner ring 32 is in a floating state in which it is immovable at least in the direction toward the fixed part 203 in the axial direction of the shaft 22, but is slightly movable relative to the fixed part 203 in the radial and circumferential directions of the shaft 22. The inner ring 32 may be fixed not only in contact with the fixed part 203 but also immovably relative to the fixed part 203. That is, it is sufficient that the outer ring 31 is movable relative to the inner ring 32 in the axial direction while the inner ring 32 is immovable in the axial direction.

[0089] 20, the rolling element 33 is gourd-shaped so as to ensure a large contact area (friction area) with the circumferential surface of the shaft 22. Specifically, the rolling element 33 has a first arcuate circumferential surface 33a that contacts the circumferential surface of the shaft 22, and second arcuate circumferential surfaces 33b that are disposed on both sides of the first arcuate circumferential surface 33a and contact the inner circumferential surface of the outer ring 31. This allows the rolling element 33 to come into contact with both the shaft 22 at a contact point P1 and the outer ring 31 at two contact points P2 and P3. The load acting on the rolling element 33 is evenly distributed by these three contact points P1 to P3.

[0090] A guide groove 31b recessed in the radial direction is formed on the inner peripheral surface of the outer ring 31. Meanwhile, a guide protrusion 32b protruding in the radial direction is formed on the outer peripheral surface of the inner ring 32. The guide groove 31b and the guide protrusion 32b are engaged with each other so as to be relatively movable in the axial direction of the shaft 22. Note that a predetermined gap is formed between the guide groove 31b and the guide protrusion 32b in the radial and circumferential directions of the shaft 22, allowing the inner ring 32 to move slightly relative to the outer ring 31 in the radial and circumferential directions.

[0091] 19, when the rolling elements 33 held by the inner ring 32 are pressed into a wedge-shaped space formed between the circumferential surface of the shaft 22 and the tapered surface 31a of the outer ring 31 by the bias of the spring 34, the rolling elements 33 become wedges and restrict the axial displacement of the shaft 22. On the other hand, when the displacement restriction is to be released, a load L is applied to the outer ring 31 via the moving member 210 to move the outer ring 31 in the axial direction (towards the fixed portion 203) relative to the inner ring 32.

[0092] Since the inner ring 32 is in contact with the fixed portion 203 and does not move in the axial direction, the rolling elements 33 hardly move in the axial direction and rotate on the spot (indicated by the symbol R). The rotation of the rolling elements 33 occurs by slipping against the shaft 22. For this reason, the load L required to release the restriction on the displacement of the shaft 22 is approximately equal to or greater than the friction force F between the shaft 22 and the rolling elements 33.

[0093] FIG. 21 is a cross-sectional view of a displacement restriction mechanism 30 in which the outer ring 31 is fixed in the axial direction, as a comparative example. 21, the outer ring 31 is fixed to the fixed portion 203 via the fixed ring 37. In this case, the load L required to release the restriction on the displacement of the shaft 22 becomes large.

[0094] 21 , the inner ring 32 is moved in the axial direction (towards the fixed portion 203) relative to the outer ring 31. Since the outer ring 31 is fixed to the fixed portion 203 in the axial direction, the rolling elements 33 move in the axial direction together with the inner ring 32 and hardly rotate. In this case, the load L required to release the restriction on the displacement of the shaft 22 must be approximately equal to or greater than the sum of the friction force F1 between the shaft 22 and the rolling elements 33 and the friction force F2 between the outer ring 31 and the rolling elements 33.

[0095] In the above-mentioned three-dimensional vice 200 (similar to the multi-item pallet 2 described in the first embodiment), since it is more efficient to simultaneously release the displacement restrictions of the multiple displacement restriction mechanisms 30, it is preferable that the load L required for the release is small. For this reason, the load L required for releasing the displacement restriction of the shaft 22 can be made smaller in a configuration in which the inner ring 32 is immovable in the axial direction as shown in FIG. 19 than in a configuration in which the outer ring 31 is fixed to the fixing portion 203 as shown in FIG. 21 and immovable in the axial direction. This allows the actuator 211 for releasing the displacement restriction of the shaft 22 (similar to the pallet displacement restriction release portion 80 described in the first embodiment) to be made smaller.

[0096] Thus, according to the second embodiment described above, the displacement restriction mechanism 30 restricts the axial displacement of the shaft 22, and includes an outer ring 31 having a tapered surface 31a formed on the inner circumferential surface surrounding the circumferential surface of the shaft 22, an inner ring 32 arranged inside the outer ring 31, rolling elements 33 held by the inner ring 32, and a spring 34 for biasing the rolling elements 33 toward the tapered surface 31a via the inner ring 32, and the outer ring 31 can move in the axial direction relative to the inner ring 32 while the inner ring 32 does not move in the axial direction. With this configuration, the load L required to release the restriction on the displacement of the shaft 22 can be reduced, and a displacement restriction mechanism 30 suitable for a copying mechanism such as the three-dimensional vice 200 (as well as the multi-item pallet 2) can be provided.

[0097] 19, the inner ring 32 bears the axial load L that is received by the outer ring 31. The inner ring 32 may be made of a lightweight and strong fiber reinforced plastic (FRP), metal, or the like.

[0098] Moreover, the inner ring 32 is movable in the radial and circumferential directions of the shaft 22. According to this configuration, the inner ring 32 is immovable relative to the fixed part 203 in the axial direction of the shaft 22, but is in a floating state movable relative to the fixed part 203 in the radial and circumferential directions of the shaft 22, so that the multiple rolling elements 33 shown in Fig. 20 move freely in the radial and circumferential directions of the shaft 22 and are easily engaged evenly in the wedge spaces. This makes it difficult for a biased load to be applied to the inner ring 32, and the load-bearing capacity of the inner ring 32 can be improved.

[0099] 18, the present embodiment includes a moving member 210 that simultaneously moves at least a portion (each of the tracing units 201) of the outer ring 31 of the multiple displacement regulation mechanisms 30 relative to the inner ring 32 in the axial direction. With this configuration, since the load L for releasing the displacement regulation of each displacement regulation mechanism 30 is small, it becomes possible to simultaneously release the displacement regulation of the multiple displacement regulation mechanisms 30 via the moving member 210.

[0100] Although the preferred embodiment of the present invention has been described above with reference to the drawings, the present invention is not limited to the above embodiment. The shapes and combinations of the components shown in the above embodiment are merely examples, and various modifications can be made based on design requirements, etc., without departing from the spirit of the present invention.

[0101] For example, in the above first embodiment, a configuration in which the multi-item pallet 2 supports workpieces has been described, but, for example, the multi-item pallet 2 (workpiece contact portion 20) may be used to adsorb the workpiece and suspend it from the ceiling. Also, for example, a pair of multi-item pallets 2 may be used to clamp a workpiece from the left and right, like the three-dimensional vice in the above second embodiment.

[0102] Also, for example, in the above first embodiment, a configuration has been described in which the actuator rows 92 each having the same number of actuators 91 as the workpiece contacting portions 20 are used to displace the workpiece contacting portions 20 for each workpiece contact row 21, but although it takes time, a configuration in which one actuator 91 is used to displace the workpiece contacting portions 20 one by one may also be used. The same applies to the above second embodiment. Further, one aspect of the present invention is as follows, for example. <1> A displacement restriction mechanism that restricts axial displacement of a shaft, an outer cylinder having a tapered surface formed on an inner circumferential surface surrounding the circumferential surface of the shaft; An inner cylinder disposed inside the outer cylinder; A rolling element held in the inner cylinder; a biasing member that biases the rolling elements toward the tapered surface via the inner cylinder, A displacement restriction mechanism, characterized in that the outer cylinder is movable axially relative to the inner cylinder while the inner cylinder is immobilized in the axial direction. <2> The inner cylinder receives the axial load received by the outer cylinder. <1> The displacement regulation mechanism described in <3> The inner cylinder is movable in the radial direction and the circumferential direction of the shaft. <1> or <2> The displacement regulation mechanism described in <4> A plurality of shafts; a plurality of displacement restriction mechanisms that restrict axial displacement of the plurality of shafts, A contouring mechanism for conforming the tips of the shafts to a shape of a workpiece, As the displacement restriction mechanism, <1> ~ <3> A conforming mechanism comprising the displacement restriction mechanism according to any one of the above. <5> a moving member for simultaneously moving at least a part of the outer cylinder of each of the plurality of displacement restriction mechanisms relative to the inner cylinder in the axial direction, <4> The copying mechanism described in. [Explanation of symbols]

[0103] 1. Pallet device for multiple products 2. Multi-product pallet (matching mechanism) 3. Device body 10 Pallet body 20 Work contact part 21 Workpiece contact row 30 Displacement Control Mechanism 31 Outer ring (outer cylinder) 31a Tapered surface 32 Inner ring (inner tube) 33 Rolling elements 34 Spring (biasing member) 40 Connecting mechanism (moving part) 50 Pallet transport section 80 Pallet displacement control release section 91 Actuator 92 Actuator Row 95 Drive unit 96 Drivers 100 Control System 101 Shape reconstruction data generator 200 Three-dimensional vice (copying mechanism) 203 Fixed part 210 Moving parts

Claims

1. A displacement restriction mechanism that restricts axial displacement of a shaft, an outer cylinder having a tapered surface formed on an inner circumferential surface surrounding the circumferential surface of the shaft; An inner cylinder disposed inside the outer cylinder; A rolling element held in the inner cylinder; a biasing member that biases the rolling elements toward the tapered surface via the inner cylinder, The outer cylinder is movable in the axial direction relative to the inner cylinder while the inner cylinder is not moved in the axial direction, A displacement restriction mechanism, characterized in that the inner cylinder is movable in a radial direction and a circumferential direction of the shaft.

2. 2. The displacement restriction mechanism according to claim 1, wherein the inner cylinder bears the axial load received by the outer cylinder.

3. A plurality of shafts; a plurality of displacement restriction mechanisms that restrict axial displacement of the plurality of shafts, A contouring mechanism for conforming the tips of the shafts to a shape of a workpiece, A contouring mechanism comprising the displacement regulating mechanism according to claim 1 or 2 as the displacement regulating mechanism.

4. 4. The copying mechanism according to claim 3, further comprising a moving member for simultaneously moving at least a part of the outer cylinder of each of the plurality of displacement restriction mechanisms relative to the inner cylinder in the axial direction.

Images