Component fixing device

Abstract

To provide a member fixing device and a member fixing method, enabling fixing object members to be fixed at predetermined positions and enabling the fixing object members to be easily attached to / detached from the predetermined positions.SOLUTION: A member fixing device is provided which fixes a fixing object member to a predetermined position. A first magnet is provided in a fixing face of the fixing object member, a second magnet having a magnetic pole different from that of the first magnet and a third magnet having a magnetic pole same as that of the first magnet, are arranged in a working face 4 for fixing the fixing object member, and the fixing face is fixed at a predetermined position of the working face by bringing the fixing object member close to the working face.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present invention relates to a member fixing device position .

Background Art

[0002] In cell culture, in an operation where a machine such as a robot and an operator cooperate, when setting a part used by the robot at a predetermined position, the operator sets it on a holder fixed to a work surface with bolts or the like. The robot picks up the parts set on the fixed holder and performs operations. The operator is working in a limited space while bypassing the working area of the robot. The holder is fixed at a position optimized for a specific operation. Thus, a culture apparatus for positioning various types of culture vessels is known (see, for example, Patent Document 1).

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] Here, since cell culture operations handle various materials in a limited environment (facility), the apparatus needs to be versatile. However, when cooperating with a robot or a machine, a holder specialized for the material (part) to be handled is required, so it is necessary to prepare a holder for each material. Also, since it is used by a robot or a machine, it is necessary to improve the accuracy of the position where the material is installed. Therefore, the holder was fixed to the work surface with bolts or the like.

[0005] However, when changing the materials (parts), it was necessary to adjust the position of the holder, which required extensive preparatory work and reduced work efficiency. Also, when malfunctions occurred in the equipment or the like, it was necessary for the operator to take over the work previously performed by the robot or machine. However, the holder hindered the operator's work and prevented smooth work execution. Furthermore, after the cell culture work, the working space was cleaned to maintain a clean environment, but there was also a problem that bacteria and culture media that had entered the installation interface between the holder and the workbench could not be easily removed.

[0006] The present invention has been made in view of the above-described problems, and an object thereof is to provide a member fixing device and a member fixing method capable of fixing a member to be fixed at a predetermined position and easily attaching and detaching the member to be fixed.

Means for Solving the Problems

[0007] To achieve the above object, a member fixing device according to the present invention is a member fixing device for fixing a member to be fixed at a predetermined position, wherein a first magnet is provided on a fixing surface of the member to be fixed, and a second magnet having a magnetic pole different from that of the first magnet and a third magnet having the same magnetic pole as the first magnet are arranged on a working surface for fixing the member to be fixed. When the member to be fixed is brought close to the working surface, the fixing surface is fixed at a predetermined position on the working surface.

[0008] According to this invention, since the first magnet is provided on the member to be fixed and the second magnet and the third magnet having different magnetic poles are provided on the member fixing device, a repulsive force acts between the first magnet and the third magnet, and an attractive force acts between the first magnet and the second magnet. Therefore, when the member to be fixed is brought close to the member fixing device, the fixing surface of the member to be fixed is guided to a predetermined position on the working surface of the member fixing device. That is, the member to be fixed can be surely fixed at the predetermined position. Also, since the member to be fixed and the member fixing device are positioned by magnets, they can be easily attached and detached.

[0009] Further, a plurality of the first magnets are provided on the fixed surface, the same number of second magnets are provided at positions facing the first magnets, and the third magnet may be provided at a position facing the fixed surface when the member to be fixed is fixed at a predetermined position. In this way, by providing a plurality of the first magnets and the second magnets and arranging the third magnet at an appropriate position, the member to be fixed can be more reliably arranged at a predetermined position on the work surface.

[0010] Also, among the plurality of the first magnets, magnets having the same size as the second magnets and magnets smaller than the second magnets are arranged, and when the member to be fixed is brought close to the work surface, the orientation of the member to be fixed may be configured to face a specified direction. By making the sizes of the magnets different in this way, the magnitude of the magnetic force when the member to be fixed is brought close to the work surface will vary depending on the location. Therefore, by arranging the plurality of second magnets at predetermined positions with different sizes, when the member to be fixed is brought close, the orientation of the member to be fixed can also be arranged in a predetermined direction.

[0011] The member fixing method according to the present invention is a member fixing method for fixing a member to be fixed at a predetermined position of a member fixing device. A plurality of first magnets are provided on the fixed surface of the member to be fixed, and a plurality of second magnets having magnetic poles different from those of the first magnets and a third magnet having the same magnetic pole as the first magnets are arranged on the work surface for fixing the member to be fixed in the member fixing device. When the fixed surface is brought close to the work surface, the first magnet and the third magnet repel each other, and the first magnet and the second magnet attract each other, so that the orientation of the member to be fixed faces a specified direction, and the member to be fixed is fixed at a predetermined position on the work surface of the member fixing device.

[0012] According to the present invention, since a plurality of first magnets are provided on the member to be fixed, and a plurality of second magnets and third magnets with different magnetic poles are provided on the member fixing device, a repulsive force acts between the first magnet and the third magnet, and an attractive force acts between the first magnet and the second magnet. Therefore, when the member to be fixed is brought close to the member fixing device, the fixing surface of the member to be fixed is guided while facing the predetermined position on the working surface of the member fixing device in a specified direction. That is, the member to be fixed can be reliably fixed at the predetermined position. Further, since the member to be fixed and the member fixing device are positioned by magnets, they can be easily attached and detached.

Effect of the Invention

[0013] According to the present invention, it is possible to provide a member fixing device and a member fixing method capable of fixing a member to be fixed at a predetermined position and easily attaching and detaching the member to be fixed.

Brief Description of the Drawings

[0014]

Figure 1

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Figure 10

Embodiments for Carrying Out the Invention

[0015] Hereinafter, a member fixing device and a member fixing method according to an embodiment of the present invention will be described with reference to FIGS. 1 to 10. In this embodiment, the fixing device and the fixing method will be described using a cell culture device.

[0016] As shown in FIG. 1, in the cell culture device 1, a working space S is formed in the main body 2. A movable glass plate 3 is arranged on the front surface of the working space S, and by opening and closing the glass plate 3, the working space S can be blocked and opened to the outside. The lower surface of the working space S is configured as a working surface 4, and various devices (members to be fixed), such as a robot arm 5, a centrifuge tube 6 (and a centrifuge tube stand 7), and a cryotube 8 (and a cryotube stand 9), are arranged on the working surface 4.

[0017] The working part (member fixing device) 10 disposed below the working space S will be described. As shown in FIGS. 2 and 3, the working part 10 includes a workbench 11 and a base plate 12 arranged on the upper surface of the workbench 11. The upper surface 12a of the base plate 12 is configured as the working surface 4.

[0018] The workbench 11 includes a flat substrate 13 and a wall plate 14 erected around the substrate 13. The workbench 11 is formed of a metal plate (for example, made of SUS). The base plate 12 can be arranged on the upper surface 13a of the substrate 13. The substrate 13 and the base plate 12 are joined by a base plate fixing magnet 15.

[0019] The joining structure between the substrate 13 and the base plate 12 will be described. A base plate fixing magnet (for example, a neodymium magnet) 15 is arranged at a predetermined position on the back surface 13b of the substrate 13. Specifically, a base plate fixing magnet body 17 in which the base plate fixing magnet 15 is embedded is fixed to the back surface 13b of the substrate 13.

[0020] The magnet body 17 for fixing the base plate is cylindrical, and the magnet 15 for fixing the base plate is embedded in one surface 17a. A female screw hole 19 into which a bolt 18 is screwed is formed in the other surface 17b. The magnet body 17 for fixing the base plate is fixed to the back surface 13b of the substrate 13 using a support metal fitting 20.

[0021] The support metal fitting 20 is a metal fitting formed in a convex shape in side view. The support metal fitting 20 has a pair of connecting plates 21, 21 fixed to the back surface 13b of the substrate 13, a pair of side plates 22, 22 formed so as to protrude from the connecting plate 21, and a fixing plate 23 connecting the side plates 22 to each other.

[0022] A bolt hole 26 through which a bolt 25 is inserted is formed in the connecting plate 21. The support metal fitting 20 and the substrate 13 are connected and fixed by inserting the bolt 25 through the bolt hole 26 and screwing it into a female screw hole (not shown) formed in the substrate 13. Note that a bolt hole through which the bolt 25 is inserted may be formed in the substrate 13 and screwed into a female screw hole formed in the base plate 12 for connection.

[0023] A bolt hole 29 through which the bolt 18 is inserted is formed in the fixing plate 23. The support metal fitting 20 and the magnet body 17 for fixing the base plate are connected and fixed by inserting the bolt 18 through the bolt hole 29 and screwing it into the female screw hole 19 on the other surface 17b. A washer 30 is interposed between the bolt 18 and the fixing plate 23.

[0024] The base plate 12 is a flat plate made of metal (for example, made of SUS). A magnet adsorption plate 31 that adsorbs to the magnet 15 is embedded at a position on the back surface 12b of the base plate 12 that faces the magnet 15 for fixing the base plate. The magnet adsorption plate 31 may be a magnet with different polarities that is surely adsorbed to the magnet 15 for fixing the base plate, or may be composed of a metal plate (for example, a ferromagnetic material such as iron or cobalt).

[0025] The substrate 13 and the base plate 12 are positioned and joined using a plurality of magnets 15 for fixing the base plate and the magnet adsorption plate 31. The positions for attaching the magnets 15 for fixing the base plate and the magnet adsorption plate 31 may be adjusted as appropriate. In addition, positioning pins may be attached to the substrate 13 of the workbench 11, and positioning holes into which the positioning pins are inserted may be formed in the base plate 12. Further, the working unit 10 may be configured with the upper surface of the workbench 11 as the working surface without including the base plate 12. Furthermore, the substrate 13 and the base plate 12 may be fixed by another fixing method without using the magnets 15 for fixing the base plate, or the base plate 12 may simply be placed on the upper surface of the substrate 13.

[0026] Next, a method for fixing the robot arm 5, the centrifuge tube 6 (and the centrifuge tube stand 7), the cryotube 8 (and the cryotube stand 9), etc. to predetermined positions on the base plate 12 will be described. As an example, a method for fixing the centrifuge tube stand 7 capable of installing the centrifuge tube 6 to the base plate 12 will be described.

[0027] As shown in FIGS. 4 and 5, a magnet body 40 for installation is fixed to the back surface 13b of the substrate 13 at the position where the centrifuge tube stand 7 is installed. The magnet body 40 for installation has a cylindrical shape, and magnets 41 (41a to 41f) for installation are embedded in one surface 40a. A female screw hole 42 into which a bolt (not shown) is screwed is formed in the other surface 40b. The method for fixing the magnet body 40 for installation to the substrate 13 is the same as the method for fixing the magnet body 17 for fixing the base plate to the substrate 13 described above. Note that the fixing method is arbitrary, and the magnet body 40 for installation may simply be fixed to the back surface 13b of the substrate 13 by adhesion.

[0028] Six magnets (second magnet and third magnet) 41a to 41f for installation are embedded in one surface 40a of the magnet body 40 for installation. Among the six magnets 41 for installation, five magnets (second magnet) 41a to 41e have N - pole magnets on one surface 40a, and one magnet (third magnet) 41f has an S - pole magnet on one surface 40a.

[0029] In a plan view, the six mounting magnets 41a to 41f are arranged in a substantially aligned manner. The mounting magnets 41a to 41c are arranged at substantially equal intervals in the front row F facing the front of the cell culture device 1, and the mounting magnets 41d to 41f are arranged at substantially equal intervals in the rear row R. In the rear row R, the mounting magnet 41f with a different magnetic pole is arranged in the middle, and the mounting magnets 41d and 41e are arranged on both sides thereof. Also, the middle mounting magnet 41b in the front row F is slightly shifted toward the rear row R side compared to the mounting magnets 41a and 41c on both sides. Note that the mounting magnet 41b may not be shifted toward the rear row R side.

[0030] Next, the structure of the centrifuge tube stand 7 will be described. As shown in FIGS. 6 to 8, the centrifuge tube stand 7 is formed of a resin member having a substantially rectangular parallelepiped shape. On the upper surface 7a of the centrifuge tube stand 7, a placement hole 46 into which the centrifuge tube 6 is inserted and placed is formed. The placement hole 46 is formed by being drilled in a cylindrical shape. On the bottom surface 46a of the placement hole 46, a tip hole 47 having a smaller diameter than the placement hole 46 is formed in accordance with the tip shape of the centrifuge tube 6. On the lower surface 7b of the centrifuge tube stand 7, a magnet hole 48 into which a fixing magnet 50 is embedded is formed. Five magnet holes 48 are formed on the lower surface 7b. The magnet hole 48 is formed by being drilled in a cylindrical shape.

[0031] As shown in FIG. 9, five fixing magnets (first magnets) 50a to 50e are embedded in the magnet hole 48 (in the following description, the five magnets may be collectively described as the fixing magnet 50). The fixing magnet 50 all has an S-pole magnetic pole on the lower surface 7b of the centrifuge tube stand 7. The fixing magnets 50a to 50e are arranged at positions where they respectively face the mounting magnets 41a to 41e when the lower surface 7b of the centrifuge tube stand 7 is opposed to the work surface 4. The fixing magnet 50 is fixed by forming a bolt hole (not shown) in the fixing magnet 50 and screwing it into a female screw hole 49 formed in the bottom surface 48a of the magnet hole 48. Note that the fixing magnet 50 may be fixed by adhering it to the magnet hole 48.

[0032] Next, a method for fixing the centrifuge tube stand 7 to the work surface 4 of the base plate 12 will be described. A base plate 12 is installed on the workbench 11 to form the working part 10. The workbench 11 and the base plate 12 are set at a predetermined position by the base plate fixing magnet 15 and the magnet adsorption plate 31.

[0033] Subsequently, bring the lower surface 7b of the centrifuge tube stand 7 closer to the working surface 4 of the base plate 12. At this time, markings may be made at the installation position of the working surface 4. When the lower surface 7b of the centrifuge tube stand 7 and the working surface 4 are close to each other, a magnetic field is generated between the fixing magnet 50 and the installation magnet 41, and a force is generated such that different magnetic poles attract and the same magnetic poles repel.

[0034] In this embodiment, all five magnets 50a to 50e of the fixing magnet 50 have S - pole magnetic poles on the lower surface 7b of the centrifuge tube stand 7. Also, among the installation magnets 41, five magnets 41a to 41e have N - pole magnetic poles on the working surface 4, and one magnet 41f has an S - pole magnetic pole. That is, an attractive force acts between the fixing magnet 50 (50a to 50e) and the five magnets 41a to 41e, and a repulsive force acts between the fixing magnet 50 (50a to 50e) and the one magnet 41f.

[0035] For example, when trying to bring the magnet 50b among the fixing magnets 50 closer to the magnet 41f, a repulsive force is generated and it cannot be brought closer than a certain distance, so it can be recognized that the horizontal orientation of the centrifuge tube stand 7 is incorrect. While further approaching against the repulsive force and slightly rotating the centrifuge tube stand 7 with the vertical direction as the axial direction, the repulsive force weakens, and the centrifuge tube stand 7 can be brought closer to the working surface 4.

[0036] When the five fixing magnets 50a to 50e and the five magnets 41a to 41e of the installation magnet 41 come to the positions where they attract each other respectively, the attractive force becomes maximum, and the centrifuge tube stand 7 can be positioned and fixed at a predetermined position on the base plate 12 (working surface 4).

[0037] By providing similar fixing magnets 50 on the lower surfaces 5b of the robot arm 5 other than the centrifuge tube stand 7 and the lower surface 9b of the cryotube stand 9, and arranging the installation magnets 41 on the workbench 11 side as well, each member and device can be easily arranged on the work surface 4 at a predetermined position and in a predetermined orientation.

[0038] In the working unit 10 of this embodiment, fixing magnets (first magnets) 50a to 50e are provided on the lower surface 7b of a member to be fixed such as the centrifuge tube stand 7, and on the work surface 4 for fixing the centrifuge tube stand 7, installation magnets 41 having magnets 41a to 41e with magnetic poles different from those of the fixing magnet 50 and a magnet 41f with the same magnetic pole as the fixing magnet 50 are arranged. When the centrifuge tube stand 7 is brought close to the work surface 4, the lower surface 7b is fixed at a predetermined position on the work surface 4. Therefore, the fixing magnet 50 and the magnet 41f exert a repulsive force, and the fixing magnet 50 and the magnets 41a to 41e exert an attractive force. As a result, when the centrifuge tube stand 7 is brought close to the work surface 4, the lower surface 7b of the centrifuge tube stand 7 is guided to a predetermined position and in a predetermined orientation by the magnetic force. That is, the centrifuge tube stand 7 can be surely fixed at a predetermined position and in a predetermined orientation. Also, since the centrifuge tube stand 7 and the work surface 4 are positioned by magnets, they can be easily attached and detached, and maintenance and cleaning work can also be easily performed.

[0039] Also, in this embodiment, since a plurality of fixing magnets 50 and installation magnets 41 are respectively arranged and fixed, the accuracy of the installation position can be improved.

[0040] Note that the above embodiment can be appropriately changed within the scope of the present invention. For example, in this embodiment, the description was given for installing the centrifuge tube stand 7 on the base plate 12 using magnets of the same size in plan view. However, the size of the magnets may be changed depending on the location. For example, as shown in FIG. 10, among the fixing magnets 50 provided on the lower surface 7b of the centrifuge tube stand 7, the magnets 50g and 50h in the rear row R may be made smaller than the magnets 50a to 50c. By varying the size of the magnets in this way, the magnitude of the magnetic force when the centrifuge tube stand 7 is brought close to the work surface 4 will vary depending on the location. Therefore, when the centrifuge tube stand 7 is brought close to the work surface 4, the orientation of the centrifuge tube stand 7 can be more reliably guided in a predetermined direction and fixed at a predetermined position.

[0041] Also, the number and arrangement of the fixing magnets 50 and the installation magnets 41 can be adjusted as appropriate. Further, the installation position of the member to be fixed such as the centrifuge tube stand 7 may be displayed by projection mapping or printed on the work surface 4. Furthermore, the robot may adjust minute deviations by cooperating with a robot having a position control function.

Explanation of Reference Numerals

[0042] 4 Work surface 5 Robot arm (member to be fixed) 5b Lower surface (fixing surface) 7 Centrifuge tube stand (member to be fixed) 7b Lower surface (fixing surface) 9 Cryotube stand (member to be fixed) 9b Lower surface (fixing surface) 10 Working part (member fixing device) 41 Installation magnet 41a~41e Installation magnet (second magnet) 41f Installation magnet (third magnet) 50 Fixing magnet 50a~50e,50g~50h Fixing magnet (first magnet)

Claims

Claim 1 A member fixing device for fixing a member to be fixed at a predetermined position, a first magnet is provided on the fixing surface of the member to be fixed, a second magnet having a magnetic pole different from that of the first magnet and a third magnet having the same magnetic pole as the first magnet are arranged on the working surface for fixing the member to be fixed, when the member to be fixed is brought close to the working surface, the fixing surface is fixed at a predetermined position on the working surface, a plurality of the first magnets are provided on the fixing surface, the same number of the second magnets are provided at positions facing the first magnets, the third magnet is provided at a position facing the fixing surface when the member to be fixed is fixed at the predetermined position, the plurality of the first magnets are arranged with magnets of the same size as the second magnet and magnets smaller than the second magnet, when the member to be fixed is brought close to the working surface, the member to be fixed is configured to face a specified direction, a member fixing device, characterized in that a pair of magnets smaller than the second magnet are provided among the plurality of the first magnets, and the third magnet is arranged between the pair of the first magnets.

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