Positioning and fixing device
The positioning and fixing device addresses the challenge of high clamping force and accuracy by enabling relative movement and dual reference planes for precise alignment and fixation in multiple directions.
Patent Information
- Authority / Receiving Office
- JP · JP
- Patent Type
- Patents
- Current Assignee / Owner
- PASCAL ENG
- Filing Date
- 2022-08-30
- Publication Date
- 2026-05-29
Smart Images
Figure 0007867273000001 
Figure 0007867273000002 
Figure 0007867273000003
Abstract
Description
Technical Field
[0001] This technology relates to a positioning and fixing device.
Background Art
[0002] As a positioning and fixing device for positioning and fixing a fixing object (a work pallet for attaching a work to be machined, a mold, etc.) on a base body, those described in Patent Documents 1 to 4 below can be mentioned.
Prior Art Documents
Patent Documents
[0003]
Patent Document 1
Patent Document 2
Patent Document 3
Patent Document 4
Summary of the Invention
Problems to be Solved by the Invention
[0004] A positioning and fixing device is required to perform high clamping force and highly accurate positioning.
Means for Solving the Problems
[0005] The positioning and fixing device according to this technology can perform relative positioning between the first mechanism and the second mechanism and can fix the first mechanism and the second mechanism to each other.
[0006] The positioning and fixing device comprises a rod member fixed to a first mechanism, a cylinder mechanism provided in a second mechanism, a first member having a first reference plane that serves as a reference for positioning in a first direction, and a second member that abuts the rod member and has a second reference plane that serves as a reference for positioning in a second direction at least perpendicular to the first direction. The second member is movable relative to the first member in at least the first direction. The cylinder mechanism is capable of pulling the rod member toward the second mechanism along the first direction. [Effects of the Invention]
[0007] According to this technology, since the second member is movable in a first direction relative to the first member, it is possible to provide the first and second members with positioning functions in different directions. Specifically, the first member, which has a first reference plane, can be used to position in a first direction, and the second member, which has a second reference plane, can be used to position in a second direction.
[0008] Furthermore, since the second reference surface of the second member contacts the rod member to perform positioning in the second direction, the rod member that generates the clamping force can be given a positioning function. In this way, by using the member that generates the clamping force for fixing and the positioning member together, the limited space of the positioning and fixing device can be effectively utilized to position and fix the first mechanism and the second mechanism.
[0009] As a result, we can provide a positioning and fixing device that can perform highly accurate positioning and fixing while improving clamping force. [Brief explanation of the drawing]
[0010] [Figure 1] This is a cross-sectional view showing the clamped state (first state) of the positioning and fixing device. [Figure 2] Figure 1 is an enlarged view showing the area around the engaging device in the state shown in Figure 1. [Figure 3]This is a cross-sectional view showing the base mechanism (second mechanism) of the positioning and fixing device in the unclamped state (second state). [Figure 4] Figure 3 is a top view of the mechanism shown. [Figure 5] Figure 3 is a bottom view of the mechanism shown. [Figure 6] This is a cross-sectional view showing the mechanism on the object side (first mechanism) separated from the mechanism on the base side (second mechanism). [Figure 7] Figure 6 is a top view of the mechanism shown. [Modes for carrying out the invention]
[0011] Embodiments of this technology are described below. Note that the same or corresponding parts may be denoted by the same reference numerals, and their descriptions may not be repeated.
[0012] In the embodiments described below, when referring to the number, quantity, etc., unless otherwise specified, the scope of this technology is not necessarily limited to that number, quantity, etc. Also, in the embodiments described below, each component is not necessarily essential to this technology unless otherwise specified. Furthermore, this technology is not necessarily limited to achieving all of the effects and advantages mentioned in these embodiments.
[0013] In this specification, the terms "comprise," "include," and "have" are in open-ended form. That is, if a configuration includes one configuration, it may also include other configurations, or it may not.
[0014] In addition, in this specification, when geometric terms and terms representing positional and directional relationships, such as "parallel", "orthogonal", "45° oblique", "coaxial", "along", etc. are used, these terms allow for manufacturing errors or slight variations. When terms representing relative positional relationships, such as "upper side", "lower side", etc. are used in this specification, these terms are used to indicate the relative positional relationship in one state, and due to the installation direction of each mechanism (for example, flipping the entire mechanism upside down, etc.), the relative positional relationship can be inverted or rotated at an arbitrary angle.
[0015] FIG. 1 is a cross-sectional view showing the clamped state (first state) of the positioning and fixing device. The positioning and fixing device shown in FIG. 1 is capable of performing relative positioning (in the X-axis direction, Y-axis direction, and Z-axis direction) between the first mechanism 10 and the second mechanism 20 and fixing the first mechanism 10 and the second mechanism 20 to each other.
[0016] As shown in FIG. 1, the first mechanism 10 includes a pallet 10A (object to be fixed). The second mechanism 20 includes a base body 20A. For example, a workpiece to be subjected to machining is attached to the pallet 10A. The pallet 10A is an example of an object to be fixed, and the object to be fixed in the present technology is not limited thereto. For example, a mold may be used as the object to be fixed instead of the pallet 10A. The base body 20A may be fixed to a stationary object or may be in a movable state supported by a rotation support mechanism or the like. In addition, the positioning and fixing device according to the present technology can also be applied to a robot (such as an arm).
[0017] In the first mechanism 10, a substrate 100 is attached to the pallet 10A. A rod member 200 is screwed onto the substrate 100. The rod member 200 is provided so as to protrude from the substrate 100 toward the second mechanism 20 side.
[0018] In the second mechanism 20, a seating member 300 (first member) is provided so as to face the substrate 100. An annular member 400 (second member) is attached to the seating member 300. The annular member 400 is arranged substantially concentrically with the rod member 200.
[0019] The second mechanism 20 further includes an engaging tool 500, a housing 600, a cap member 700, a cylinder mechanism 800, and a biasing member 900.
[0020] The engaging tool 500 is held by the annular member 400. The housing 600, together with the cap member 700, constitutes the cylinder mechanism 800. The housing 600 can be made of a lightweight material such as aluminum for weight reduction of the positioning fixing device. The seating member 300 can be formed of a material with a higher hardness than the housing 600 for improving positioning accuracy. The engaging tool 500 engages with the rod member 200 and transmits the driving force of the cylinder mechanism 800 to the rod member 200. The biasing member 900 is housed in the cylinder mechanism 800.
[0021] In the first mechanism 10, the rod member 200 includes a plurality of (a pair in the example of FIG. 1) rod members 201, 202. The pair of rod members 201, 202 are provided so as to be arranged in the X-axis direction. In the second mechanism 20, a plurality of clamping devices 1, 2 are formed. The plurality of clamping devices 1, 2 each include annular members 401, 402, engaging tools 501, 502, cap members 701, 702, cylinder mechanisms 801, 802, and biasing members 901, 902.
[0022] The cylinder mechanisms 801, 802 each include cylinder chambers 811, 812 and piston members 821, 822. The cylinder chambers 811, 812 are each partitioned by the piston members 821, 822 into clamping chambers 811A, 812A and unclamping chambers 811B, 812B.
[0023] The biasing members 901 and 902 are provided in the clamping chambers 811A and 812A, respectively. The biasing members 901 and 902 bias the piston members 821 and 822 in the direction that brings them closer to the first mechanism 10 (clamping direction), respectively. That is, the biasing members 901 and 902 bias the piston members 821 and 822 in the downward direction in Figure 1, respectively.
[0024] In the clamping devices 1 and 2 provided on the second mechanism 20, the cylinder mechanisms 801 and 802 drive the piston members 821 and 822 in the retraction direction (moving the first mechanism 10 closer to the second mechanism 20) and the advancement direction (moving the first mechanism 10 away from the second mechanism 20). This switches between the clamped and unclamped states of the pallet 10A relative to the base body 20A.
[0025] The housing 600, located between the cylinder mechanisms 801 and 802, is provided with an air passage 1000 (fluid passage) that supplies working air (working fluid) to the cylinder mechanisms 801 and 802. The seating member 300 is provided with a detection air passage 1100. Air is supplied to the detection air passage 1100 to detect the seating of the substrate 100. Based on an increase in the air pressure in the detection air passage 1100, it is detected that the substrate 100 is in a seated state.
[0026] In the example shown in Figure 1, neither of the pair of annular members 400 is constrained to the seating member 300 in the Z-axis direction (first direction), and they are movable a small amount in the Z-axis direction. That is, the annular members 401 and 402 are held by the seating member 300 and the housing 600 with a small gap in the Z-axis direction.
[0027] Of the pair of annular members 400 shown in Figure 1, annular member 401 is constrained to the seating member 300 in the X-axis direction (third direction). Annular member 402 is not constrained to the seating member 300 in the X-axis direction (third direction) and is movable a small amount in the X-axis direction. That is, annular member 401 is fitted to the seating member 300 with substantially no gap in the X-axis direction, while annular member 402 is fitted to the seating member 300 with a small gap in the X-axis direction.
[0028] The pair of annular members 400 shown in Figure 1 are both constrained to the seating member 300 in the Y-axis direction (second direction). That is, the annular members 401 and 402 are both fitted to the seating member 300 with virtually no gap in the Y-axis direction.
[0029] In other words, of the pair of annular members 400 shown in Figure 1, annular member 401 is movable slightly in the Z-axis direction (first direction) relative to the seating member 300, and is constrained to the seating member 300 in the Y-axis direction (second direction) and the X-axis direction (third direction). On the other hand, annular member 402 is movable slightly in the Z-axis direction (first direction) and the X-axis direction (third direction) relative to the seating member 300, and is constrained to the seating member 300 in the Y-axis direction (second direction).
[0030] Thus, the pair of annular members 400 shown in Figure 1 are movable relative to the seating member 300 in at least the Z-axis direction (first direction).
[0031] As described above, by making only one of the pair of annular members 401, 402, the annular member 402, movable in the X-axis direction, it is possible to absorb the misalignment of the rod members 201, 202 in the X-axis direction when the first mechanism 10 and the second mechanism 20 are combined.
[0032] Figure 2 is an enlarged view showing the area around the engaging member 501 in the clamped state shown in Figure 1. Although Figure 2 shows the structure around the engaging member 501 of clamping device 1, the structure around the engaging member 502 of clamping device 2 is the same as in Figure 2, except that the annular member 402 is slightly movable in the X-axis direction.
[0033] As shown in Figure 2, the substrate 100 has a main surface 100A, and the rod member 201 has an outer peripheral surface 201A and a recess 201B.
[0034] The seating member 300 has a reference surface 300A (first reference surface) that serves as a reference for positioning in the Z-axis direction, and a circumferential surface 300B that restrains the annular member 401 in the X-axis and Y-axis directions. Positioning in the Z-axis direction is achieved when the reference surface 300A of the seating member 300 comes into contact with the main surface 100A of the substrate 100.
[0035] The annular member 401 has an outer circumferential surface 401A that abuts against the circumferential surface 300B of the seating member 300, an inner circumferential surface 401B that abuts against the outer circumferential surface 201A of the rod member 201, and a holding portion 401C that holds the engaging device 501. Positioning in the X-axis and Y-axis directions is achieved by the inner circumferential surface 401B (second reference surface) of the annular member 401 abutting against the outer circumferential surface 201A of the rod member 201, and the outer circumferential surface 401A (third reference surface) of the annular member 401 abutting against the circumferential surface 300B of the seating member 300. The outer circumferential surface 201A of the rod member 201, and the outer circumferential surface 401A and inner circumferential surface 401B of the annular member 401, having a circular shape when viewed from the Z-axis direction.
[0036] In the clamped state shown in Figures 1 and 2, air pressure is supplied to the clamp chambers 811A and 812A of the cylinder mechanism 800. As a result, the piston members 821 and 822 are driven downwards in Figures 1 and 2.
[0037] The piston member 821 of the cylinder mechanism 801 has an inclined surface 821A that contacts the engaging member 501. When the piston member 821 is driven toward the clamp side (lower side in Figure 2), the inclined surface 821A presses the engaging member 501 toward the inner diameter side and toward the base plate 100 side (diagonally downward in the figure). The engaging member 501, pressed by the inclined surface 821A, presses the annular member 401 toward the pallet 10A side (diagonally downward in the figure) and engages with the recess 201B of the rod member 201, pressing the rod member 201 toward the base body 20A side (diagonally upward in the figure). Multiple engaging members 501, made of steel balls, are provided arranged in the circumferential direction of the rod member 201. The rod member 201, pressed diagonally upward by each engaging member 501, is driven toward the upward direction in the figure, and the base plate 100 is pressed against the seating member 300. At this time, the Z-axis positioning is performed by the reference surface 300A of the seating member 300, and the X-axis and Y-axis positioning is performed by the outer circumferential surface 401A and inner circumferential surface 401B of the annular member 401.
[0038] The biasing member 900 biases the cylinder mechanism 800 in the clamping direction. Therefore, even if the supply of air pressure is interrupted, the positioning and fixing state is maintained by the biasing force of the biasing member 900.
[0039] Thus, in the positioning and fixing device according to this embodiment, positioning in the Z-axis direction can be performed by the seating member 300 having a reference surface 300A, and positioning in the X-axis and Y-axis directions can be performed by the annular member 401 having an outer peripheral surface 401A and an inner peripheral surface 401B. In other words, it is possible to give the seating member 300 and the annular member 400 positioning functions in different directions.
[0040] Furthermore, since the inner circumferential surface 401B (second reference surface) of the annular member 401 abuts against the outer circumferential surface 201A of the rod member 201 to perform positioning in the X-axis and Y-axis directions, the rod member 201 that generates the clamping force can be given a positioning function. In this way, by using the member that generates the clamping force for fixing and the positioning member together, the limited space of the positioning and fixing device can be effectively utilized to position and fix the first mechanism 10 and the second mechanism 20. As a result, highly accurate positioning and fixing can be achieved while improving the clamping force.
[0041] By inclining the outer circumferential surface 201A of the rod member 201 toward the outer diameter side as it approaches the base side (bottom side of the drawing) of the rod member 201, the positioning accuracy can be further improved.
[0042] In clamp device 2, a small gap is formed between the circumferential surface 300B of the seating member 300 and the annular member 402 in the X-axis direction. Therefore, the annular member 402 is not constrained in the X-axis direction, but only in the Y-axis direction. For this reason, in clamp device 2, only the Y-axis direction positioning is performed by the rod member 202 and the annular member 402. In clamp device 2, the Z-axis direction positioning is also performed by the seating member 300. By operating clamp devices 1 and 2, which include the seating member 300 and the pair of rod members 201, 202 and annular members 401, 402, simultaneously, positioning in the X-axis, Y-axis, and Z-axis directions can be performed while absorbing the pitch error between the rod members 201, 202 in the X-axis direction.
[0043] Next, we will explain the unclamped state (second state) of the positioning and fixing device using Figures 3 to 7.
[0044] Figure 3 is a cross-sectional view showing the second mechanism 20 in the unclamped state, and Figures 4 and 5 are the top and bottom views, respectively, of the second mechanism 20 shown in Figure 3. Figure 6 is a cross-sectional view showing the first mechanism 10 separated from the second mechanism 20, and Figure 7 is the top view of the first mechanism 10 shown in Figure 6.
[0045] When air pressure is supplied to the unclamping chambers 811B and 812B of the cylinder mechanism from the clamped state shown in Figures 1 and 2, the piston members 821 and 822 are driven to the unclamping side (upper side in Figure 3) against the biasing force of the biasing members 901 and 902, as shown in Figure 3. As a result, the engagement between the engaging device 500 and the rod member 200 is released, and the rod member 200 becomes detachable from the second mechanism 20.
[0046] As shown in Figures 4 and 5, in the second mechanism 20, the housing 600 and the seating member 300 are screwed to the base body 20A via mounting holes 20B. An air passage 1010 that supplies operating air pressure to the clamp chambers 811A and 812A and an air passage 1020 that supplies operating air pressure to the unclamping chambers 811B and 812B are formed to be aligned in the Y-axis direction.
[0047] As shown in Figure 5, the annular members 401 and 402 are fitted into fitting holes 301 and 302 provided in the seating member 300, respectively. The fitting holes 301 and 302 constitute the circumferential surface 300B of the seating member 300. The fitting hole 301 has a circular shape. Therefore, the annular member 401 is constrained to the seating member 300 in the X-axis and Y-axis directions. The fitting hole 302 has a shape that is slightly longer in the X-axis direction than in the Y-axis direction. Therefore, the annular member 402 is constrained to the seating member 300 in the Y-axis direction, but is slightly movable relative to the seating member 300 in the X-axis direction. This allows for the absorption of pitch errors between the rod members 201 and 202 in the X-axis direction.
[0048] As shown in Figures 6 and 7, in the first mechanism 10, the substrate 100 is screwed to the pallet 10A via mounting holes 10B. As shown in Figures 6 and 7, the substrate 100 only requires a simple structure with a pair of rod members 201 and 202, so the user of the positioning and fixing device does not need to prepare a complex configuration. Alternatively, the rod members 201 and 202 may be screwed directly to the pallet 10A.
[0049] According to the positioning and fixing device of this embodiment, positioning can be performed in terms of displacement in the X-axis, Y-axis, and Z-axis directions, as well as rotation around the three axes of the X-axis, Y-axis, and Z-axis, using a pair of clamping devices 1 and 2 (in this specification, this state is referred to as "perfect positioning"). In this way, since the clamping devices 1 and 2 have a positioning function, perfect positioning of the first mechanism 10 and the second mechanism 20 can be achieved by effectively utilizing the limited space of the positioning and fixing device. As a result, both high clamping force and highly accurate positioning can be achieved.
[0050] However, the scope of this technology is not limited to cases involving a pair of clamping devices 1 and 2, but also includes cases where the clamping devices 1 and 2 are used individually.
[0051] When clamp device 1 is used alone, a separate mechanism is required to restrain rotation around the Z axis in order to achieve perfect positioning. When clamp device 2 is used alone, a separate mechanism is required to restrain displacement in the X axis direction and rotation around the Z axis in order to achieve perfect positioning. Well-known structures can be applied to these mechanisms. In either case, since at least displacement in the Y axis direction and Z axis direction, as well as rotation around the X axis and Y axis, are restrained by the clamp device, it is possible to simplify the separate mechanisms compared to using a clamp device that does not have a positioning function. Therefore, the limited space of the positioning and fixing device can be effectively utilized to achieve perfect positioning of the first mechanism 10 and the second mechanism 20. As a result, both high clamping force and highly accurate positioning can be achieved.
[0052] While embodiments of the present technology have been described above, the embodiments disclosed herein should be considered in all respects to be illustrative and not restrictive. The scope of the present technology is defined by the claims, and all modifications within the meaning and scope equivalent to the claims are intended to be included. [Explanation of Symbols]
[0053] 1,2 Clamping device, 10 First mechanism, 10A Pallet, 10B Mounting hole, 20 Second mechanism, 20A Base body, 20B Mounting hole, 100 Substrate, 100A Main surface, 200,201,202 Rod member, 201A Outer surface, 201B Recess, 300 Seat member, 300A Reference surface, 300B Peripheral surface, 301,302 Fitting hole, 400,401,402 Annular member, 401A Outer surface, 401B Inner surface, 401C Holding part, 500,501,502 Engagement device, 600 Housing, 700,701,702 Cap member, 800,801,802 Cylinder mechanism, 811,812 Cylinder chamber, 811A,812A Clamp chambers, 811B, 812B; Unclamp chambers, 821, 822; Piston member, 821A; Inclined surface, 900, 901, 902; Biasing member, 1000, 1010, 1020; Air passage, 1100; Detecting air passage.
Claims
1. A positioning and fixing device capable of relative positioning of a first mechanism and a second mechanism, and fixing the first mechanism and the second mechanism to each other, A rod member fixed to the first mechanism, A cylinder mechanism provided in the second mechanism, A first member having a first reference plane that serves as a reference for positioning in a first direction, The rod member is a second member having a second reference surface that abuts against the rod member and serves as a reference for positioning in a second direction perpendicular to the first direction, The second member is movable in at least the first direction relative to the first member, The cylinder mechanism is a positioning and fixing device capable of pulling the rod member toward the second mechanism along the first direction.
2. The positioning and fixing device according to claim 1, wherein the second member is constrained by the first member in a third direction perpendicular to the first and second directions.
3. The positioning and fixing device according to claim 1, wherein the second member is movable relative to the first member in a third direction perpendicular to the first and second directions.
4. A pair of the second members are provided so as to be aligned in a third direction perpendicular to the first and second directions, One of the pair of second members is movable in the third direction relative to the first member, The positioning and fixing device according to claim 1, wherein the other of the pair of second members is constrained by the first member in the third direction.
5. A pair of cylinder mechanisms are provided so as to be aligned in a third direction perpendicular to the first and second directions, The positioning and fixing device according to claim 1, wherein a fluid passage is provided between the pair of cylinder mechanisms to supply working fluid to the pair of cylinder mechanisms.
6. The system further includes an engaging member that engages with the rod member and transmits the driving force of the cylinder mechanism to the rod member, The positioning and fixing device according to any one of claims 1 to 5, wherein the second member has a holding portion for holding the engaging device.
7. The cylinder mechanism includes a piston member and a cylinder chamber partitioned by the piston member, The positioning and fixing device according to any one of claims 1 to 5, further comprising a biasing member provided in the cylinder chamber for biasing the piston member in a direction that brings the piston member closer to the first mechanism.