WO2007074737A1

WO2007074737A1 - Positioning device, positioning system, and clamp device

Info

Publication number: WO2007074737A1
Application number: PCT/JP2006/325647
Authority: WO
Inventors: Keitaro Yonezawa; Hironori Yamada; Yosuke Haruna
Original assignee: Kosmek Ltd.
Priority date: 2005-12-27
Filing date: 2006-12-22
Publication date: 2007-07-05
Also published as: JPWO2007074737A1; JP4954899B2

Abstract

A tubular reference plug (21) provided at a stationary block (1) is insertable into a positioning hole (3) in a movable block (2). On the upper half of the reference plug (21) are provided two reference surfaces (31) and two pressing members (33) with a circumferential interval held between the surfaces and that held between the members. When an output rod (53) moves the pressing members (33) radially outward, the pressing members (33) press receiving sections (35) of the pressing hole (3) to move the movable block (2) in the horizontal direction. Thus, surfaces (36) functioning as the counter surfaces to the reference surfaces and belonging to the positioning hole (3) are pressed against the reference surfaces (31) of the reference plugs (21).

Description

Specification

POSITIONING DEVICE, POSITIONING SYSTEM, AND CLAMPING DEVICE

Technical field

The present invention relates to an apparatus for positioning a movable block such as a work pallet or a work on a fixed block such as a table of a machine tool, and further relates to a positioning system using the apparatus, and to the system The present invention relates to a clamping device to be used.

Background art

[0002] Conventionally, this type of positioning device is described in FIG. 4A and FIG. 4B of the following Patent Document 1 (Japan 'JP 2003-3 11572). The prior art is proposed by the assignee of the present invention and is configured as follows.

The fixing block force also causes the reference plug to protrude integrally upward. An annular collet inserted into the positioning hole of the movable block is disposed on the outer periphery of the reference plug. At the time of positioning, the collet is lowered by the upper part of the output member inserted into the reference plug. Then, the collet is taper-engaged with the reference plug to expand its diameter, and the outer peripheral surface of the collet presses the positioning hole to move the movable block and is in close contact with the positioning hole. As a result, the axis of the positioning hole is aligned with the axis of the reference plug.

Patent Document 1: JP 2003-311572

Disclosure of the invention

Problems to be solved by the invention

[0003] The above-described conventional device has excellent power in that the movable block can be accurately positioned on the fixed block by aligning the axis of the positioning hole with the axis of the reference plug, leaving room for improvement in the following points. It was.

Since the collet has a structure that expands and contracts in the diametrical direction by elastic deformation, the diameter expansion amount and the diameter reduction amount are small. For this reason, the fitting clearance when the positioning hole of the movable block is fitted to the collet is reduced, and labor is required for the fitting operation.

In the conventional apparatus, as described above, the outer peripheral surface of the collet is used for positioning. Functions as a reference plane. However, since the collet is a member that moves relative to the reference plug, it has been difficult to improve positioning accuracy by the outer peripheral surface of the collet.

An object of the present invention is to make it possible to easily position a movable block on a fixed block and to improve its positioning accuracy.

Means for solving the problem

[0004] To achieve the above object, the present invention provides, for example, each of Figs. 1 to 5B, Fig. 7, Fig. 8 to Fig. 12E, Fig. 13, Fig. 14, or Fig. 20A to Fig. 21. As shown in the figure, the device for positioning the movable block on the fixed block was constructed as follows.

[0005] The cylindrical reference plug (21) provided in the fixed block (1) is configured to be insertable into the positioning hole (3) of the movable block (2). At least one reference surface (31) is provided on the outer periphery of the reference plug (21). The output member (48) is inserted into the reference plug (21) so as to be movable in the axial direction. At least one pusher (33) is inserted into the peripheral wall (29) of the reference plug (21) so as to be movable in the radial direction. The output member (48) is configured to be able to move the pusher (33) outward in the radial direction. The pressing tool (33) moved outwardly moves the movable block (2) by pressing the receiving portion (35) of the positioning hole (3). The reference surface (36) of 3) is pressed against the reference surface (31) of the reference plug (21).

The present invention operates as follows, for example, as shown in FIGS. 3A to 4B.

In the released state of FIGS. 3A and 3B, the output member 48 is raised and the pusher 33 is switched to the radially disengaged position Y in the radial direction.

When positioning the movable block 2 on the fixed block 1, first, as shown in FIG. 3A, the movable block 2 is lowered in the released state and the positioning hole 3 is externally fitted to the reference plug 21. Next, the output member 48 is lowered. Then, the output portion (inclined surface) 55 of the output member 48 moves the pressing tool 33 outward in the radial direction to contact the positioning hole 3 as shown in FIGS. 4A and 4B. When the pressing tool 33 pressed outward in the radial direction presses the receiving portion 35 of the positioning hole 3, the movable block 2 is watered. The reference surface 36 of the positioning hole 3 is brought into close contact with the reference surface 31 of the reference plug 21. The pressing tool 33 and the reference surface 31 that are in close contact with the positioning hole 3 strongly position the movable block 2 on the fixed block 1.

[0007] Since the present invention operates as described above, the following effects can be obtained.

The pressing tool of the present invention can increase the amount of movement outward in the radial direction compared to the collet of the conventional example. For this reason, it is possible to increase the fitting gap between the positioning hole of the movable block and the reference plug, and the fitting operation between the positioning hole and the reference plug becomes easy.

Also, since the reference surface is formed on the reference plug, unlike the collet, the reference surface does not move relative to the reference plug. For this reason, it has become possible to improve positioning accuracy by using the reference surface as a positioning reference. Therefore, according to the present invention, the movable block can be easily positioned on the fixed block, and the positioning accuracy can be improved.

Furthermore, since the above-mentioned pressing tool is formed in a columnar shape or a spherical shape, the surface pressure at the time of pressing increases, so that the positioning hole of the movable block is elastically deformed or plastically deformed to strongly adhere to the positioning hole. Is possible. Therefore, the device of the present invention can ensure a predetermined clamping force.

[0008] Specifically, the present invention may be configured as follows.

The positioning hole may be formed in a circle or a polygon such as a quadrangle.

In the case where the positioning hole is formed in a circular shape, it is more preferable that the reference surface and the reference surface are configured by an arcuate surface. The reference plane is constituted by an arc surface having substantially the same radius.

In the case where the positioning hole is formed in a polygon, it is preferable that the reference surface is constituted by a plane.

In each of the above inventions, it is preferable that a protrusion is provided on the outer periphery of the reference plug, and the reference surface is formed on the protrusion.

[0009] In each of the above inventions, the fixed block and the reference plug are configured separately. The fixing block may be provided with means for positioning and fixing the reference plug. Also, the fixing block and the reference plug may be configured separately, and an annular core column may be formed from the fixing block. The output member is inserted into the central column so as to be movable in the axial direction, and the reference plug is externally fitted to the central column so as to be movable in the axial direction. It is possible.

It is preferable to press the separate reference plug in the distal direction by the advancement means.

Contrary to the above, the fixed block and the reference plug may be integrally formed.

[0010] It is conceivable that at least two reference planes are provided on the reference plug at intervals in the circumferential direction and only one reference plane is provided. Note that at least one pressing tool may be arranged. It is conceivable that the pressing tool is formed in a columnar 'ellipsoidal columnar' prismatic shape or a spherical shape.

In each of the above inventions, a discharge port for the pressure fluid is opened on the reference surface of the reference plug, and the target surface of the positioning hole is pressed against the reference surface when the target surface is pressed. It is preferable that the reference surface is configured to close the discharge port.

[0011] As a positioning system using the positioning device described above, a case where at least one positioning device described in any of the above inventions is provided and a case where a plurality of positioning devices according to a specific invention are provided are different. This may be the case of combining positioning devices.

[0012] The positioning system may be configured as follows, as shown in FIGS. 8 to 11B and 12A, for example.

Install two cylindrical reference plugs (21) horizontally above the fixed block (1). The movable block (2) is provided with two positioning holes (3) into which the two reference plugs (21) are inserted. Two reference surfaces (31) are provided on the outer periphery of the one reference plug (21) with a circumferential interval therebetween, and one reference surface (31) is provided on the outer periphery of the other reference plug (21). Is provided. The three reference surfaces (31) are arranged so as to prevent the movable block (2) from turning in a horizontal plane with respect to the one reference plug (21). the above The output member (48) is inserted into each of the reference plugs (21) so as to be movable in the axial direction. At least one pusher (33) is inserted in the peripheral wall (29) of each reference plug (21) so as to be movable in the radial direction. Each of the output members (48) is configured to be able to move the pressing tool (33) outward in the radial direction. The pressing tool (33) moved outward moves the movable block (2) by pressing the receiving portion (35) of each positioning hole (3), thereby moving the positioning. Press the reference surface (36) of the hole (3) against the reference surface (31) of the reference plug (21).

[0013] Further, as the above positioning system, for example, as shown in FIGS. 13 and 12A, it may be configured as follows.

Install three cylindrical reference plugs (21) horizontally above the fixed block (1). The movable block (2) is provided with three positioning holes (3) into which the three reference plugs (21) are inserted. Provide one reference surface (31) on the outer periphery of each of the three reference plugs (21). In order to prevent the movable block (2) from moving along the common tangent line (K) of two of the three reference surfaces (31), the remaining reference surfaces ( 31) is placed. The output member (48) is inserted into each of the reference plugs (21) so as to be movable in the axial direction. At least one pusher (33) is inserted into the peripheral wall (29) of each reference plug (21) so as to be movable in the radial direction. Each of the output members (48) is configured to be able to move the pressing tool (33) outward in the radial direction. The pressing tool (33) moved outward moves the movable block (2) by pushing the receiving portion (35) of each positioning hole (3), thereby moving the positioning hole. The reference surface (36) of (3) is pressed against the reference surface (31) of the reference plug (21).

[0014] Furthermore, as a clamping device used in the above positioning system, for example, as shown in FIG. 1, FIG. 6A, and FIG. 6B, it may be configured as follows.

A cylindrical plug (21) protruding from the fixed block (1) in the distal direction is configured to be inserted into the positioning hole (3) of the movable block (2). The plug (21) is supported on the fixed block (1) so as to be movable in the axial direction and movable in the radial direction. The plug (21) is pushed toward the tip by the advancement means (45). At least one reference surface (31) is provided on the outer periphery of the plug (21). Insert the output member (48) into the plug (21) so that it can move in the axial direction. Enter. At least one pusher (33) is inserted into the peripheral wall (29) of the plug (21) so as to be movable in the radial direction. The output member (48) is configured to be able to move the pusher (33) outward in the radial direction. When the pressing tool (33) moved outwardly presses the receiving portion (35) of the positioning hole (3), the reaction force causes the plug (21) to move in the radial direction. The reference surface (31) of the plug (21) is pressed against the reference surface (36) of the positioning hole (3).

[0015] It should be noted that each constituent member of the invention of the clamp device preferably employs a configuration similar to that of the positioning device. For example, the pressing tool is preferably a columnar or spherical one.

Brief Description of Drawings

FIG. 1 is a schematic diagram showing a first embodiment of a positioning system, and is a cross-sectional view of the system.

FIG. 2A is a cross-sectional view showing the first positioning device of the above system and corresponding to the view taken along the line 2A-2A in FIG. 2B. FIG. 2B is a plan view of the positioning device.

FIG. 3A shows a released state of the first positioning device, and is an enlarged view of the main part of FIG. 2A, corresponding to a cross-sectional view taken along line 3A-3A of FIG. 3B. FIG. 3B is a cross-sectional view taken along the line 3B-3B of FIG. 3A described above.

FIG. 4A is a view similar to FIG. 3A, showing a locked state of the first positioning device. FIG. 4B is a view similar to FIG. 3B described above.

FIG. 5A is a view similar to FIG. 3A, showing a second positioning device of the positioning system. FIG. 5B is a cross-sectional view taken along line 5B-5B in FIG. 5A. FIG. 5C and FIG. 5D each show a modification of the second positioning device, and are similar to FIG. 5B described above.

FIG. 6A is a view similar to FIG. 3A, showing the clamping device of the positioning system. FIG. 6B is a cross-sectional view taken along line 6B-6B of FIG. 6A.

FIG. 7 shows a second embodiment of the positioning system, which is similar to FIG.

[Fig. 8] Fig. 8 shows a third embodiment of the positioning system, which is similar to Fig. 1 described above. The

FIG. 9A is a view similar to FIG. 2A, showing a released state of the first positioning device of the positioning system according to the third embodiment. FIG. 9B is a plan view of FIG. 9A.

FIG. 10A is an enlarged view of the main part of FIG. 9A, showing the released state of the first positioning device. FIG. 10B shows a locked state of the first positioning device, and is a view similar to FIG. 10A described above.

FIG. 11A is a cross-sectional view of FIG. 10A described above, and is similar to FIG. 3B described above. FIG. 11B is a cross-sectional view of FIG. 10B described above, and is similar to FIG. 4B. FIG. 11C and FIG. 11D each show a modification of the first positioning device and are similar to FIG. 11B described above.

FIG. 12A is a view similar to FIG. 11B, showing a locked state of the second positioning device. FIG. 12B shows a release state of a modified example of the second positioning device, and is a view similar to FIG. 12A described above. FIG. 12C shows a locked state of the above-described modified example, and is a view similar to FIG. 12A described above. FIG. 12D and FIG. 12E each show another variation of the second positioning device and are similar to FIG. 12A above.

FIG. 13 is a view similar to FIG. 1, showing a fourth embodiment of the positioning system.

FIG. 14 is a view similar to FIG. 9A, showing another embodiment of the positioning device.

FIG. 15A and FIG. 15B show the released state of the positioning device according to another embodiment. FIG. 15A is a view similar to FIG. 3A described above. FIG. 15B is a view similar to FIG. 3B described above.

FIG. 16A and FIG. 16B show a locked state of the positioning device of the other embodiment described above. FIG. 16A is a view similar to FIG. 4A described above. FIG. 16B is a view similar to FIG. 4B described above.

FIG. 17A and FIG. 17B show another embodiment of the positioning device. FIG. 17A is a view similar to FIG. 4A described above. FIG. 17B is a view similar to FIG. 4B described above. FIG. 18A and FIG. 18B show another embodiment of the positioning device. FIG. 18A is a view similar to FIG. 17A described above. FIG. 18B is a view similar to FIG. 17B described above.

FIG. 19A and FIG. 19B show another embodiment of the positioning device. FIG. 19A is a view similar to FIG. 10A described above. FIG. 19B is a view similar to FIG. 10B described above.

FIG. 20A is a view similar to FIG. 12A, showing another embodiment of the positioning device. FIG. 20B shows still another embodiment of the positioning device and is similar to FIG. 11B.

FIG. 21 is a view similar to FIG. 20B, showing another embodiment of the positioning device.

Explanation of symbols

[0017] 1: fixed block, 2: movable block (work pallet), 3: positioning hole (circular straight hole, square hole), 11: first positioning device, 12: second positioning device, 21: reference plug , 21a: cylinder hole, 22: positioning and fixing means, 29: peripheral wall, 30: protrusion, 31: reference surface, 33: pusher (ball), 33b: guide surface, 35: receiving portion (receiving surface), 36: Reference surface, 45: Advancement means (elastic member), 48: Output member, 55: Inclined surface (output portion), 57: Transmission portion, 58: Escape groove, 85: Discharge port for pressure fluid, 87: Slide member , 95: center column, 96: inclined fitting part, 97: concave groove, 98: input part for clamping (receiving part 35), K: common tangent.

BEST MODE FOR CARRYING OUT THE INVENTION

[0018] FIGS. 1 to 6B show a first embodiment of the positioning system of the present invention, which illustrates the application of the present invention to a positioning system for a cake pallet.

First, the overall configuration of the system will be described with reference to FIGS. 1 to 3B.

In this embodiment, as shown in FIGS. 1 and 2A, a fixed block 1 is placed on a table T of a machine tool, and a work pallet 2 as a movable block is placed on a support surface la of the fixed block 1. The supported surface 2a is received. A plurality of positioning holes 3 having a circular straight hole force are opened on the supported surface 2a. Here, four positioning holes 3 are shown. The fixed block 1 includes a base plate 4 fixed to the table T. The base plate 4 includes a first positioning device 11 and a second positioning device 12 having a positioning function and a locking function corresponding to the positioning hole 3 and two clamping devices 13 having only a locking function. · 13 will be provided. The first positioning device 11 and the second positioning device 12 are arranged diagonally, and the two clamping devices 13 · 13 are also arranged diagonally.

As shown in FIG. 1, each of the devices 11, 12, 13 is driven downward in a state where a reference surface 3 1 of a reference plug 21 described later and two pushers 33 are in close contact with the positioning hole 3. As a result, the work pallet 2 is fixed to the fixed block 1! /.

The first positioning device 11 positions the reference plug 21 (see FIG. 3A) in the horizontal direction and the vertical direction with respect to the fixed block 1 almost simultaneously with the close contact. In addition, the second positioning device 12 positions the reference plug 21 (see FIGS. 5A and 5B described later) in the horizontal direction substantially perpendicular to the straight line L connecting the reference axis A and B, and vertically. Positioning in the direction also prevents the work pallet 2 from turning about the axis A above. The clamping device 13 is configured so that the reference plug 21 can be moved in the horizontal direction with respect to the fixed block 1 (see FIGS. 6A and 6B described later), and therefore, only the vertical positioning function is provided. Equipped with no horizontal positioning function.

[0023] The first positioning device 11 and the second positioning device 12 have the same structure except for the differences described later, and basically have the following structure in common.

As shown in FIGS. 1 to 2B, the lower portion of the housing 15 is fitted into the mounting hole 4a of the base plate 4, and the flange 16 of the housing 15 is attached by the four tightening bolts 17 to the mounting hole 4a. Fixed to the peripheral wall.

A central hole 20 extending in the vertical direction is formed in the upper half of the housing 15 concentrically with the reference axis A (see FIGS. 1 and 2A). The center hole 20 is disposed so as to be able to face the positioning hole 3. A cylindrical reference plug 21 is inserted into the center hole 20 so as to be movable in the vertical direction (axial direction). That is, the housing 15 and the reference plug 21 are configured separately. Then, means 22 for positioning and fixing the reference plug 21 is provided in the housing 15. More specifically, as shown in the enlarged view of FIG. 3A, the positioning and fixing means 22 is configured as follows.

A tapered inner surface 23 is formed on the inner periphery of the center hole 20. The tapered inner surface 23 is reduced in diameter as it goes downward (toward the base end).

The reference plug 21 includes a base 24 that is inserted into the center hole 20 and a protrusion 25 that can be inserted into the positioning hole 3. The protrusion 25 protrudes upward (toward the tip) from the upper end of the center hole 20. The upper part of the cylindrical hole 21a of the reference plug 21 is covered with the top wall 21b. The outer peripheral surface of the top wall 21b is constituted by a taper surface that swells upward.

A tapered outer surface 27 capable of being taper-engaged with the tapered inner surface 23 is provided on the outer peripheral surface of the base portion 24. Further, the flange portion 28 also projects outward in the radial direction by the lower force of the projecting portion 25.

[0026] Two protrusions 30 are provided on the outer periphery of the peripheral wall 29 of the protrusion 25 of the reference plug 21 with an interval of about 90 degrees in the circumferential direction. A positioning reference surface 31 is formed on each protrusion 30.

The peripheral wall 29 is formed with a circular through hole 32 extending in the radial direction. Each through hole 32 is arranged to face each reference surface 31 in the radial direction. Then, a cylindrical pressing member 33 is inserted into each through hole 32 so as to be movable in the radial direction.

The pressing surface 34 at the outer end of the pressing tool 33 is configured by an arc surface having substantially the same radius as the receiving surface (receiving portion) 35 of the positioning hole 3. Further, the reference surface 31 is also configured by an arc surface having substantially the same radius as the reference surface 36 of the positioning hole 3.

An elastic member (advancing means) 45 is disposed between the upper portion of the peripheral wall of the center hole 20 and the flange portion 28. The elastic member 45 is composed of a sealing member such as rubber or synthetic resin, and presses the reference plug 21 upward (toward the distal end). The reference plug 21 is prevented from rising above a predetermined amount by a stopper 47 attached to the lower portion of the reference plug 21.

An output member 48 is inserted into the housing 15 so as to be movable up and down. The output member 48 includes a piston 50 which is inserted in a cylinder hole 49 in the lower part of the housing 15 in a tightly sealed manner, and its A piston port 52 that protrudes upward from the piston 50 and is inserted into the rod hole 51 in a close-packed manner, and an output rod 53 that is movably connected to the piston rod 52 in the radial direction are provided. The output rod 53 is inserted into the cylindrical hole 21a of the reference plug 21. An inclined groove 54 that fits with the pressing tool 33 is formed at the upper end (tip) of the output rod 53. On the bottom wall of the inclined groove 54, an inclined surface (output portion) 55 that approaches the axial center as it goes downward is provided.

[0029] At the radially inner end of the pressing tool 33, an input surface 33a is provided that approaches the axial center as it moves downward. The input surface 33a can be brought into contact with the inclined surface 55 described above. In addition, a guide surface 33b that approaches the axial center as it goes upward is provided at the radially outer end of the pressing tool 33.

Further, on the outer periphery of the output rod 53 at positions corresponding to the two reference surfaces 31, transmission portions 57 and 57 described later are provided. An escape groove 58 is formed between the transmission parts 57 · 57.

As shown in FIG. 2A, the housing 15 is provided with a lock unit 61 and a release unit 62 constituting the drive unit D. The lock means 61 is constituted by the piston 50 and a lock chamber 63 formed on the upper side of the piston 50. The lock chamber 63 communicates with the pressure oil supply / discharge rod 64 for the lock. The release means 62 includes the piston 50 and a release chamber 66 formed on the lower side of the piston 50. The release chamber 66 communicates with a release pressure oil supply / discharge port 67.

A throttle pin 70 is fitted in the longitudinal path of the lock supply / discharge path 69, and the throttle path is constituted by the fitting gap.

A plurality of bosses 72 project upward from the upper surface of the housing 15 at intervals in the circumferential direction, and the upper surface of the boss 72 constitutes the support surface la of the fixed block 1.

The first positioning device 11 is provided with a seating confirmation means. That is, a detection hole 74 is opened in the support surface la, and compressed air for detection is supplied to the detection hole 74. When the supported surface 2a of the work pallet 2 comes into contact with the support surface la and the seating gap E disappears, the pressure in the detection hole 74 increases. By detecting the pressure increase with a pressure switch or the like, it is possible to confirm that the work pallet 2 is seated on the housing 15. Furthermore, as shown in FIGS. 2A and 3A, a cleaning means is provided. That is, the compressed air from the air supply port 76 causes the slant path 77 in the housing 15, the fitting gap 78 between the cylindrical hole 21 a of the reference plug 21 and the outer peripheral surface of the output rod 53, and the through hole 32. And the fitting gap 79 between the pusher 33 and the presser 33 are sequentially discharged into the external space. Thereby, the foreign matter that has entered the fitting gap 79 is blown to the outside. The output gap 53 is movable in the radial direction with respect to the reference plug 21 by the fitting gap 78 described above.

As shown in FIGS. 5A and 5B, the second positioning mechanism 12a of the second positioning device 12 is compared with the first positioning mechanism 11a of the first positioning device 11 (see FIG. 3A). The structure of the upper half of the reference plug 21 is the same, but the structure of the lower half is different. 5A is a cross-sectional view taken along the line 5A-5A in FIG. 5B and is similar to FIG. 3A described above. FIG. 5B is a cross-sectional view taken along line 5B-5B in FIG. 5A.

A pair of radially projecting portions 80 and 80 are provided on the outer periphery of the base portion 24 of the reference plug 21, and the tapered outer surface 27 is formed on each projecting portion 80. The movement-permissible spaces 81 and 81 defined by the protrusions 80 and 80 face the radial direction between the inner periphery of the center hole 20 and the outer periphery of the reference plug 21. Formed! As a result, the reference plug 21 functions to eliminate the fitting gap in the facing direction of the protrusions 80 and 80, while the reference plug 21 relatively moves in the radial direction perpendicular to the facing direction. Is allowed to do. Reference numeral 82 in Figs. 5 and 5 is a detent pin.

[0035] FIG. 5C shows a first modification of the second positioning mechanism 12a. In this case, a pair of projecting portions 80, 80 facing in the radial direction are provided on the inner periphery of the center hole 20, and the tapered inner surface 23 is formed in each projecting portion 80. Also, the pair of movement allowance spaces 81 81 are formed in the same manner as in FIG.

[0036] The second modified example of FIG. 5D is obtained by changing the first modified example of FIG. 5C as follows. That is, the taper inner surface 23 and the taper outer surface 27 are constituted by planes instead of the circumferential surfaces.

[0037] As shown in Figs. 6 and 6, the clamping device 13 has the same force as that of the upper half portion of the cylindrical plug 21 compared to the first positioning device 11 described above. Structure Different. FIG. 6A is similar to FIG. 3A described above. FIG. 6B is a cross-sectional view taken along line 6B-6B of FIG. 6A.

That is, both peripheral surfaces of the inner peripheral surface of the center hole 20 and the outer peripheral surface of the cylindrical plug 21 are formed straight in the vertical direction. An annular gap G that allows the cylindrical plug 21 to move in the radial direction with respect to the housing 15 is provided between both the peripheral surfaces. As a result, misalignment between the axial center of the positioning hole 3 and the axial center of the center hole 20 can be absorbed.

The advancing means 45 made of an annular rubber is formed in a U shape in a sectional view.

[0038] Each of the above-mentioned devices 11, 12 and 13 operates as follows in substantially the same manner.

2A and 3A, the pressure oil in the lock chamber 63 is discharged and the pressure oil is supplied to the release chamber 66. As a result, the piston 50 raises the output rod 53, and the pusher 33 is switched to the radially disengaged position Y. The reference plug 21 is raised by the advance stroke by the elastic member 45 as the advance means.

[0039] When positioning the work pallet 2 on the fixed block 1, first, as shown in Figs. 1 and 2A (and Fig. 3A), the work pallet 2 is lowered in the released state so that the positioning hole 3 is moved to the above-mentioned reference hole. The work pallet 2 is fitted on the plug 21 and received by the flange portion 28 of the reference plug 21. In this state, the seating gap E is formed between the support surface la and the supported surface 2a. Further, as shown in FIG. 3A, a lock gap F is formed between the tapered inner surface 23 and the tapered outer surface 27.

Since the lock gap F is provided as described above, when the positioning hole 3 of the work pallet 2 is fitted to the reference plug 21, the axis of the positioning hole 3 and the axis of the reference plug 21 are Can be tolerated.

Next, the pressure oil in the release chamber 66 is discharged and the pressure oil is supplied to the lock chamber 63, and the output rod 53 is lowered by the piston 50. Then, the inclined surface 55 of the output rod 53 presses the input surface 33a of the pressing tool 33, and the pressing tool 33 is pressed against the reference plug 21 held in the almost raised position by the biasing force of the elastic member 45. Moves radially outward and contacts the positioning hole 3 described above.

[0041] Subsequently, as shown in FIGS. 4A and 4B, the pressing tool 33 is pressed downward and radially outward by the inclined surface 55 of the output rod 53 as described above. To do. The above-mentioned pressing tool 33 pressed downward lowers the reference plug 21 against the elastic member 45, so that the supported surface 2a of the work pallet 2 is fixed to the fixing block 1 as described above. It touches the support surface la. Further, the same pressing tool 33 · 33 pressed outward in the radial direction pushes the receiving portion 35 · 35 of the positioning hole 3 to move the work pallet 2 in the horizontal direction, and the positioning hole The three reference surfaces 36 and 36 are pressed against the reference surfaces 31 and 31 of the reference plug 21 described above. In this case, the reaction force acting on the pressing tool 33 from the receiving portion 35 is received by the reference surface 36 through the transmission portion 57 and the reference surface 31 in order. Therefore, the reference surface 36 can be strongly pressed against the reference surface 31.

At substantially the same time, the taper outer surface 27 of the lowered reference plug 21 is engaged with the taper inner surface 23 of the center hole 20 by teno engagement. Thus, the reference plug 21 is restrained by the fixed block 1 in the radial direction (horizontal direction) and the axial direction (vertical direction) via the taper engagement. Then, the output rod 53 presses the supported surface 2a of the work pallet 2 against the support surface la of the fixed block 1 through the pressing tool 33 and the reference surface 31 that are in close contact with the positioning hole 3. .

[0043] Note that, in the released state of FIG. 3A, the support surface la and the supported surface 2a may be in contact with each other almost completely. In this case, the pressing tool 33 that has moved outward in the radial direction and contacted the positioning hole 3 described above resists the elastic member 45 while sliding downward with respect to the inner peripheral surface of the positioning hole 3. Then lower the reference plug 21.

[0044] Simultaneously with the operation of the first positioning device 11 and the second positioning device 12 described above, the two clamping devices 13 · 13 having only a lock function are pressed against the positioning hole 3 in a pressing tool 3 3 and The work pallet 2 is firmly fixed to the fixed block 1 through the reference surface 31. In this case, when the pressing tool 33 moved outward in the radial direction presses the receiving portion 35 of the positioning hole 3, the reaction force causes the plug 21 to align in the radial direction, which is almost the same. At the same time, the reference surface 31 of the plug 21 presses the reference surface 36 of the positioning hole 3.

When switching from the locked state to the released state, as described above, the pressure oil in the lock chamber 63 is discharged and the pressure oil is supplied to the release chamber 66 so that the piston 50 Therefore, the output rod 53 may be raised. In this case, the pressing tool 33 remains switched to the radially outward engagement position X. However, when a new work pallet 2 is mounted on the fixed block 1, the lower part of the peripheral wall of the positioning hole 3 is pushed by the pusher 33 at the engagement position X via the guide surface 33b of the pusher 33. Is pushed to the radially disengaged position Y in the radial direction.

[0045] The advancement means 45 only needs to press the reference plug 21 upward (toward the distal end). Accordingly, the advancing means 45 may be mounted between the lower portion of the reference plug 21 and the housing 15 instead of being mounted between the flange portion 28 of the reference plug 21 and the housing 15. Good. Further, the advancement means 45 described above may be a combination of a pressure fluid such as compressed air or pressure oil and a piston instead of or in addition to the illustrated elastic member such as rubber or a panel such as a dish panel. You can use it.

[0046] The first embodiment (and each of the embodiments described later) has the following advantages.

The reference surface 31 of the reference plug 21 does not have a portion to be worn by the taper engagement as compared with the above-described conventional tapered engagement collet. For this reason, the positioning device can maintain the positioning accuracy well over a long period of time, and does not require a lot of maintenance.

Since the pressing tool 33 can increase the amount of movement in the radial direction as compared with the collet, it can easily follow even when the hole diameter of the positioning hole 3 changes.

In addition, since the configuration is simple with few components, a compact positioning device can be provided.

[0047] Figs. 7 and 8 show Fig. 12E and Fig. 13 respectively show a second embodiment, a third embodiment, and a fourth embodiment of the positioning system according to the present invention. In these other embodiments, members similar to those of the above-described first embodiment are given the same reference numerals in principle, and a configuration different from the above-described first embodiment will be described.

FIG. 7 showing the second embodiment is a view similar to FIG.

In this case, the second positioning device 12 is provided at three corners, and the clamping device 13 is provided at one corner.

And the two positioning devices 12 · 12 placed at the upper left and lower left in Fig. 7 Set the positioning direction to the same direction. With respect to these positioning directions, the positioning direction of the positioning device 12 arranged in the lower right part in FIG. 7 is orthogonalized.

[0049] FIGS. 8 to 12E show a third embodiment.

In the third embodiment, as shown in the schematic diagram of FIG. 8, a first positioning device 11 and a second positioning device 12 having a positioning function and a locking function, and two clamping devices having only a locking function 13 · 13 will be provided. The first positioning device 11 and the second positioning device 12 are arranged diagonally, and the two clamping devices 13 · 13 are also arranged diagonally.

[0050] The first positioning device 11 (see FIG. 11A and FIG. 11B) positions the positioning hole 3 of the work pallet 2 with respect to the reference plug 21 fixed to the fixing block 1 on almost the entire circumference in the horizontal direction. To do. The second positioning device 12 (see FIG. 12A) positions the positioning hole 3 of the work pallet 2 in a direction substantially perpendicular to the straight line L connecting the reference shaft centers 軸 and Β, and the work pallet 2 is prevented from turning around the axis 上記 mentioned above. The clamp device 13 is configured such that the plug 21 can be moved in the horizontal direction with respect to the fixed block 1. The first positioning device 11 and the second positioning device 12 have the same structure except for differences described later, and basically have the following structure in common.

The reference plug 21 is formed integrally with the housing 15. The inclined groove 54 provided in the upper part (tip part) of the output port 53 is provided with an inclined surface (output part) 55 that approaches the axis as it goes upward (tip direction). Further, a ball (pressing tool) 33 is inserted into the through hole 32.

Contrary to the first embodiment, a lock chamber 63 is formed below the piston 50, and a release chamber 66 is formed above the piston 50. Then, as shown in FIG. 10B, when the output member 48 is driven upward, the inclined surface 55 moves the ball 33 outward in the radial direction.

Further, as shown mainly in FIGS. 11A and 11B, a discharge port 85 for pressure fluid is opened in the reference surface 31 of the reference plug 21.

[0052] The first positioning mechanism 11a of the first positioning device 11, as shown in FIG. 8, FIG. 11A and FIG. 11B, has a spacing of approximately 90 degrees in the circumferential direction between the reference surface 31 and the reference plug 21. Opening Two balls 33 are provided so that the above-mentioned reference surfaces 31 are aligned with each other in the radial direction.

As shown in FIGS. 8 and 12A, the second positioning mechanism 12a of the second positioning device 12 is provided with only one reference surface 31 on the reference plug 21, and the ball 33 on the reference plug 21. Two are provided at approximately 90 degree intervals in the circumferential direction. Further, a slide member 87 that allows the output rod 53 to move in the radial direction is mounted between the cylindrical hole 21a of the reference plug 21 and the outer peripheral surface of the output rod 53 of the output member 48. .

[0053] Although the specific structure of the clamp device 13 is not shown here, for example, in the structure of Figs. 6A and 6B of the first embodiment, Instead, a ball is provided and the inclined surface 55 is arranged upside down. As shown in FIG. 8, the clamp device 13 is provided with four balls 33 at intervals of approximately 90 degrees in the circumferential direction. However, the number of balls 33 may be two, three, five or more.

[0054] Each of the positioning devices 11 · 12 operates in the following manner in substantially the same manner.

9A and 10A, the pressure oil in the lock chamber 63 is discharged and the pressure oil is supplied to the release chamber 66. As a result, the piston 50 lowers the output rod 53, and the ball 33 can be switched to the radially disengaged position Y. Here, the state where the ball 33 has already been switched to the disengagement position Y is shown.

Further, a gap is formed between the reference surface 31 of the reference plug 21 and the reference surface 36 of the positioning hole 3, and the discharge port 85 is opened. For this reason, the pressure of the lock state detection path 86 is lower than the set pressure, and it is determined that the release state is set.

[0055] When positioning the work pallet 2 on the fixed block 1, first, as shown in FIGS. 8 and 9A (and FIG. 10A), the work pallet 2 is lowered in the released state so that the positioning hole 3 is moved to the reference hole. The plug 21 is externally fitted, and the supported surface 2a of the work pallet 2 is received by the support surface la of the know 15.

Next, the pressure oil in the release chamber 66 is discharged and the pressure oil is supplied to the lock chamber 63, and the output rod 53 is raised by the piston 50. Then, the inclined surface of the output rod 53 55 The force ball 33 is pressed, and the ball 33 moves outward in the radial direction and comes into contact with the positioning hole 3.

[0057] Subsequently, the ball 33 is pressed upward and radially outward by the inclined surface 55, thereby rotating counterclockwise as shown in FIG. 10B. Press the receiving part 35 of the positioning hole 3. Thus, the ball 33 moves in the horizontal direction while pushing the work pallet 2 downward, and presses the reference surface 36 of the positioning hole 3 against the reference surface 31 of the reference plug 21. When the reference surface 36 is pressed against the reference surface 31, the reference surface 36 closes the discharge port 85. For this reason, the pressure in the lock state detection path 86 becomes higher than the set pressure, and it is determined that the lock state is established.

[0058] In the above case, the reaction force that acts on the ball 33 from the receiving portion 35 passes through the transmission portion 57 (or the slide member 87 in Fig. 12A) in Fig. 11B and the reference surface 31 in order. It is received by the reference surface 36 of the. Therefore, the reference surface 36 can be strongly pressed against the reference surface 31.

At substantially the same time, the inclined surface 55 of the output rod 53 rotates the ball 33 in the direction in which the positioning hole 3 is lowered, whereby the supported surface 2a of the work pallet 2 is supported by the fixed block 1. Press against surface la.

[0059] Simultaneously with the operation of the first positioning device 11 and the second positioning device 12 described above, the two clamping devices 13 · 13 having only a locking function are connected via the balls 33 that are in close contact with the positioning hole 3. The work pallet 2 is firmly fixed to the fixed block 1 described above. In this case, when the ball 33 moved outward in the radial direction presses the positioning hole 3, the plug 21 is aligned and moved in the radial direction by the reaction force.

When switching from the locked state to the released state, as described above, the pressure oil in the lock chamber 63 is discharged and the pressure oil is supplied to the release chamber 66, and the output rod 53 is supplied by the piston 50. Should be lowered. In this case, the ball 33 remains switched to the radially outward engagement position X. However, when the work pallet 2 is mounted next time, the lower part of the peripheral wall of the positioning hole 3 pushes the ball 33 at the engagement position X to the radially disengagement position Y in the radial direction. FIG. 11C and FIG. 1 ID each show a modification of the first positioning mechanism 11a of the first positioning device 11, and are similar to FIG. 11B described above.

In the modification of FIG. 11C, only one ball 33 is provided so as to face the middle position of the reference surfaces 31 and 31 arranged at an interval of about 90 degrees in the circumferential direction.

In the modification of FIG. 11D, three balls 33 are provided at intervals of about 90 degrees in the circumferential direction.

FIG. 12B shows a released state of a modified example of the second positioning mechanism 12a of the second positioning device 12, and is a view similar to FIG. 12A described above. FIG. 12C shows a locked state of the above modification, and is a view similar to FIG. 12A. In this modification, only one ball 33 is provided so as to face the reference surface 31 of the reference plug 21 in the radial direction. Further, the discharge port 85 is opened on the reference surface 31.

FIG. 12D and FIG. 12E show another modification of the second positioning mechanism 12a of the second positioning device 12, respectively, and are similar to FIG. 12A described above.

In FIG. 12D, a transmission projection 89 is provided in place of the slide member 87 in FIG. 12A. Further, in FIG. 12E, two balls 33 are arranged at intervals of about 120 degrees in the circumferential direction, and three balls 33 are provided at intervals of about 90 degrees in the circumferential direction.

It should be noted that the discharge port 85 opened in the reference surface 31 is not limited to being provided in the third embodiment, but the first embodiment or the second embodiment described later or described later. Of course, it may be provided in another embodiment.

FIG. 13 showing the fourth embodiment is a view similar to FIG.

The remaining positioning devices 12 are arranged so as to prevent the work pallet 2 from moving along the common tangent line K of the reference surfaces 31 and 31 of the two positioning devices 12 and 12.

More specifically, the positioning directions of the positioning devices ISIS arranged at the lower left and lower right in FIG. 13 are set to the same direction. And in these positioning directions Thus, the positioning directions of the positioning device 12 arranged at the upper left in FIG. 13 are orthogonal to each other.

FIG. 14 shows another embodiment of the positioning device 11 or 12 and is a view similar to FIG. 9A. In this case, the driving means D is constructed in a manual manner.

More specifically, the lower leg screw 48 a of the output member 48 is screwed into the screw hole 91 of the housing 15. Here, the screw hole 91 is constituted by a left screw. When the lock is driven, a hexagon wrench 93 is inserted into the input hole 92 at the top of the output member 48, and the output member 48 is rotated in the clockwise direction in plan view. Then, the output member 48 is raised, and the inclined surface 55 of the output rod 53 moves the ball 33 outward in the radial direction. Reference numeral 56 indicates a retracting groove of the ball 33.

It should be noted that the housing 15 and the base plate 4 can be integrally formed instead of being configured separately as illustrated.

[0067] FIGS. 15A to 21 show another embodiment of the positioning device 11 or 12. FIG.

The embodiment of FIG. 15A to FIG. 16B shows the first positioning device 11 and is configured as follows. FIG. 15A shows the released state and is similar to FIG. 3A described above. FIG. 15B is a view similar to FIG. 3B described above. FIG. 16A shows a locked state and is similar to FIG. 4A described above. FIG. 16B is a view similar to FIG. 4B described above.

[0068] In this case, the housing 15 and the reference plug 21 are configured separately, and the annular core 95 is protruded upward (toward the distal end) from the housing 15. The output rod 53 of the output member 48 is inserted into the core column 95 so as to be movable in the axial direction. Further, the reference plug 21 is fitted on the outer periphery of the core column 95 so as to be movable in the axial direction. Further, the elastic member (advancing means) 45 is mounted between the flange portion 28 of the reference plug 21 and the housing 15. Further, the ball 33 as a pressing tool is inserted into the through hole 32 of the reference plug 21 and the through hole 95a of the core column 95.

[0069] The apparatus described above operates as follows.

In the released state of FIGS. 15A and 15B described above, the output rod 53 of the output member 48 is raised, and the ball (pressing tool) 33 is switched to the radially disengaged position Y. The reference plug 21 is raised by the advancing stroke by the elastic member 45. When positioning the work pallet 2 in the housing 15 of the fixed block 1, first, the work pallet 2 is lowered in the released state, and the positioning hole 3 is externally fitted to the reference plug 21, and the work pallet 2 is attached to the reference plug. Receiving by 21 flange portions 28. In this state, the seating gap E is formed between the support surface la and the supported surface 2a.

[0070] Next, the output rod 53 is lowered. Then, the inclined surface 55 of the output rod 53 presses the ball 33, and the ball 33 moves outward in the radial direction with respect to the reference plug 21 held substantially in the raised position by the urging force of the elastic member 45. And touch the positioning hole 3 above.

Subsequently, as shown in FIGS. 16A and 16B, the ball 33 is pressed downward and radially outward by the inclined surface 55 of the output rod 53 as described below. Operate.

The ball 33 pressed downward lowers the reference plug 21 against the elastic member 45, so that the supported surface 2a of the work pallet 2 becomes the supporting surface la of the fixed block 1. To meet. Also, the balls 33 • 33, which are pressed outward in the radial direction, press the receiving portions 35 · 35 of the positioning hole 3 to move the work pallet 2 in the horizontal direction, and the positioning hole 3 The reference surfaces 36 and 36 are pressed against the reference surfaces 31 and 31 of the reference bracket 21 described above. Then, the output rod 53 presses the supported surface 2a of the work pallet 2 against the support surface 1a of the fixed block 1 through the ball 33 and the reference surface 31 that are strongly adhered to the positioning hole 3. .

FIG. 17A and FIG. 17B show another embodiment of the first positioning device 11. FIG. 17A is a view similar to FIG. 4A described above. FIG. 17B is a view similar to FIG. 4B described above. In this case, the through hole 32 and the pressing tool 33 in FIGS. 4A and 4B are formed in a quadrangle in a sectional view instead of a circle in a sectional view.

18A and 18B show another embodiment of the second positioning device 12. FIG. FIG. 18A is a view similar to FIG. 17A described above. FIG. 18B is a view similar to FIG. 17B. In this case, the reference plug 21 is provided with one reference surface 31 and one pressing tool 33. And before An inclined fitting portion 96 that approaches the axis as it goes downward is provided at the upper end (tip portion) of the output rod 53, and the above-mentioned pusher 33 is fitted to the inclined fitting portion 96 so as to be relatively movable. It is allowed.

The fitting structure between the inclined fitting portion 96 and the pressing tool 33 may be V-shaped or the like instead of the T-shape in the illustrated plan view. Further, the inclined fitting portion 96 may have a shape that approaches the axis as it goes upward.

FIG. 19A and FIG. 19B show another embodiment of the positioning device 11 or 12. FIG. 19A is a view similar to FIG. 10A described above. FIG. 19B is a view similar to FIG. 10B.

In this case, a concave groove 97 extending in the circumferential direction is formed in the positioning hole 3, and the ball (pressing tool) 33 is inserted into the clamping input portion 98 (receiving portion 35) provided in the lower portion of the concave groove 97. Are engaged. The reference surface 36 of the positioning hole 3 is formed on both the upper and lower sides of the concave groove 97.

[0075] The apparatus described above operates as follows.

When the output rod 53 is lowered in the released state of FIG. 19A, as shown in FIG. 19B, the inclined surface 55 of the output rod 53 presses the input portion 98 for clamping via the ball 33, and the work pallet 2 is moved in the horizontal direction, and the reference surfaces 36 and 36 of the positioning hole 3 are pressed against the reference surface 31 of the reference plug 21. At substantially the same time, the supported surface 2a of the work pallet 2 is pressed against the supporting surface la of the fixed block 1 via the output rod 53 force ball 33 and the input part 98 for clamping. As a result, a large clamping force can be obtained.

FIG. 20A shows another embodiment of the positioning device, and is a view similar to FIG. 12A described above.

The positioning hole 3 of the work pallet 2 is formed in a quadrangle, and a reference surface 36 is constituted by one side of the quadrangle. Correspondingly, the reference surface 31 of the reference plug 21 is also constituted by a plane.

Only one ball 33 as the pressing tool is disposed so as to face the reference surface 31 in the radial direction. The output rod 53 of the output member 48 has a pair of transmission parts 57 7 and relief groove 58 are formed.

FIG. 20B shows still another embodiment of the positioning device, and the above-described FIG. 20A is modified as follows.

In this case, the reference surfaces 36 and 36 are formed on two adjacent sides of the positioning hole 3 which also has a square force. Correspondingly, the reference surfaces 31 and 31 having a planar force are formed adjacent to the reference plug 21.

The ball 33 as the pressing tool is disposed so as to face each of the reference surfaces 31 in the radial direction. In addition, the output rod 53 of the output member 48 is formed with a pair of transmission portions 57 and 57 and a relief groove 58 in a slanting direction with a phase shifted by 45 degrees with respect to each of the reference surfaces 31 described above. Has been.

FIG. 21 shows another embodiment of the positioning device, and the above FIG. 20 Β is modified as follows.

The reference plug 21 is formed in a square shape. A pair of protrusions 30 and 30 are provided on one of two adjacent sides of the quadrangle, and one protrusion 30 is provided on the other side. Then, the reference surface 31 is formed on each protrusion 30 described above. In addition, a pair of balls 33 and 33 are arranged on two adjacent sides of the reference plug 21 that also has a square force. According to the above configuration, the positioning system can be configured by one positioning device. Is possible.

Each of the embodiments shown in FIGS. 20A, 20B, and 21 can be modified as follows.

The positioning hole 3 of the work pallet 2 may be, for example, a triangle, a pentagon, a hexagon, or the like, instead of the illustrated square.

[0080] Each of the above-described embodiments and modifications can be modified as follows.

In the positioning system, three or more clamping devices 13 having only a locking function may be installed instead of one or two shown. The clamp device 13 may be another type of clamp, not limited to the illustrated structure.

[0081] The drive type of each device 11 · 12 · 13 may be a panel lock and hydraulic release type, or a hydraulic lock and panel release type, instead of the illustrated hydraulic double action type. The pressure fluid used for locking or releasing may be a gas such as compressed air in place of the illustrated pressurized oil. Further, the pressure fluid for cleaning may be a gas or liquid such as nitrogen instead of the exemplified compressed air.

When the pull-down force at the time of lock driving in the positioning device is set to a sufficiently large value, the clamping device 13 can be omitted.

The support surface la may be provided on the base plate 4 instead of being provided on the upper surface of the boss 72 of the housing 15.

The combination of the fixed block and the movable block is not the combination of the illustrated base plate 4 and the work pallet 2, but the combination of the table of the machine tool and the work pallet, the combination of the work pallet and the jig base, and the jig base. It may be a combination of workpieces or a combination of work jigs such as welding jigs and work pieces such as workpieces. The present invention can also be applied to positioning of workpiece tools and the like of various processing machines such as laser processing machines and electric discharge machines.

Of course, the positioning device of the present invention can be used in only one set instead of being used in a plurality of sets.

Claims

The scope of the claims

[1] A device for positioning the movable block (2) on the fixed block (1),

The cylindrical reference plug (21) provided on the fixed block (1) is configured to be inserted into the positioning hole (3) of the movable block (2).

Provide at least one reference surface (31) on the outer periphery of the reference plug (21),

An output member (48) is inserted into the reference plug (21) so as to be movable in the axial direction, and at least one pusher (33) is radially attached to the peripheral wall (29) of the reference plug (21). Insert movably,

The output member (48) is configured to be able to move the pressing tool (33) outward in the radial direction, and the pressing tool (33) moved to the outward direction is provided in the positioning hole (3). The movable block (2) is moved by pushing the receiving portion (35), whereby the reference surface (36) of the positioning hole (3) is moved to the reference surface of the reference plug (21). Pressing against the surface (31),

A positioning device characterized by that.

[2] In the positioning device of claim 1,

The positioning hole (3) of the movable block (2) is formed in a circular shape, and the reference surface (36) of the positioning hole (3) and the reference surface of the reference plug (21) ( 31) and an arcuate surface.

[3] The positioning device of claim 2,

The positioning apparatus according to claim 1, wherein the reference surface (36) and the reference surface (31) are formed by circular arc surfaces having substantially the same radius.

[4] The positioning device of claim 1,

The positioning hole (3) of the movable block (2) is formed in a polygonal shape such as a quadrangle, and the reference surface (31) of the reference plug (21) is a flat surface. And positioning device.

[5] Claims 1 to 4 !, any of the positioning devices!

A positioning device characterized in that a protrusion (30) is provided on an outer periphery of the reference plug (21), and the reference surface (31) is formed on the protrusion (30).

[6] Claims 1 to 4! In any of the positioning devices! The fixing block (1) and the reference plug (21) are separately configured, and means (22) for positioning and fixing the reference plug (21) is provided on the fixing block (1). A positioning device characterized by this.

[7] Claims 1 to 4 !, any positioning device!

The fixed block (1) and the reference plug (21) are configured separately, and an annular core column (95) is projected from the fixed block (1) in the distal direction, and the core column is formed. The output member (48) is inserted into (95) so as to be movable in the axial direction, and the reference plug (21) is externally fitted to the central column (95) so as to be movable in the axial direction. A positioning device characterized by that.

[8] The positioning device according to claim 6,

A positioning device characterized in that the reference plug (21) is pressed in the distal direction by an advancing means (45).

[9] The positioning device according to claim 7,

[10] Claims 1 to 4! In any of the positioning devices!

A positioning device characterized in that the fixed block (1) and the reference plug (21) are integrally formed.

[11] Claims 1 to 4! In any of the positioning devices!

The positioning device according to claim 1, wherein two reference surfaces (31) are provided in the reference plug (21) at intervals in the circumferential direction.

[12] The positioning device of claim 11,

Two reference planes (31) are provided in the circumferential direction at an interval of approximately 90 degrees, and the pressing tool (33) is provided so as to face each reference plane (31) in the radial direction. Positioning device characterized by

[13] The positioning device of claim 11,

A positioning device, wherein the reference plug (21) is provided with at least one pressing tool (33).

[14] Claims 1 to 4! In any of the positioning devices! The positioning apparatus according to claim 1, wherein only one reference surface (31) is provided on the reference plug (21).

[15] The positioning device of claim 14,

A positioning device characterized in that one pressing tool (33) is provided so as to face the reference surface (31).

[16] The positioning device of claim 14,

A positioning device characterized in that at least two of the pressing tools (33) are provided in the circumferential direction in the reference plug (21).

[17] The positioning device according to any one of claims 1 to 4,

The positioning device characterized in that the pressing tool (33) is formed in a columnar shape, an elliptical columnar shape or a prismatic shape.

[18] The positioning device of claim 17,

A positioning device characterized in that a guide surface (33b) that approaches the axial center as it goes in the distal direction is provided at the radially outer end of the pressing tool (33).

[19] The positioning device of claim 17,

An inclined fitting portion (96) that approaches the axial center toward the one end in the axial direction is provided at the tip of the output member (48), and the pressing tool is provided on the inclined fitting portion (96). A positioning device characterized in that (33) is fitted so as to be relatively movable.

[20] Claims 1 to 4! In any of the positioning devices!

A positioning device, wherein the pressing tool (33) is configured by a ball.

[21] The positioning device according to any one of claims 1 to 4,

Provided at the distal end of the output member (48) is an inclined surface (55) that approaches the axial center toward the proximal direction,

The positioning device according to claim 1, wherein when the output member (48) is driven in the proximal direction, the inclined surface (55) moves the pusher (33) outward in the radial direction.

[22] Claims 1 to 4 !, any positioning device!

Provided at the tip of the output member (48) is an inclined surface (55) that approaches the axis as it goes toward the tip. The positioning apparatus according to claim 1, wherein when the output member (48) is driven in a distal direction, the inclined surface (55) moves the pressing tool (33) outward in the radial direction.

[23] The positioning device of claim 20,

A concave groove (97) extending in the circumferential direction is formed in the positioning hole (3) of the movable block (2), and the ball is placed in the input part (98) for clamping provided in the concave groove (97). A positioning device characterized in that a pressing tool (33) which also has force is engaged.

[24] The positioning device of claim 11,

A transmission portion (57X57) is provided on the outer periphery of the output member (48) at a position corresponding to the two reference surfaces (31) and (31), and a relief groove (58) is provided between the transmission portions (57X57). A positioning device characterized by

[25] The positioning device of claim 14,

A slide member (87) that allows the output member (48) to move in the radial direction between the cylindrical hole (21a) of the reference plug (21) and the outer peripheral surface of the output member (48). A positioning device characterized by being equipped with.

[26] Claims 1 to 4! In any of the positioning devices!

A pressure fluid discharge port (85) is opened in the reference surface (31) of the reference plug (21), and the reference surface (36) of the positioning hole (3) is the reference surface ( 31. A positioning device characterized in that the reference surface (31) closes the discharge port (85) when pressed by 31).

[27] A positioning system comprising at least one positioning device according to any one of claims 1 to 4.

[28] A positioning system comprising at least two positioning devices according to claim 11.

[29] One positioning device according to claim 11 is provided as a first positioning device (11), and one positioning device according to claim 14 is provided as a second positioning device (12),

The second positioning device (12) is disposed so as to prevent the movable block (2) from turning with respect to the reference plug (21) of the first positioning device (11). A positioning system characterized by this.

[30] At least three positioning devices (12) according to claim 14,

The remaining movable block (2) is prevented from moving along the common tangent line (K) of the reference surfaces (31) (31) of the two positioning devices (12) (12). A positioning system comprising a positioning device (12).

[31] A system for positioning the movable block (2) on the fixed block (1),

Install two cylindrical reference plugs (21) horizontally above the fixed block (1).

The movable block (2) is provided with two positioning holes (3) into which the two reference plugs (21) are inserted.

Two reference surfaces (31) are provided on the outer periphery of one of the reference plugs (21) with a gap in the circumferential direction, and one reference surface (31) is provided on the outer periphery of the other reference plug (21). The three reference surfaces (31) are arranged so as to prevent the movable block (2) from turning in the horizontal plane with respect to the one reference plug (21).

The output member (48) is inserted into each of the reference plugs (21) so as to be movable in the axial direction, and at least one pusher (33) is attached to the peripheral wall (29) of each of the reference plugs (21). Each of the output members (48) is configured to be movable in the radial direction, and the output member (48) is configured to be able to move the pusher (33) outward in the radial direction. (33) moves the movable block (2) by pushing the receiving portion (35) of each positioning hole (3), thereby moving the reference surface (36 of the positioning hole (3) above. ) Is pressed against the reference surface (31) of the reference plug (21).

[32] A system for positioning the movable block (2) on the fixed block (1),

Install three cylindrical reference plugs (21) horizontally above the fixed block (1),

The movable block (2) is provided with three positioning holes (3) into which the three reference plugs (21) are inserted.

Provide one reference surface (31) on the outer periphery of each of the three reference plugs (21), and follow the common tangent line (K) of the two reference surfaces (31) of the three reference surfaces (31). The movable pro Position the remaining reference plane (31) to prevent the hook (2) from moving,

[33] A clamping device for use in the positioning system of claim 27,

A cylindrical plug (21) protruding from the fixed block (1) in the distal direction is configured to be inserted into the positioning hole (3) of the movable block (2).

The plug (21) is supported on the fixed block (1) so as to be movable in the axial direction and movably in the radial direction, and the plug (21) is pressed toward the distal end by the advancing means (45). Provide at least one reference surface (31) on the outer periphery of (21),

Insert the output member (48) into the plug (21) so as to be movable in the axial direction,

At least one pusher (33) is inserted into the peripheral wall (29) of the plug (21) so as to be movable in the radial direction,

The output member (48) is configured to be able to move the pressing tool (33) outward in the radial direction, and the pressing tool (33) moved to the outward direction is provided in the positioning hole (3). By pushing the receiving portion (35), the plug (21) is moved in the radial direction by the reaction force, and the reference surface (31) of the plug (21) is moved to the positioning hole (3). A clamping device for a positioning system, wherein the clamping device is pressed against a reference surface (36).