WO2021095327A1 - 位置決め装置 - Google Patents

位置決め装置 Download PDF

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Publication number
WO2021095327A1
WO2021095327A1 PCT/JP2020/032982 JP2020032982W WO2021095327A1 WO 2021095327 A1 WO2021095327 A1 WO 2021095327A1 JP 2020032982 W JP2020032982 W JP 2020032982W WO 2021095327 A1 WO2021095327 A1 WO 2021095327A1
Authority
WO
WIPO (PCT)
Prior art keywords
positioning device
unit
upper unit
base plate
load
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2020/032982
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
智也 筒井
英二 藤田
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Panasonic Intellectual Property Management Co Ltd
Original Assignee
Panasonic Intellectual Property Management Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Panasonic Intellectual Property Management Co Ltd filed Critical Panasonic Intellectual Property Management Co Ltd
Priority to EP20887791.0A priority Critical patent/EP4060671B1/en
Priority to JP2021555910A priority patent/JP7486093B2/ja
Priority to US17/775,476 priority patent/US11879587B2/en
Priority to CN202080076033.8A priority patent/CN114641827B/zh
Publication of WO2021095327A1 publication Critical patent/WO2021095327A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G12—INSTRUMENT DETAILS
    • G12B—CONSTRUCTIONAL DETAILS OF INSTRUMENTS, OR COMPARABLE DETAILS OF OTHER APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G12B5/00—Adjusting position or attitude, e.g. level, of instruments or other apparatus, or of parts thereof; Compensating for the effects of tilting or acceleration, e.g. for optical apparatus
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/2007—Undercarriages with or without wheels comprising means allowing pivoting adjustment
    • F16M11/2021—Undercarriages with or without wheels comprising means allowing pivoting adjustment around a horizontal axis
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
    • F16M11/20—Undercarriages with or without wheels
    • F16M11/22—Undercarriages with or without wheels with approximately constant height, e.g. with constant length of column or of legs
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
    • F16M7/00—Details of attaching or adjusting engine beds, frames, or supporting-legs on foundation or base; Attaching non-moving engine parts, e.g. cylinder blocks
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01F—MAGNETS; INDUCTANCES; TRANSFORMERS; SELECTION OF MATERIALS FOR THEIR MAGNETIC PROPERTIES
    • H01F7/00—Magnets
    • H01F7/02—Permanent magnets [PM]
    • H01F7/0231—Magnetic circuits with PM for power or force generation
    • H01F7/0252—PM holding devices
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/04—Construction or manufacture in general
    • H01M10/0404—Machines for assembling batteries
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M10/00—Secondary cells; Manufacture thereof
    • H01M10/42—Methods or arrangements for servicing or maintenance of secondary cells or secondary half-cells
    • H01M10/48—Accumulators combined with arrangements for measuring, testing or indicating the condition of cells, e.g. the level or density of the electrolyte
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M4/00—Electrodes
    • H01M4/02—Electrodes composed of, or comprising, active material
    • H01M4/13—Electrodes for accumulators with non-aqueous electrolyte, e.g. for lithium-accumulators; Processes of manufacture thereof
    • H01M4/139—Processes of manufacture

Definitions

  • This disclosure relates to a positioning device.
  • Patent Document 1 discloses a work positioning device capable of finely adjusting the horizontal position of the work.
  • the above-mentioned conventional positioning device has a structure in which the table portion in which the work is not placed is returned to the centering position by a spiral spring. Therefore, the conventional positioning device has a large number of parts and a complicated structure. The large number of parts can lead to an increase in the size of the positioning device. In addition, the manufacturing cost of the positioning device also increases. Further, in order to reduce the size of the positioning device, it is necessary to reduce the size of each component, which may lead to a decrease in the durability of each component, and eventually the durability of the positioning device itself.
  • This positioning device includes a sphere, a retainer portion that holds the sphere, and an upper unit having an upper plate portion that is arranged on the retainer portion and on which a load is placed, a lower plate portion on which the upper unit is placed, and a lower plate portion.
  • a reference position in which the lower unit having a guide portion for partitioning the moving area of the upper unit in the lower plate portion and the upper unit in which the moving area is tilted with respect to the horizontal plane and the load is not placed are located below the tilt. It is provided with an inclined structure that guides the vehicle.
  • the structure of the positioning device can be simplified.
  • FIG. 1 is a perspective view of a load mounted on the positioning device according to the first embodiment.
  • FIG. 2 is a perspective view of a rack regulating device including a positioning device.
  • FIG. 3 is a perspective view showing how the load is placed on the rack regulation device.
  • FIG. 4 is a perspective view showing how the load is placed on the rack regulation device.
  • FIG. 5 is a perspective view of a movable unit included in the positioning device.
  • FIG. 6 is a cross-sectional view of the positioning device.
  • FIG. 7 is a cross-sectional view of the positioning device according to the second embodiment.
  • FIG. 8 is a cross-sectional view of the positioning device according to the third embodiment.
  • FIG. 9 is a cross-sectional view of the positioning device according to the fourth embodiment.
  • FIG. 10A is a plan view of the positioning device according to the fifth embodiment.
  • FIG. 10B is a plan view of the positioning device according to the fifth embodiment.
  • FIG. 1 is a perspective view of a load mounted on the positioning device according to the first embodiment.
  • FIG. 2 is a perspective view of a rack regulating device including a positioning device.
  • 3 and 4 are perspective views showing how the load is placed on the rack regulation device.
  • the illustration of the accommodation frame body 18 is omitted.
  • the positioning device 16 according to the present embodiment is used when finely adjusting the position of the load 1 mounted on the rack regulation device 14.
  • the load 1 includes an electrode hoop 2 and an electrode rack 4 that supports the electrode hoop 2 as an example.
  • the electrode hoop 2 is a bobbin around which an electrode plate of a secondary battery is wound, and has a through hole 6 in the center.
  • the electrode rack 4 has a rack main body 8, a support shaft 10 protruding substantially horizontally from the rack main body 8, and rack legs 12 protruding downward from the rack main body 8.
  • the electrode rack 4 of this embodiment has four rack legs 12.
  • the electrode hoop 2 is supported by the electrode rack 4 with the support shaft 10 inserted through the through hole 6. In this embodiment, two electrode hoops 2 are supported on one electrode rack 4.
  • the mass of the load 1 is, for example, 500 kg to 1000 kg.
  • the load 1 is not limited to the electrode hoop 2 and the electrode rack 4.
  • the rack regulating device 14 has a positioning device 16 and an accommodating frame body 18.
  • the positioning device 16 has a base plate 20 and a movable unit 21.
  • the load 1 is placed on the base plate 20.
  • the accommodating frame body 18 is fixed to the upper surface of the base plate 20.
  • the storage frame 18 surrounds the load 1 in a state where the load 1 is placed on the base plate 20.
  • the accommodation frame body 18 has an inlet frame 22 and an exit frame 24 facing each other.
  • the load 1 is inserted and placed on the base plate 20 from the inlet frame 22. With the load 1 placed on the base plate 20, the tip of the support shaft 10 faces the outlet frame 24 side.
  • the robot arm (not shown) enters the base plate 20 from the outlet frame 24, grips the electrode hoop 2 of the load 1, and pulls it out from the support shaft 10.
  • the accommodation frame 18 has a sensor 25 that detects that the load 1 is placed on the base plate 20.
  • the movable unit 21 is a floating unit that supports the load 1 and is fixed to the upper surface of the base plate 20.
  • the movable unit 21 has an upper unit 26 and a lower unit 28.
  • the positioning device 16 of this embodiment has four movable units 21 so as to correspond to the four rack legs 12.
  • the lower unit 28 of each movable unit 21 is supported by the base plate 20.
  • the upper unit 26 is placed on the lower unit 28.
  • the rack legs 12 of the electrode rack 4 are mounted on each upper unit 26. Since each upper unit 26 is displaced relative to each lower unit 28, the position of the load 1 can be finely adjusted.
  • the positioning device 16 has a pull-in mechanism 30 and a pair of lateral position adjusting mechanisms 32.
  • the pull-in mechanism 30 is arranged on the base plate 20 on the side facing the inlet frame 22, that is, on the exit frame 24 side.
  • the pull-in mechanism 30 has, for example, an air cylinder 34 and a hook claw 36 attached to the tip of a piston of the air cylinder 34.
  • the air cylinder 34 can be expanded and contracted in the approach direction of the load 1, that is, in the direction in which the inlet frame 22 and the outlet frame 24 are aligned.
  • the pull-in mechanism 30 hooks the hook claw 36 on the rack body 8 of the load 1 mounted on the upper unit 26 to expand and contract the air cylinder 34, thereby finely adjusting the position of the load 1 in the approach direction of the load 1. Can be adjusted.
  • the pair of lateral position adjusting mechanisms 32 are arranged in a direction orthogonal to the approaching direction of the load 1 (hereinafter, appropriately referred to as a lateral direction).
  • Each lateral position adjusting mechanism 32 has, for example, a pair of air cylinders 38 and an extrusion rod 40 attached to the tip of a piston of each air cylinder 38.
  • the air cylinder 38 can be expanded and contracted in the lateral direction.
  • the pair of lateral position adjusting mechanisms 32 press each extrusion rod 40 against the rack body 8 of the load 1 mounted on the upper unit 26 to expand and contract each air cylinder 38, thereby expanding and contracting the position of the load 1 in the lateral direction.
  • one lateral position adjusting mechanism 32 is set to have a weaker push output than the other lateral position adjusting mechanism 32. Thereby, the lateral position of the load 1 can be stably adjusted.
  • the base plate 20 has legs 42 protruding from the lower surface.
  • the rack regulating device 14 is supported on the floor surface by the legs 42.
  • the two legs 42 are provided on the edge of the base plate 20 on the entrance frame 22 side so as to be arranged in the horizontal direction, and the three legs 42 are arranged on the edge on the exit frame 24 side in the lateral direction. It is provided as follows.
  • Each leg 42 is composed of, for example, an adjuster bolt, and can expand and contract independently. Therefore, the leveling of the electrode rack 4 can be adjusted by adjusting the length of each leg portion 42.
  • the positioning device 16 has an inclined structure 44.
  • the inclined structure 44 of the present embodiment is composed of legs 42.
  • the tilt structure 44 is a mechanism for tilting the movable unit 21 with respect to a horizontal plane.
  • the movable unit 21 and the inclined structure 44 will be described in detail.
  • FIG. 5 is a perspective view of the movable unit 21 included in the positioning device 16.
  • FIG. 6 is a cross-sectional view of the positioning device 16.
  • the movable unit 21 has an upper unit 26 and a lower unit 28.
  • the upper unit 26 has a sphere 46, a retainer portion 48, and an upper plate portion 50.
  • the sphere 46 is a highly rigid sphere composed of, for example, a steel sphere.
  • the upper unit 26 of this embodiment has a plurality of spheres 46.
  • the plurality of spheres 46 are arranged at predetermined intervals in a plan view.
  • the retainer portion 48 is a plate-like body extending parallel to the base plate 20, and has a plurality of through holes 52 connecting two opposing main surfaces. A sphere 46 is housed in each through hole 52. As a result, the plurality of spheres 46 are held by the retainer portion 48.
  • the upper plate portion 50 is arranged on the retainer portion 48.
  • the upper plate portion 50 is fixed to the upper surface of the retainer portion 48.
  • the load 1 is placed on the upper surface of the upper plate portion 50.
  • the upper plate portion 50 of the present embodiment has a structure in which a top plate 56 is laminated on a high-rigidity plate 54 composed of a hardened plate or the like. Further, the upper plate portion 50 is circular in a plan view. The upper opening of each through hole 52 is closed by the high-rigidity plate 54. Therefore, the sphere 46 is in contact with the high-rigidity plate 54.
  • the retainer portion 48 and the upper plate portion 50 may be integrated with the same member.
  • the lower unit 28 has a lower plate portion 58 and a guide portion 60.
  • the lower plate portion 58 is composed of a high-rigidity plate such as a quenching plate, and is fixed to the upper surface of the base plate 20.
  • the upper unit 26 is placed on the lower plate portion 58. In this state, the sphere 46 comes into contact with the upper surface of the lower plate portion 58.
  • the upper unit 26 can move the upper surface of the lower unit 28 by rolling the sphere 46 on the upper surface of the lower plate portion 58.
  • the central region on the upper surface of the lower plate portion 58 constitutes the moving region 62 of the upper unit 26.
  • the upper unit 26 can move within the moving area 62.
  • the guide portion 60 has a frame shape and is fixed to the upper surface of the lower plate portion 58 to partition the moving region 62.
  • the guide portion 60 extends to the peripheral edge of the upper surface of the lower plate portion 58 and surrounds the outer periphery of the moving region 62.
  • the moving region 62 of the present embodiment is circular in a plan view.
  • the inclined structure 44 inclines the moving region 62 with respect to the horizontal plane HP, and guides the upper unit 26 on which the load 1 is not placed to a reference position located below the inclination.
  • FIG. 6 illustrates a state in which the upper unit 26 is in the reference position.
  • the horizontal surface HP is, for example, an installation surface or a floor surface of the positioning device 16 or the rack regulation device 14.
  • the upper unit 26 on which the load 1 is not loaded and is not loaded from the outside can be moved to the lower side of the slope by its own weight.
  • the upper unit 26 goes down the slope of the moving region 62 and stops at a position where it hits the guide portion 60. This position becomes the reference position.
  • the inclination angle of the moving region 62 with respect to the horizontal plane HP is, for example, 0.5 °.
  • the inclined structure 44 is composed of the legs 42.
  • the inclined structure 44 tilts the base plate 20 with respect to the horizontal plane HP by making some legs 42 longer than the other legs 42. Since the lower plate portion 58 is fixed to the upper surface of the base plate 20, the entire lower plate portion 58 including the moving region 62 can be inclined by inclining the base plate 20.
  • the base plate 20 is tilted by extending the legs 42 arranged on the exit frame 24 side more than the legs 42 arranged on the entrance frame 22 side. Therefore, as shown in FIG. 2, the upper unit 26 is closer to the entrance frame 22 side. Therefore, in the positioning device 16 of the present embodiment, the reference position is unevenly distributed on the upstream side in the approach direction of the load 1.
  • the tip end portion of the support shaft 10 can be made higher than the base end portion. As a result, it is possible to prevent the electrode hoop 2 from falling off from the support shaft 10 while the load 1 is mounted on the rack regulation device 14.
  • the positioning device 16 includes a first suction member 64 and a second suction member 66 that are attracted to each other by a magnetic force. At least one of the first suction member 64 and the second suction member 66 is a magnet (permanent magnet) or an electromagnet, and the other is a magnet, an electromagnet or a ferromagnet.
  • Candidates for the materials constituting the first attraction member 64 and the second attraction member 66 include hard magnetic materials such as neodium iron boron magnets, ferrite magnets, and alnico magnets, electromagnetic steel plates, electromagnetic stainless steel, sendust, and soft magnetic composite materials. SMC: soft magnetic composites) and other soft magnetic materials are exemplified.
  • the first suction member 64 is provided in the lower region of the inclination of the lower unit 28. That is, the first suction member 64 is arranged in the vicinity of the reference position. In the present embodiment, the first suction member 64 is fixed to the guide portion 60.
  • the second suction member 66 is provided in the region below the inclination of the upper unit 26.
  • the top plate 56 is composed of the second suction member 66, so that the second suction member 66 is provided on the upper unit 26.
  • the entire top plate 56 may be composed of the second suction member 66, or only the region below the inclination of the top plate 56 may be composed of the second suction member 66.
  • the second suction member 66 may be provided on the retainer portion 48 or the high-rigidity plate 54.
  • the lower region of the inclination in the lower unit 28 is, for example, a region including the portion closest to the entrance frame 22 in the circular moving region 62 in a plan view.
  • the region on the lower side of the inclination in the upper unit 26 is, for example, a region including a portion of the second suction member 66 that is circular in a plan view and is closest to the inlet frame 22.
  • the first suction member 64 and the second suction member 66 are arranged so as to face each other with the upper unit 26 in the reference position. As a result, the upper unit 26 can be stably fastened to the reference position.
  • the positioning device 16 includes an upper unit 26, a lower unit 28, and an inclined structure 44.
  • the upper unit 26 has a sphere 46, a retainer portion 48 for holding the sphere 46, and an upper plate portion 50 arranged on the retainer portion 48 on which the load 1 is placed.
  • the lower unit 28 has a lower plate portion 58 on which the upper unit 26 is placed, and a guide portion 60 for partitioning the moving region 62 of the upper unit 26 on the upper surface of the lower plate portion 58.
  • the inclined structure 44 inclines the moving region 62 with respect to the horizontal plane HP, and guides the upper unit 26 on which the load 1 is not placed to a reference position located below the inclination.
  • the upper unit 26 on which the load 1 is not placed can be automatically returned to the reference position by utilizing the gravity applied to the upper unit 26.
  • the number of component parts of the positioning device 16 can be reduced and the structure can be simplified.
  • the positioning device 16 can be downsized and the manufacturing cost can be reduced.
  • the durability of the positioning device 16 can be improved. Further, since the upper unit 26 is always in the reference position when the load 1 is placed on the rack regulation device 14, it is possible to avoid variations in the position range of the load 1 that can be adjusted by the positioning device 16.
  • the positioning device 16 includes a base plate 20 that supports the lower unit 28.
  • the base plate 20 has legs 42 protruding from the lower surface, and the inclined structure 44 is composed of legs 42.
  • the moving region 62 can be provided with a gradient with a simple structure.
  • the positioning device 16 includes a first suction member 64 and a second suction member 66 that are attracted to each other by a magnetic force.
  • the first suction member 64 is provided in the lower region of the inclination in the lower unit 28, and the second suction member 66 is provided in the lower region of the inclination in the upper unit 26.
  • FIG. 7 is a cross-sectional view of the positioning device 16 according to the second embodiment.
  • the positioning device 16 tilts the upper unit 26 having the sphere 46, the retainer portion 48 and the upper plate portion 50, the lower unit 28 having the lower plate portion 58 and the guide portion 60, and the moving region 62 with respect to the horizontal plane HP. It is provided with an inclined structure 44 that guides the upper unit 26 to a reference position. Further, the positioning device 16 includes a base plate 20 that supports the lower unit 28.
  • the base plate 20 of the present embodiment has a gradual change portion 68 in which the thickness 20T of the portion overlapping the moving region 62 in the vertical direction gradually becomes thinner from one side to the other of the moving region 62.
  • the thickness 20T of the entire base plate 20 is gradually reduced from the outlet frame 24 side to the inlet frame 22 side. Therefore, a gradual change portion 68 is provided throughout the base plate 20.
  • the upper surface of the base plate 20 is inclined with respect to the horizontal plane HP. Since the lower plate portion 58 is fixed to the upper surface of the base plate 20, the moving region 62 is also inclined by the gradually changing portion 68. Therefore, the inclined structure 44 of the present embodiment is composed of the gradual change portion 68. Even with such a configuration, the same effect as that of the first embodiment can be obtained.
  • FIG. 8 is a cross-sectional view of the positioning device 16 according to the third embodiment.
  • the positioning device 16 tilts the upper unit 26 having the sphere 46, the retainer portion 48 and the upper plate portion 50, the lower unit 28 having the lower plate portion 58 and the guide portion 60, and the moving region 62 with respect to the horizontal plane HP. It is provided with an inclined structure 44 that guides the upper unit 26 to a reference position.
  • the lower unit 28 of the present embodiment has legs 70 protruding downward.
  • the leg portion 70 projects downward from the lower surface of the lower plate portion 58.
  • a plurality of leg portions 70 are provided on each of the edge portion of the lower plate portion 58 on the inlet frame 22 side and the edge portion on the exit frame 24 side.
  • each leg 70 is composed of, for example, an adjuster bolt, and can expand and contract independently.
  • the inclined structure 44 of the present embodiment is composed of legs 70. The inclined structure 44 tilts the moving region 62 with respect to the horizontal plane HP by extending the length of some legs 70 more than the length of the other legs 70. Even with such a configuration, the same effect as that of the first embodiment can be obtained.
  • FIG. 9 is a cross-sectional view of the positioning device 16 according to the fourth embodiment.
  • the positioning device 16 tilts the upper unit 26 having the sphere 46, the retainer portion 48 and the upper plate portion 50, the lower unit 28 having the lower plate portion 58 and the guide portion 60, and the moving region 62 with respect to the horizontal plane HP. It is provided with an inclined structure 44 that guides the upper unit 26 to a reference position.
  • the lower plate portion 58 of the present embodiment has a gradual change portion 72 in which the thickness 58T of the portion including the moving region 62 gradually becomes thinner from one side to the other of the moving region 62.
  • the thickness 58T of the lower plate portion 58 is gradually reduced from the outlet frame 24 side to the inlet frame 22 side. Therefore, a gradual change portion 72 is provided over the entire lower plate portion 58.
  • the moving region 62 is inclined with respect to the horizontal plane HP. Therefore, the inclined structure 44 of the present embodiment is composed of the gradual change portion 72. Even with such a configuration, the same effect as that of the first embodiment can be obtained.
  • the fifth embodiment has the same configuration as the first embodiment except that it includes an urging portion.
  • the present embodiment will be mainly described with a configuration different from that of the first embodiment, and the common configuration will be briefly described or the description will be omitted.
  • 10A and 10B are plan views of the positioning device 16 according to the fifth embodiment.
  • FIG. 10A shows a state in which the load 1 (not shown) is mounted on the upper unit 26, and
  • FIG. 10B shows a state in which the load 1 is not mounted on the upper unit 26.
  • the positioning device 16 tilts the upper unit 26 having the sphere 46, the retainer portion 48 and the upper plate portion 50, the lower unit 28 having the lower plate portion 58 and the guide portion 60, and the moving region 62 with respect to the horizontal plane HP. It is provided with an inclined structure 44 that guides the upper unit 26 to a reference position. Further, the positioning device 16 includes a base plate 20 that supports the lower unit 28.
  • the positioning device 16 of the present embodiment includes an urging unit 74 that urges the upper unit 26 toward a reference position.
  • the urging portion 74 has, for example, a pair of spring cylinders 76 and an urging plate 78 attached to the tip portions of the pair of spring cylinders 76.
  • Each spring cylinder 76 is slidably fixed to the region of the guide portion 60 on the outlet frame 24 side (upper side of the inclination).
  • the tip of each spring cylinder 76 can move forward and backward with respect to the moving region 62, and the tip of each spring cylinder 76 is urged in a direction of advancing into the moving region 62 by a built-in coil spring (not shown).
  • the urging plate 78 abuts on the side surface of the upper unit 26 and urges the upper unit 26 to the inlet frame 22 side (lower side of the inclination) by the urging force of the spring cylinder 76.
  • the upper unit 26 When the load 1 is placed on the positioning device 16 and the load 1 is pulled toward the outlet frame 24 by the pull-in mechanism 30, the upper unit 26 is displaced toward the outlet frame 24 against the urging force of the spring cylinder 76 ( FIG. 10A). When the load 1 is removed from the positioning device 16, the upper unit 26 is pushed toward the reference position by the urging plate 78 (FIG. 10B). As a result, the upper unit 26 can be more reliably guided to the reference position.
  • the embodiment of the present disclosure has been described in detail above.
  • the above-described embodiment merely shows a specific example in carrying out the present disclosure.
  • the content of the embodiment does not limit the technical scope of the present disclosure, and many design changes such as modification, addition, and deletion of components are made without departing from the concept of disclosure specified in the claims. Is possible.
  • the new embodiment with the design change has the effects of the combined embodiment and the modification.
  • the contents that can be changed in design are emphasized by adding notations such as "in the present embodiment” and "in the present embodiment”. Design changes are allowed even if there is no content. Any combination of the above components is also valid as an aspect of the present disclosure.
  • the hatching attached to the cross section of the drawing does not limit the material of the object to which the hatching is attached.

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automatic Assembly (AREA)
  • Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
  • Details Of Measuring And Other Instruments (AREA)
PCT/JP2020/032982 2019-11-12 2020-09-01 位置決め装置 Ceased WO2021095327A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
EP20887791.0A EP4060671B1 (en) 2019-11-12 2020-09-01 Positioning device
JP2021555910A JP7486093B2 (ja) 2019-11-12 2020-09-01 位置決め装置
US17/775,476 US11879587B2 (en) 2019-11-12 2020-09-01 Positioning apparatus
CN202080076033.8A CN114641827B (zh) 2019-11-12 2020-09-01 定位装置

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-204647 2019-11-12
JP2019204647 2019-11-12

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Publication Number Publication Date
WO2021095327A1 true WO2021095327A1 (ja) 2021-05-20

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PCT/JP2020/032982 Ceased WO2021095327A1 (ja) 2019-11-12 2020-09-01 位置決め装置

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US (1) US11879587B2 (https=)
EP (1) EP4060671B1 (https=)
JP (1) JP7486093B2 (https=)
CN (1) CN114641827B (https=)
WO (1) WO2021095327A1 (https=)

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Publication number Priority date Publication date Assignee Title
CN216071927U (zh) * 2021-11-15 2022-03-18 宁德时代新能源科技股份有限公司 定位装置及系统

Citations (5)

* Cited by examiner, † Cited by third party
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JPWO2021095327A1 (https=) 2021-05-20
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