Mechanical positioning device, system provided with said device and positioning process

1 . A mechanical positioning device ( 100 ) for positioning a component ( 200 ) comprising:

a first toothed crown ( 1 ) integrally connected, during use, to said component ( 200 ), said first crown ( 1 ) being configured for rotating around a rotation axis (X) and having a substantially annular form with a first external face ( 1 o ), a first internal face ( 1 i ), a first upper face ( 1 u ), a first lower face ( 1 d ); said first crown ( 1 ) comprising a first toothing (D 1 ) at said first internal face ( 1 i ) or at said first external face ( 1 o ); said first crown ( 1 ) also comprising a lower toothing (D 1 - 3 ) at said first lower face ( 1 d ); said first toothing (D 1 ) having a number of teeth equal to N1;

a second toothed crown ( 2 ) fixed in rotation with respect to said rotation axis (X); said second crown ( 2 ) having a substantially annular form with a second external face ( 2 o ), a second internal face ( 2 i ), a second upper face ( 2 u ), a second lower face ( 2 d ); said second crown ( 2 ) comprising a second toothing (D 2 ) at said second internal face ( 2 i ) or at said second external face ( 2 o ), said second crown ( 2 ) also comprising an upper toothing (D 2 - 3 ) at said second upper face ( 2 u ); said second toothing (D 2 ) having a number of teeth equal to N2;

a third toothed crown ( 3 ) interposed between said first crown ( 1 ) and said second crown ( 2 ); said third crown ( 3 ) being configured for rotating around said rotation axis (X) and having a substantially annular form with a third external face ( 3 o ), a third internal face ( 3 i ), a third upper face ( 1 u ), a third lower face ( 3 d ); said third crown ( 3 ) comprising a third toothing (D 3 ) at said third internal face ( 31 ) or at said third external face ( 3 o ), a primary coupling toothing (D 3 - 1 ) at said third upper face ( 3 u ) and a secondary coupling toothing (D 3 - 2 ) at said third lower face ( 3 d ); said primary coupling toothing (D 3 - 1 ) having a number of teeth equal to a number of teeth of said lower toothing (D 1 - 3 ); said secondary coupling toothing (D 3 - 2 ) having a number of teeth equal to a number of teeth of said upper toothing (D 2 - 3 );

at least one satellite gear ( 4 ) associated with said third crown ( 3 ) and brought into rotation around said rotation axis (X) by said third crown ( 3 ); said at least one satellite gear ( 4 ) being engaged with said first toothing (D 1 ) and with said second toothing (D 2 );

said number of teeth N1 and number of teeth N2 being different from each other;

said device ( 100 ) being configurable between the following configurations:

a closed configuration (P 1 ), wherein said lower toothing (D 1 - 3 ) and said primary coupling toothing (D 3 - 1 ) are engaged with each other, said upper toothing (D 2 - 3 ) and said secondary coupling toothing (D 3 - 2 ) are engaged with each other, and wherein said first crown ( 1 ), second crown ( 2 ) and third crown ( 3 ) are integral with each other; and

an open configuration (P 2 ), wherein said first crown ( 1 ), second crown ( 2 ) and third crown ( 3 ) are spaced from each other and said lower toothing (D 1 - 3 ), primary coupling toothing (D 3 - 1 ), secondary coupling toothing (D 3 - 2 ), said upper toothing (D 2 - 3 ) are not engaged with each other.

2 . The device ( 100 ) according to claim 1 , wherein the number of teeth N1 and the number of teeth N2 differ by a tooth, i.e. N1=N2±1;

or wherein the number of teeth N1 and the number of teeth N2 differ by two or more teeth, i.e. N1=N2±n, where n is an integer greater than 1;

and/or wherein said lower toothing (D 1 - 3 ) has a number of teeth equal to N1;

and/or wherein said upper toothing (D 2 - 3 ) has a number of teeth equal to N2;

and/or wherein said third toothing (D 3 ) has a number of teeth equal to N2.

3 . The device ( 100 ) according to claim 1 , said first toothing (D 1 ) is placed at said first internal face ( 1 i ), said second toothing (D 2 ) is placed at said second internal face ( 2 i ) and said third toothing (D 3 ) is placed at said third external face ( 3 o );

or wherein said first toothing (D 1 ) is placed at said first external face ( 1 o ), said second toothing (D 2 ) is placed at said second external face ( 2 o ) and said third toothing (D 3 ) is placed at said third internal face ( 3 i ).

4 . The device ( 100 ) according to claim 1 , wherein said at least one satellite gear ( 4 ) comprises a shaft ( 40 ), a first pinion ( 41 ) provided with a first satellite toothing (D 41 ) and a second pinion ( 42 ) provided with a second satellite toothing (D 42 );

and/or wherein said first satellite toothing (D 41 ) is engaged with said first toothing (D 1 ) and said second satellite toothing (D 42 ) is engaged with said second toothing (D 2 );

and/or wherein said shaft ( 40 ), first pinion ( 41 ) and second pinion ( 42 ) are configured for rotating with respect to said third crown ( 3 ) around a longitudinal extension axis (Y) of the shaft ( 40 ).

5 . The device ( 100 ) according to claim 4 , wherein said first satellite toothing (D 41 ) and said second satellite toothing (D 42 ) have an equal number of teeth N3;

and/or wherein said first toothing (D 1 ) and said second toothing (D 2 ) have equal pitch diameters;

and/or wherein said first toothing (D 1 ) and said second toothing (D 2 ) have teeth with an involute profile with modulus correction in order to be engaged, respectively, with said first satellite toothing (D 41 ) and with said second satellite toothing (D 42 ).

6 . The device ( 100 ) according to claim 4 , further comprising a plurality of satellite gears ( 4 ) and wherein at least one satellite gear ( 4 ) has said first satellite toothing (D 41 ) rotated around said longitudinal extension axis (Y) by an angle (A) with respect to the second satellite toothing (D 42 ),

and/or wherein said lower toothing (D 1 - 3 ) and primary coupling toothing (D 3 - 1 ) are Hirth toothing configured for establishing a Hirth coupling between said first crown ( 1 ) and said third crown ( 3 ) when said device ( 100 ) is in the closed configuration (P 1 );

and/or wherein said upper toothing (D 2 - 3 ) and secondary coupling toothing (D 3 - 2 ) are Hirth toothing configured for establishing a Hirth coupling between said second crown ( 2 ) and said third crown ( 3 ) when said device ( 100 ) is in the closed configuration (P 1 ).

7 . The device ( 100 ) according to claim 1 , further comprising at least one opening actuator ( 5 ) configured for causing a passage of said device ( 100 ) from the closed configuration (P 1 ) to the open configuration (P 2 );

and/or wherein said at least one opening actuator ( 5 ) is positioned on said third crown ( 3 ) and is acting on said first crown ( 1 ) and second crown ( 2 );

and/or wherein said at least one opening actuator ( 5 ) comprises a spring piston,

and/or wherein said third crown ( 3 ) has a housing portion ( 3 S) comprising at least one seat for said at least one satellite gear ( 4 ), said housing portion ( 3 S) being configured for not being in contact with said first crown ( 1 ) and said second crown ( 2 ) when said device is in said closed configuration (P 1 ).

8 . A positioning system (S) comprising:

the device ( 100 ) according to claim 1 ;

the component ( 200 ) to be positioned, constrained to said first crown ( 1 ); and

an actuator module ( 300 ) operatively connected to said device ( 100 ) and configured for imparting a rotary motion to said third crown ( 3 ).

9 . The system(S) according to claim 8 , further comprising a tightening module ( 400 ) configured to be activated so as to maintain said device ( 100 ) in the closed configuration (P 1 ) and configured to be released so to allow a passage of the device ( 100 ) from the closed configuration (P 1 ) to the open configuration (P 2 ),

and/or wherein said actuator module ( 300 ) comprises a motor ( 301 ) and a transmission member ( 302 ) operatively connected to said third crown ( 3 );

and/or wherein said transmission member ( 302 ) comprises at least one toothed wheel ( 303 ) engaged with said third toothing (D 3 ) in order to rotate said third crown ( 3 ).

10 . The system(S) according to claim 8 , wherein said component ( 200 ) is a tool head adapted to complete a processing and/or a manipulation of an object.

11 . A positioning process for positioning the component ( 200 ) comprising the following steps:

arranging the device ( 100 ) according to claim 1 ;

constraining the component ( 200 ) to said first crown ( 1 );

bringing said device ( 100 ) into said open position (P 1 );

rotating said third crown ( 3 ), causing a rotation of the first crown ( 1 ); and

bringing said device ( 100 ) into said closed position (P 2 ).

12 . The positioning process according to claim 11 , wherein said step of rotating said third crown ( 3 ) provides for rotating said third crown ( 3 ) by engaging a number N of teeth, causing a rotation thereof by an angle equal to N·360°/N2 around said rotation axis (X);

said rotation of the third crown ( 3 ) causing a rotation of the first crown ( 1 ) by an angle equal to N·360°·(N2−N1)/(N1·N2) around said rotation axis (X).