JPH0750413B2 - 6-axis magnetic control device - Google Patents

Description

TECHNICAL FIELD The present invention relates to a 6-axis magnetic control device using Lorentz force.

[Prior Art] Conventionally, as a 6-axis attitude control device of this type using Lorentz force, as shown in FIG. 5, permanent magnets 20a and 20b are provided on each surface of a hexagonal tubular movable body 21, respectively. By arranging a DC actuator DA formed by the square-shaped movable coil 4 and feedback-controlling the current flowing to each movable coil 4 based on the output of the position detection sensor that detects the position of the movable body 21, There has been one in which an appropriate Lorentz force is generated in each of the movable coils 4 of 21 so that the movable body 21 can be controlled in 6 degrees of freedom.

[Problems to be Solved by the Invention] However, in the above-described conventional example, the square-shaped movable coil 4 attached to the hexagonal tubular movable body 21 is replaced by the twelve permanent magnets 20a and 20b. The permanent magnets 20a, 20b are arranged in the formed magnetic circuit to obtain the Lorentz force.
However, since the structure is complicated and the hexagonal tubular movable body 21 is used and the permanent magnets 20a and 20b are arranged around it, there is a problem that the overall shape becomes large. .

The present invention has been made in view of the above points, and an object of the present invention is to provide a compact 6-axis magnetic control device having a simple configuration.

[Means for Solving the Problem] The six-axis magnetic control device of the present invention has two blocks in the vertical direction in which three arc-shaped permanent magnets circumferentially magnetized are arranged on the circumference with a predetermined gap. Six R-shaped movable coils that are arranged in the gap between the permanent magnets by stacking them in a predetermined gap and forming the permanent magnet blocks by making the magnetizing directions of the vertically facing permanent magnets opposite to each other. Are integrated to form a movable coil block, and the movable coil block is formed by connecting three movable coils vertically to the XY plane.
The first block is placed every 0 °, and the posture is controlled by the Lorentz force in the first direction (θx, θy, Z) generated by the main magnetic flux between the permanent magnets of each block. It is composed of a second block that is arranged every 120 ° on the plane and that performs posture control by Lorentz force in the second direction (X, Y, θz) generated by the leakage flux between the opposing permanent magnets of the upper and lower blocks. At the same time, a control means is provided for performing 6-axis attitude control of the movable coil block by feedback-controlling the current flowing through each movable coil based on the output of the position detection sensor that detects the position of the movable coil block.

[Operation] The present invention is configured as described above, and two blocks in which three arc-shaped permanent magnets magnetized in the circumferential direction are arranged on the circumference with a predetermined gap are provided with a predetermined gap in the vertical direction. And a permanent magnet block that generates a three-dimensional three-dimensional magnetic field is formed by reversing the magnetizing directions of the vertically facing permanent magnets, and six R-shaped movable coils are formed in the three-dimensional three-dimensional magnetic field. A 6-axis attitude control of the movable coil block is performed by arranging the integrated movable coil block and performing feedback control of the current flowing through each movable coil based on the output of the position detection sensor that detects the position of the movable coil block. The number of permanent magnets can be reduced, and since a cylindrical movable body is not used, a simple structure and a compact 6-axis magnetic control device can be obtained. . In addition, the movable coil block is provided with a component holding portion so that the Lorentz force in the first direction (θx, θy, Z) generated by the main magnetic flux between the permanent magnets of each block is inserted in the insertion direction (Z
Direction), a strong insertion force can be obtained.

[Embodiment] FIGS. 1 to 4 show an embodiment of the present invention. Two blocks in which three arc-shaped permanent magnets 1 magnetized in the circumferential direction are arranged on the circumference with a predetermined gap. 2a and 2b are vertically overlapped with a predetermined gap, and permanent magnet blocks 3 are formed by making the magnetizing directions of vertically facing permanent magnets 1 opposite to each other, and are arranged in the gaps between the permanent magnets 1. 6 moving coils 4a to 4f having a square shape are integrated to form a moving coil block 5, and each moving coil 4a to 4f is detected based on outputs of position detecting sensors 6a to 6f for detecting the position of the moving coil block 5. The control means 7 is provided for performing 6-axis attitude control of the movable coil block 5 by feedback-controlling the current flowing through 4f. In the embodiment, the movable coil block 5 has three movable coils 2a to 2c wound in a rectangular shape and arranged at every 120 ° perpendicular to the XY plane as shown in FIG. 3 (a). Permanent magnet 1 of each block 2a, 2b
FIG. 3 (b) shows the first block for controlling the posture by the Lorentz force in the first direction (θx, θy, Z) generated by the main magnetic flux between the three blocks and the three R-shaped moving coils 2d to 2f. As shown in the figure, they are arranged every 120 ° on the XY plane, and the upper and lower blocks 2a, 2b
Second caused by the leakage flux between the opposing permanent magnets 1 of
As shown in FIG. 4, it is integrally formed with a second block for controlling the posture by Lorentz force in the directions (X, Y, θz). Sensor targets for each moving coil 4a-4f
6a ′ to 6f ′ are provided, and the sensor targets 6a ′ to
The position detection sensors 6a to 6c facing 6c 'are used in the second direction (X,
Y, θz) position detection is performed, and the sensor target 6d ′ ~
The position detection sensors 6d to 6f facing 6f ′ are used in the first direction (θ
x, θy, Z) position detection can be performed.

In addition, the movable coil block 5 is provided with, for example, a component holding portion 11 that holds a directional component B to be inserted into the hole a of the component A in the z-axis direction. The magnet 1 is arranged in a housing 10a provided at the tip of the arm 10 of the assembly robot.

Further, since the control means 7 needs to perform feedback control calculation in consideration of mutual interference of Lorentz forces acting on the eight movable coils 4a to 4f, the control means 7 uses a microcomputer 7a capable of high-speed matrix calculation. Has been formed,
The outputs of the position detection sensors 6a to 6f are input to the microcomputer 7a via the interface 7b, and the control output from the microcomputer 7a is applied to the moving coils 4a to 4f via the amplifier 7c. ing.
In the figure, 7d is a power source.

Now, when the square-shaped moving coils 4a to 4f are arranged in the three-dimensional magnetic field formed by the permanent magnet block 3 composed of the six permanent magnets 1 magnetized in the circumferential direction,
A Lorentz force can be generated in each of the moving coils 4a to 4f, and the control means 7 feedback-controls the current flowing in each of the moving coils 4a to 4f based on the outputs of the position detection sensors 6a to 6f, thereby moving the moving coil block 5a. The posture of 6
Compliance control can be performed with the degree of freedom.

The Lorentz force F generated in each of the moving coils 4a to 4h having n turns is such that the current flowing in the moving coils 4a to 4h is I, the magnetic flux density by the permanent magnet 1 is B, and the coil length in the magnetic field is L. For example, F = n · I · B · L, and the force becomes proportional to the current I, and good controllability is obtained.

As described above, in the present invention, the current flowing in each of the movable coils 4a to 4f of the movable coil block 5 is feedback-controlled by the control means 7 based on the output of the position detection sensors 6a to 6f, and the movable coil The posture of the block 5 can be controlled with 6 degrees of freedom, and the 6-axis posture control for assembling directional parts can be performed with a simple structure.
Moreover, the number of permanent magnets 1 can be reduced as compared with the conventional example, and since a cylindrical movable body is not used, the size can be reduced. Since the posture control of the movable coil block 5 is performed using the Lorentz force generated in the movable coils 4a to 4f, the compliance control can be easily performed, and the current flowing in the movable coils 4a to 4f and the movable coil block can be easily controlled. Since the force acting on 5 (Lorentz force) is proportional, good controllability can be obtained. In addition, the first generated by the main magnetic flux
Since the Lorentz force in the direction (θx, θy, Z) is larger than the Lorentz force in the second direction (X, Y, θz) generated by the leakage magnetic flux, the Lorentz force in the first direction is used.
If the components are inserted in the direction, a strong component insertion force can be obtained.

EFFECTS OF THE INVENTION The present invention is configured as described above, and two blocks in which three arc-shaped permanent magnets that are magnetized in the circumferential direction are arranged on the circumference with a predetermined gap are provided in the predetermined vertical direction. Six overlapping square-shaped moving coils are formed in the three-dimensional solid magnetic field by overlapping the gaps and forming permanent magnet blocks that generate a three-dimensional solid magnetic field by reversing the magnetizing directions of the vertically facing permanent magnets. A moving coil block that integrates the three moving coils is placed in the XY
They are arranged at intervals of 120 ° perpendicular to the plane, and they are generated in the first direction (θx, θy,
Z) The first block that controls the posture by Lorentz force and three moving coils are arranged at 120 ° intervals on the XY plane, and the second direction is generated by the leakage flux between the opposing permanent magnets of the upper and lower blocks. (X, Y, θz) It is composed of a second block that controls the posture by Lorentz force, and
The 6-axis attitude control of the movable coil block is performed by feedback-controlling the current flowing through each movable coil based on the output of the position detection sensor that detects the position of the movable coil block. Further, since the number can be reduced, and since the cylindrical movable body is not used, there is an effect that a simple structure and a small 6-axis magnetic control device can be obtained. If the movable coil block is provided with a component holder and the Lorentz force in the first direction (θx, θy, Z) generated by the main magnetic flux between the permanent magnets of each block is the insertion direction (Z direction). , A strong insertion force will be obtained.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram of an embodiment of the present invention, and FIGS.
FIG. 5 is a perspective view of an essential part of the above, and FIG. 5 is a schematic configuration diagram of a conventional example. Reference numeral 1 is a permanent magnet, 2a and 2b are blocks, 3 is a permanent magnet block, 4a to 4f are square-shaped movable coils, 5 is a movable coil block, 6a to 6f are position detection sensors, and 7 is a control means.

Claims (1)

[Claims] 1. A permanent magnet that vertically opposes while two blocks, in which three arc-shaped permanent magnets magnetized in the circumferential direction are arranged on the circumference with a predetermined gap, are overlapped with each other in the vertical direction with a predetermined gap. To form a permanent magnet block, and six R-shaped movable coils arranged in the gap between the permanent magnets are integrated to form a movable coil block. Block
The three moving coils are arranged perpendicular to the XY plane at 120 ° intervals, and the posture is controlled by the Lorentz force in the first direction (θx, θy, Z) generated by the main magnetic flux between the permanent magnets of each block. The first block and three moving coils are arranged at 120 ° intervals on the XY plane, and by the Lorentz force in the second direction (X, Y, θz) generated by the leakage flux between the opposing permanent magnets of the upper and lower blocks. 6-axis attitude control of the movable coil block by feedback control of the current flowing to each movable coil based on the output of the position detection sensor that detects the position of the movable coil block. A 6-axis magnetic control device, characterized in that a control means for performing the above is provided.