CN103062300B - Rolling knuckle bearing angle decoupling and magnetic levitation plane driving location vibration isolator - Google Patents
Rolling knuckle bearing angle decoupling and magnetic levitation plane driving location vibration isolator Download PDFInfo
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Abstract
A rolling knuckle bearing angle decoupling and magnetic levitation plane driving location vibration isolator belongs to the technical field of precision vibration isolation. A sleeve of a vibration isolator main body and a lower installation plate are carried by magnetic levitation functions of a magnetic levitation plane motor, lubrication and supporting between a piston cylinder and the sleeve are carried out through an air floatation face, freedom of angular motion between the upper installation plate and the lower installation plate is decoupled through a rolling knuckle bearing, and a position closed loop feedback control system is formed by the motor, a displacement sensor, a limit switch, a controller and a driver to accurately control relative locations of the upper installation plate and the lower installation plate. The vibration isolator has characteristics of zero three-dimensional stiffness, high positional accuracy and angular decoupling, can obtain low inherent frequency and prominent low frequency and ultra-low frequency vibration isolation performance, and can effectively solve high-performance vibration isolation problems of ultra-precise measurement device and processing equipment, in particular to a step scanning photoetching machine.
Description
Technical field
The invention belongs to accurate vibration isolation technical field, relate generally to a kind of decoupling zero of joint shaft bearing angle and maglev planar of rolling and drive the vibration isolator of locating.
Background technique
Along with improving constantly of Ultra-precision Turning and measuring accuracy, ambient vibration becomes the key factor that restriction Ultra-precision Turning equipment improves with surveying instrument precision and performance.Especially step-by-step scanning photo-etching device is the vlsi circuit process unit of representative, technology-intensive degree and complexity high, key technical index all reaches the limit of prior art, represent the highest level of Ultra-precision Turning equipment, precision isolation system becomes the core key technology in this type of equipment; The live width of step-by-step scanning photo-etching device has reached 22nm and following, silicon chip positioning precision and alignment precision all reach a few nanometer, and work stage movement velocity reaches more than 1m/s, work stage acceleration reaches tens times of gravity accleration, and this proposes new challenge to existing vibration isolation technique.First, lithography machine needs for metering system and photoetched object lens provide the working environment of " super quiet ", need again to drive simultaneously work stage at full speed with High acceleration motion, this proposes extremely harsh requirement to the anti-vibration performance of vibrating isolation system, and the natural frequency in its three directions all needs to reach below 1Hz; Secondly, relative position between each parts of lithography machine, the distance of such as photoetched object lens and silicon chip surface, all there is very strict requirement, and under the control being in position closed loop feedback control system, require that the relative positional accuracy between the upper and lower mounting plate of vibration isolator reaches 10 μm of magnitudes, the positioning precision of traditional vibration isolator can not meet the demands far away.
According to theory of vibration isolation, the natural frequency of passive type vibration isolator is directly proportional to rigidity, be inversely proportional to load quality, therefore, under the prerequisite that load quality is certain, the rigidity reducing vibration isolator is the effective way reducing natural frequency, improve low frequency and superlow frequency vibration isolating performance.There are the intrinsic contradictions of static bearing capacity and rigidity in the vibration isolator of the forms such as conventional air bellows, restrict by the factor such as material behavior, structural rigidity simultaneously, will reduce its rigidity, especially level further very difficult to rigidity.For this problem, " pendulum " formula structure is incorporated in air cushion shock absorber by researcher, reaches object (the 1.Nikon Corporation.Vibration Isolator With Low Lateral Stiffness. U.S. Patent Publication No.: US20040065517A1 reducing vibration isolator horizontal rigidity; 2.U.S.Philips Corporation.Positioning Device with a Force Actuator Systemfor Compensating Center-of-gravity Displacements, and Lithographic Device Provided with Such APositioning Device. U.S. Patent number: US005844664A).The method can reduce the horizontal rigidity of air cushion shock absorber to a certain extent, promotes its low frequency vibration isolation performance.The method Problems existing is: 1) restrict by material behavior and structural rigidity, the vertical limited extent reduced to rigidity with level of vibration isolator; 2) the vertical and level of air cushion shock absorber is all very poor to positioning precision, cannot meet the requirement of photoetching process; 3) lower horizontal rigidity to be reached and need larger pendulum length, cause vibration isolator height excessive, easily string membrane resonance occurs, poor stability.
By visible to the analysis of existing air cushion shock absorber technological scheme, existing air cushion shock absorber is difficult to meet the requirement of lithography machine to ultralow rigidity and high position precision.IDE company of Germany proposes a kind of vibration isolator technological scheme (1.Integrated Dynamics Engineering GmbH.Isolatorgeometrie EinesSchwingungsisolationssystem. european patent number: EP1803965A2 of abandoning tradition rubber air spring; 2.Integrated Dynamics EngineeringGmbH.Schwingungsisolationssystem Mit Pneumatischem Tiefpassfilter. european patent number: EP1803970A2; 3.Integrated Dynamics Engineering GmbH.Air Bearing with Consideration ofHigh-Frequency Resonances. U.S. Patent Publication No.: US20080193061A1).Program employing is vertical carries out decoupling zero and vibration isolation to air bearing surface to the vibration of all directions with level, can reach extremely low rigidity and natural frequency.Program Problems existing is: 1) in public technology scheme, vibration isolator cannot realize accurate location; 2), in patent EP1803965A2, there is not the angular motion degrees of freedom around horizontal rotational shaft between upper and lower mounting plate, the angular rigidity in this direction and natural frequency are all very high; Patent EP1803970A2 and US20080193061A1 adopts block rubber to provide angular motion degrees of freedom around horizontal rotational shaft for upper and lower mounting plate, but because block rubber angular rigidity is very large, effectively cannot carry out angular motion freedom decoupling, there is frictional force between angular motion freedom decoupling mechanism part and introduce additional stiffness, restriction anti-vibration performance.
ASML company of Holland it is also proposed similar vibration isolator technological scheme (1.U.S.Philips Corp, ASM LithographyB.V.Pneumatic Support Device with A Controlled Gas Supply, and Lithographic Device Providedwith Such A Support Device. U.S. Patent number: US006144442A; 2.Koninklijke Philips ElectronicsN.V., ASM Lithography B.V.Lithographic Pneumatic Support Device with Controlled Gas Supply. International Patent Publication No.: WO99/22272; 3.ASML Netherlands B.V.Support Device, LithographicApparatus, and Device Manufacturing Method Employing A Supporting Device, and A PositionControl System Arranged for Use in A Supporting Device. U.S. Patent number: US007084956B2; 4.ASML Netherlands B.V.Support Device, Lithographic Apparatus, and Device ManufacturingMethod Employing A Supporting Device and A Position Control System Arranged for Use in ASupporting Device. european patent number: EP1486825A1).In patent US006144442A and WO99/22272, closed-loop feedback control is carried out to bleed pressure, reach and improve the stability of vibration isolator and the object of performance; On upper mounting plate, be provided with vibration transducer in patent US007084956B2 and EP1486825A1, introduce with reference to vibration system simultaneously, promoted the anti-vibration performance of vibration isolator by control algorithm.But propose technological scheme and still do not solve the accurate location of vibration isolator and the angular motion freedom decoupling problem of upper and lower mounting plate.
Summary of the invention
The object of the invention is for ultra precise measurement instrument and process unit, especially the vlsi circuit process unit such as step-by-step scanning photo-etching device is to the low natural frequency of vibration isolator, the an urgent demand of high position precision, a kind of decoupling zero of joint shaft bearing angle and maglev planar of rolling is provided to drive the vibration isolator of locating, vibration isolator has the characteristic of three-dimensional approximate zero rigidity and extremely low natural frequency, on, accurately location and angle decoupling zero can be carried out between lower installation board, thus effectively solve ultra precise measurement instrument and process unit, especially the accurate vibration isolation problem in step-by-step scanning photo-etching device.
The object of the present invention is achieved like this:
A kind of decoupling zero of joint shaft bearing angle and maglev planar of rolling drives the vibration isolator of locating, by upper mounting plate, lower installation board, clean compressed gas source, tracheae and vibration isolator main body composition, vibration isolator main body is arranged on upper mounting plate and lower installation board) between, clean compressed gas source is connected with vibration isolator main body by tracheae, the structure of described vibration isolator main body is: the lower surface of sleeve and lower installation board float gap by the magnetic that the magnetic suspension effect of maglev planar motor is formed and carry, piston cylinder back-off is arranged in sleeve, and lubricate with sleeve by the radial cylinder air bearing surface that carries and support, rolling joint shaft bearing is arranged between piston cylinder and upper mounting plate, Z-direction voice coil motor, Z-direction displacement transducer and Z-direction limit switch are arranged between piston cylinder and sleeve, X is to displacement transducer, X is to limit switch and Y-direction displacement transducer, Y-direction limit switch is arranged between sleeve and lower installation board, the driving force direction of Z-direction voice coil motor and the X of maglev planar motor are to driving force, Y-direction driving force direction is orthogonal between two, Z-direction displacement transducer, the line of action direction of Z-direction limit switch is consistent with the driving force direction of Z-direction voice coil motor, X is to displacement transducer, X is consistent to driving force with the X of maglev planar motor to the line of action direction of limit switch, Y-direction displacement transducer, the line of action direction of Y-direction limit switch is consistent with the Y-direction driving force direction of maglev planar motor, X, Y, Z-direction displacement transducer are connected with the signal input part of controller respectively with X, Y, Z-direction limit switch, the signal output part of controller is connected with the signal input part of driver, and the signal output part of driver is connected with maglev planar motor, Z-direction voice coil motor respectively.
Be provided with gas pressure sensor in described piston cylinder, piston cylinder is provided with suction port and solenoid valve, and gas pressure sensor is connected with the signal input part of controller, and the signal output part of driver is connected with solenoid valve.
The configuration mode of described maglev planar motor installs at sleeve bottom surface sidewall the maglev planar motor mover connected without wire, at the relatively equipped maglev planar motor stator of lower installation board upper surface sidewall.
Described Z-direction voice coil motor is cylinder type voice coil motor or plate voice coil motor.
Described X, Y, Z-direction displacement transducer are grating scale, magnetic railings ruler, appearance grid chi or linear potentiometer.
Described X, Y, Z-direction limit switch are mechanical type limit switch, Hall-type limit switch or photoelectric limit switch.
In described piston cylinder, gas pressure is 0.1MPa ~ 0.8MPa.
It is 0.01mm ~ 1mm that magnetic between described maglev planar motor mover and maglev planar motor stator floats gap.
The good result of technological innovation of the present invention and generation is:
(1) the present invention has abandoned the vibration isolator technological scheme of tradition based on elastic element/mechanism, adopt maglev planar motor, radial carrying cylinder air bearing surface carries out decoupling zero and vibration isolation to level to vertical vibration respectively, magnetic suspension bearing mode horizontal rigidity when motor exports without Locating driver power is approximately zero, together with the air bearing surface of zero stiffness, vibration isolator can be made to obtain approximate zero stiffness characteristic and outstanding superlow frequency vibration isolating performance, solve prior art by structural rigidity, material behavior limits, rigidity is difficult to further reduction, the problem that rigidity and stability can not be taken into account.This is one of the present invention's innovative point being different from prior art.
(2) the present invention adopts displacement transducer chi, limit switch, controller, driver and motor to form position closed loop feedback control system, relative position between upper and lower mounting plate is accurately controlled, positioning precision can reach 10 μm and more than, effectively can solve that prior art positioning precision is low, problem that positioning precision and rigidity and anti-vibration performance can not be taken into account.This is the innovative point two that the present invention is different from prior art.
(3) the present invention adopts rolling joint shaft bearing to carry out decoupling zero to the angular motion between upper and lower mounting plate, the additional angular rigidity of the friction of rolling joint shaft bearing, wearing and tearing and introducing can be ignored, and effectively can solve the method that existing employing elastomer carries out angle decoupling zero and introduce larger additional stiffness, problem such as restriction natural frequency and low frequency vibration isolation performance etc.This is the innovative point three that the present invention is different from prior art.
(4) the present invention adopts gas pressure sensor, solenoid valve and controller, driver etc. to form pressure closed loop feedback control system, gas pressure in accurate control sleeve, gravitational equilibrium and compensation are carried out to the thrust load of vibration isolator, under the effect of radial direction carrying cylinder air bearing surface, the piston cylinder of carry load gravity freely can slide up and down along sleeve with zero stiffness, thus the gravitational equilibrium of realizing ideal and zero stiffness vibration isolating effect.This is the innovative point four that the present invention is different from prior art.
(5) the present invention adopts active actuators to carry out ACTIVE CONTROL to the relative position between upper and lower mounting plate and the gas pressure in piston cylinder, vibration isolator parameter can regulate in real time according to being changed by vibration isolation features of the object and working environment, thus adapt to different operating modes, there is good flexibility, adaptability and stability.This is the innovative point five that the present invention is different from prior art.
Accompanying drawing explanation
Fig. 1 is the structural representation that the angle decoupling zero of rolling joint shaft bearing and maglev planar drive the vibration isolator of locating;
Fig. 2 is the cross-sectional view that the angle decoupling zero of rolling joint shaft bearing and maglev planar drive the vibration isolator of locating;
Fig. 3 is the rolling joint shaft bearing structural representation of single ball;
Fig. 4 is the ball retainer structural representation of single ball rolling joint shaft bearing;
Fig. 5 is the rolling joint shaft bearing structural representation being abound with ball;
Fig. 6 is the control structure block diagram that the angle decoupling zero of rolling joint shaft bearing and maglev planar drive the vibration isolator of locating;
Fig. 7 is the schematic diagram of cylinder air bearing surface throttle orifice on piston cylinder.
In figure, piece number illustrates: 1 upper mounting plate, 2 lower installation boards, 3 clean compressed gas sources, 4 vibration isolator main bodys, 5 piston cylinders, 6 sleeves, 7 rolling joint shaft bearings, 7a bearing support, 7b ball retainer, 7c ball, 7d bearing support, 10Z is to voice coil motor, 10a Z-direction motor iron yoke, 10b Z-direction magnetic steel of motor, 10c Z-direction motor coil framework, 10d Z-direction motor coil, 10e Z-direction motor transitional part, 11X is to displacement transducer, 12Y is to displacement transducer, 12a Y-direction grating reading head transition piece, 12b Y-direction grating reading head, 12c Y-direction glass raster chi, 13Z is to displacement transducer, 13a Z-direction grating reading head transition piece, 13b Z-direction grating reading head, 13c Z-direction glass raster chi, 14X is to limit switch, 15Y is to limit switch, 15aY is to limiting stopper, 15b Y-direction Hall switch, 15c Y-direction limit switch transition piece, 15d Y-direction limiting stopper transition piece, 16Z is to limit switch, 16aZ is to limiting stopper, 16b Z-direction Hall switch, 16c Z-direction limit switch transition piece, 17 gas pressure sensors, 18 solenoid valves, 19 controllers, 20 drivers, 21 magnetic float gap, 22 radial carrying cylinder air bearing surface, 23 suction ports, 24 maglev planar motors, 24a maglev planar motor mover, 24b maglev planar motor stator, 25 cylinder air bearing surface throttle orifices, 26 tracheaes.
Embodiment
Specific embodiments of the invention are provided below in conjunction with accompanying drawing.
A kind of decoupling zero of joint shaft bearing angle and maglev planar of rolling drives the vibration isolator of locating, by upper mounting plate 1, lower installation board 2, clean compressed gas source 3, tracheae 26 and vibration isolator main body 4 form, vibration isolator main body 4 is arranged between upper mounting plate 1 and lower installation board 2, clean compressed gas source 3 is connected with vibration isolator main body 4 by tracheae 26, the structure of described vibration isolator main body 4 is: the lower surface of sleeve 6 and lower installation board 2 float gap 21 by the magnetic that the magnetic suspension effect of maglev planar motor 24 is formed and carry, piston cylinder 5 back-off is arranged in sleeve 6, and lubricate with sleeve 6 by the radial cylinder air bearing surface 22 that carries and support, rolling joint shaft bearing 7 is arranged between piston cylinder 5 and upper mounting plate 1, Z-direction voice coil motor 10, Z-direction displacement transducer 13 and Z-direction limit switch 16 are arranged between piston cylinder 5 and sleeve 6, X is to displacement transducer 11, X is to limit switch 14 and Y-direction displacement transducer 12, Y-direction limit switch 15 is arranged between sleeve 6 and lower installation board 2, the driving force direction of Z-direction voice coil motor 10 and the X of maglev planar motor 24 are to driving force, Y-direction driving force direction is orthogonal between two, Z-direction displacement transducer 13, the line of action direction of Z-direction limit switch 16 is consistent with the driving force direction of Z-direction voice coil motor 10, X is to displacement transducer 11, X is consistent to driving force with the X of maglev planar motor 24 to the line of action direction of limit switch 14, Y-direction displacement transducer 12, the line of action direction of Y-direction limit switch 15 is consistent with the Y-direction driving force direction of maglev planar motor 24, X, Y, Z-direction displacement transducer 11,12,13 are connected with the signal input part of controller 19 respectively with X, Y, Z-direction limit switch 14,15,16, the signal output part of controller 19 is connected with the signal input part of driver 20, and the signal output part of driver 20 is connected with maglev planar motor 24, Z-direction voice coil motor 10 respectively.
The displacement that X, Y, Z-direction displacement transducer 11,12,13 couples of X, Y, Z-direction voice coil motor 8,9,10 export is measured, and the stroke that X, Y, Z-direction limit switch 14,15,16 couples of X, Y, Z-direction voice coil motor 8,9,10 move limits; Controller 19 is according to the feedback signal of X, Y, Z-direction displacement transducer 11,12,13 and X, Y, Z-direction limit switch 14,15,16, and control X, Y, Z-direction voice coil motor 8,9,10 accurately control the relative position between upper and lower mounting plate 1,2.
Be provided with gas pressure sensor 17 in described piston cylinder 5, piston cylinder 5 is provided with suction port 23 and solenoid valve 18, and gas pressure sensor 17 is connected with the signal input part of controller 19, and the signal output part of driver 20 is connected with solenoid valve 18.
The configuration mode of described magnetic maglev planar motor 24 installs at sleeve 6 bottom surface sidewall the maglev planar motor mover 24a connected without wire, at the relatively equipped maglev planar motor stator 24b of lower installation board upper surface sidewall.
Described Z-direction voice coil motor 10 is cylinder type voice coil motor or plate voice coil motor.
Described X, Y, Z-direction displacement transducer 11,12,13 are grating scale, magnetic railings ruler, appearance grid chi or linear potentiometer.
Described X, Y, Z-direction limit switch 14,15,16 are mechanical type limit switch, Hall-type limit switch or photoelectric limit switch.
In described piston cylinder 5, gas pressure is 0.1MPa ~ 0.8MPa.
Magnetic between described maglev planar motor mover 24a and maglev planar motor stator 24b floats gap 21 for 0.01mm ~ 1mm.
One embodiment of the present of invention are provided below in conjunction with Fig. 1 ~ Fig. 2, Fig. 6.In the present embodiment, during Zero-rigidity vibration isolator work, lower installation board 2 is arranged on ground, the pedestal of instrument or basic framework, and upper mounting plate 1 is connected with by the load of vibration isolation.Z-direction voice coil motor 10 all adopts cylinder type voice coil motor, and it mainly comprises the parts such as Z-direction motor iron yoke 10a, Z-direction magnetic steel of motor 10b, Z-direction motor coil framework 10c, Z-direction motor coil 10d and Z-direction motor transitional part 10e.Z-direction motor iron yoke 10a and Z-direction motor coil framework 10c is cylindrical shape, and Z-direction magnetic steel of motor 10b is cylindrical, and Z-direction motor coil 10d is around on Z-direction motor coil framework 10c, and Z-direction motor transitional part 10e provides the mounting structure of Z-direction motor coil framework 10c.Z-direction motor iron yoke 10a and Z-direction magnetic steel of motor 10b forms motor stator, and Z-direction motor coil framework 10c, Z-direction motor coil 10d form the mover of motor.Z-direction motor transitional part 10e provides the mounting structure of Z-direction motor coil framework 10c.Pass to electric current in coil during machine operation, according to electromagnetic theory, hot-wire coil can be subject to Lorentz force effect in magnetic field, can be controlled the size and Orientation of motor output drive strength by the size and Orientation controlling electric current.
X, Y, Z-direction displacement transducer 11,12,13 adopt grating scale.For Z-direction displacement transducer 13, it mainly comprises the parts such as Z-direction grating reading head transition piece 13a, Z-direction grating reading head 13b and Z-direction glass raster chi 13c, and Z-direction grating reading head transition piece 13a provides the mounting structure of Z-direction grating reading head 13b.During grating scale work, the relative displacement of itself and Z-direction glass raster chi 13c can detect by Z-direction grating reading head 13b, and gives controller 19 by signal conductor.
X, Y, Z-direction limit switch 14,15,16 adopt Hall-type limit switch.For Z-direction limit switch 16, it mainly comprises the parts such as Z-direction limiting stopper 16a, Z-direction Hall switch 16b and Z-direction limit switch transition piece 16c.Two Z-direction Hall switch 16b install back-to-back, and two Z-direction limiting stopper 16a are metallic material, are mounted opposite with the sensitivity end of Z-direction Hall switch 16b.Z-direction limit switch transition piece 16c provides the mounting structure of Z-direction Hall switch 16b.During limit switch work, when Z-direction Hall switch 16b is close to Z-direction limiting stopper 16a, Z-direction Hall switch 16b provides limit signal, and gives controller 19 by signal conductor.
In the present embodiment, Z-direction voice coil motor 10, Z-direction displacement transducer 13 and Z-direction limit switch 16 are installed between piston cylinder 5 and sleeve 6, and it is inner to be arranged on piston cylinder 5.
The carrying of vibration isolator to load realizes in the following way: clean compressed gas source 3 by tracheae 26, carry clean compressed air through solenoid valve 18, suction port 23 in piston cylinder 5.Controller 19 is according to the feedback signal of gas pressure sensor 17, the aperture of Controlling solenoid valve 18, regulate the gas flow be input in piston cylinder 5, thus the pressure of clean compressed air in regulating piston cylinder 5, make clean compressed air to piston cylinder 5 active force upwards and load, piston cylinder 5 and to load and the gravity of other component on piston cylinder 5 balances each other, the gravity compensation of realizing ideal and zero stiffness vibration isolating effect.
In the present embodiment, in piston cylinder 5, the pressure of clean compressed air is 0.4MPa, and the effective radius of piston cylinder 5 lower surface is 100mm, then the quality of single vibration isolator carrying is: m=p × π r
2/ g ≈ 1282kg, wherein p is gas pressure, and p=0.4MPa, r are the effective radius of piston cylinder 5 lower surface, and r=100mm, g are gravity accleration, g=9.8m/s
2.
An embodiment of the rolling joint shaft bearing of single ball is provided below in conjunction with Fig. 3 ~ Fig. 4.In the present embodiment, forming primarily of parts such as bearing support 7a, ball retainer 7b, ball 7c and bearing support 7d of rolling joint shaft bearing 7, ball 7c is single uniform around axial direction, and ball retainer 7b has circular hole in the position of corresponding ball 7c, and the position of ball 7c is kept by ball retainer 7b.
Fig. 5 provides an embodiment of the rolling joint shaft bearing being abound with ball.In the present embodiment, ball 7c is evenly abound with on the acting surface of bearing support 7a and bearing support 7d, and ball retainer 7b is sphere form, and has circular hole in the position of corresponding ball 7c, and the position of ball 7c is kept by ball retainer 7b.
Fig. 7 provides an embodiment of cylinder air bearing surface throttle orifice on piston cylinder.In the present embodiment, piston cylinder 5 sidewall along the circumferential direction uniform two arranges cylinder air bearing surface throttle orifices 25, and the quantity of every cribbing discharge orifice is 8, and diameter is φ 0.2mm.
Claims (8)
1. the roll decoupling zero of joint shaft bearing angle and maglev planar drive the vibration isolator of locating, by upper mounting plate (1), lower installation board (2), clean compressed gas source (3), tracheae (26) and vibration isolator main body (4) composition, vibration isolator main body (4) is arranged between upper mounting plate (1) and lower installation board (2), clean compressed gas source (3) is connected with vibration isolator main body (4) by tracheae (26), it is characterized in that: the structure of described vibration isolator main body (4) is that the lower surface of sleeve (6) and lower installation board (2) float gap (21) by the magnetic that the magnetic suspension effect of maglev planar motor (24) is formed and carry, piston cylinder (5) back-off is arranged in sleeve (6), and lubricate with sleeve (6) by the radial cylinder air bearing surface (22) that carries and support, rolling joint shaft bearing (7) is arranged between piston cylinder (5) and upper mounting plate (1), Z-direction voice coil motor (10), Z-direction displacement transducer (13) and Z-direction limit switch (16) are arranged between piston cylinder (5) and sleeve (6), X is to displacement transducer (11), X is to limit switch (14) and Y-direction displacement transducer (12), Y-direction limit switch (15) is arranged between sleeve (6) and lower installation board (2), the driving force direction of Z-direction voice coil motor (10) and the X of maglev planar motor (24) are to driving force, Y-direction driving force direction is orthogonal between two, Z-direction displacement transducer (13), the line of action direction of Z-direction limit switch (16) is consistent with the driving force direction of Z-direction voice coil motor (10), X is to displacement transducer (11), X is consistent to driving force with the X of maglev planar motor (24) to the line of action direction of limit switch (14), Y-direction displacement transducer (12), the line of action direction of Y-direction limit switch (15) is consistent with the Y-direction driving force direction of maglev planar motor (24), X, Y, Z-direction displacement transducer (11,12,13) are connected with the signal input part of controller (19) respectively with X, Y, Z-direction limit switch (14,15,16), the signal output part of controller (19) is connected with the signal input part of driver (20), and the signal output part of driver (20) is connected with maglev planar motor (24), Z-direction voice coil motor (10) respectively.
2. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, it is characterized in that: in described piston cylinder (5), be provided with gas pressure sensor (17), piston cylinder (5) is provided with suction port (23) and solenoid valve (18), gas pressure sensor (17) is connected with the signal input part of controller (19), and the signal output part of driver (20) is connected with solenoid valve (18).
3. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, it is characterized in that: the configuration mode of described maglev planar motor (24) installs at sleeve (6) bottom surface sidewall the maglev planar motor mover (24a) connected without wire, at the relatively equipped maglev planar motor stator (24b) of lower installation board upper surface sidewall.
4. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, and it is characterized in that: described Z-direction voice coil motor (10) is cylinder type voice coil motor or plate voice coil motor.
5. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, and it is characterized in that: described X, Y, Z-direction displacement transducer (11,12,13) are grating scale, magnetic railings ruler, appearance grid chi or linear potentiometer.
6. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, and it is characterized in that: described X, Y, Z-direction limit switch (14,15,16) are mechanical type limit switch, Hall-type limit switch or photoelectric limit switch.
7. rolling joint shaft bearing angle decoupling zero according to claim 1 and maglev planar drive the vibration isolator of locating, and it is characterized in that: described piston cylinder (5) interior gas pressure is 0.1MPa ~ 0.8MPa.
8. rolling joint shaft bearing angle decoupling zero according to claim 3 and maglev planar drive the vibration isolator of locating, and it is characterized in that: it is 0.01mm ~ 1mm that the magnetic between described maglev planar motor mover (24a) and maglev planar motor stator (24b) floats gap (21).
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| CN201210574757.2A CN103062300B (en) | 2012-12-19 | 2012-12-19 | Rolling knuckle bearing angle decoupling and magnetic levitation plane driving location vibration isolator |
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| CN201210574757.2A CN103062300B (en) | 2012-12-19 | 2012-12-19 | Rolling knuckle bearing angle decoupling and magnetic levitation plane driving location vibration isolator |
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| CN103047346B (en) * | 2012-12-19 | 2014-06-11 | 哈尔滨工业大学 | Magnetic suspension zero-stiffness vibration isolator with angular decoupling function by aid of rolling joint bearing and vibration isolation system with magnetic suspension zero-stiffness vibration isolator |
| CN104477410A (en) * | 2014-11-03 | 2015-04-01 | 上海卫星工程研究所 | Motion and still isolation master-slave cooperative control double superior satellite platform |
| CN105059568B (en) * | 2015-07-31 | 2017-05-03 | 上海卫星工程研究所 | Decoupling control method of eight-rod six-degree-of-freedom satellite platform for ultra-precise ultra-stable satellites |
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