DD242322A1 - TWO COORDINATE STEP MOTOR - Google Patents

Abstract

The invention relates to a two-coordinate stepping motor, which is advantageously used for positioning in the Geraete- and automation technology, because with him very small increments with low coil, control and control effort and good dynamics is achieved. The essence of the invention is that one or more coil arrangements of certain dimensions are mounted in a movable table top, which is guided in air gaps of magnetic systems in a corresponding arrangement and dimension and that when current flows in the coil, a force is exerted on the table top. The dimensions and arrangements of the coils and magnets are chosen so that a torque compensation or -verstaerkung can be generated. The energization of the coils is controlled via the connected position controller according to the existing motion task. The basic principle is shown in FIG. Fig. 1

Description

embodiment

The invention is explained in more detail below with reference to exemplary embodiments. The enclosed drawing shows:

Fig. 1: Two-coordinate stepping motor in section A-A with four mechanically fixed in a movable table top coils and magnets in a force line of action for one coordinate and in two parallel force lines of action for the other coordinate

Fig. 2: Section B-B to Fig. 1 Figure 3: Two-coordinate stepper motor in section A-A with two mechanically fixed in a movable table top coils and permanent magnets for a coordinate and DC magnets in two parallel lines of force for the other

Coordinate,

4: Section B-B to Fig.3

Referring to Fig. 1 and Fig. 2, a two-coordinate stepping motor is shown. On a ferromagnetic or only partially ferromagnetic base plate 1, two oppositely polarized magnets 2 in a row and for movement in the y-coordinate are respectively two oppositely polarized magnets 3 in two parallel force lines perpendicular to the magnetic series derx- for the force generation in the x-coordinate direction. Coordinate arranged. In the working air gaps of the magnets 2, the outer and inner coils 6 and 7 are passed and through which the magnets 3, only the inner coil 7, while the outer coil 6 is guided around the magnets 3 at a distance of half the y-way. In addition, one of the spools 8, preferably of the same cross-section, for torque compensation or generation or force amplification is guided in the working air gaps of the magnets 3. The coils 6, 7, 8 are fastened in a table top 4, which in the middle has grid plates 12, 13 and a slide plate 9 and is guided onto sliding surfaces 11 on four slide feet 5. The grid plates are illuminated with light sources 14 and scanned opto-electronically with photodetectors 15 and generate in motion incremental location signals for a connected position controller, which compares them with the existing control signals and corresponding to the necessary movements to reach the desired position, the corresponding coils with voltage sources corresponding polarity and pulse time , In the x-coordinate movement, only the coil 6 is energized polarity according to the necessary direction of movement or both coils 6.7 are energized equal, but the coils 8 then have opposite current directions lead to coil 7 and torque compensation or torque generation is the current of the coil 7 to make overcompensation possible. For the y-coordinate movement, the coils 6, 7 are flowed through by currents of opposite direction, so that the forces in the x-direction cancel each other out. The coils 8 are energized so that the force effect is amplified in the y-direction torque-free or the resulting torque is amplified. The current intensity of all coils 6,7,8 and the direction of the currents is very quickly adjustable according to the existing motion task and the existing location signals of the measuring system by a position controller, since the coils are 6.7,8 iron-free and low inductance.

Referring to FIG. 3 and FIG. 4, a two-coordinate stepping motor in a modified embodiment of FIG. 1 and FIG. 2 is shown. To reduce the coil effort, two oppositely polarized permanent magnets 2 and, for the y coordinate, four DC magnets 10 are arranged side by side in two parallel force action lines perpendicular to the permanent magnet row for the x-coordinate. In the working air gaps of the permanent magnets 2, an outer coil 6 is guided, which is guided around the DC magnets 10 at least at a distance of half the movement path of the y-coordinate. A coil 7, which is arranged inside the coil 6 and is mechanically connected thereto, is guided in the working air gaps of the permanent magnets 2 and the DC magnets 10: For the movement of the table top 4 in the x-coordinate only the coil 6 is connected according to the necessary direction of movement via a controller to a voltage source of corresponding polarity. For the movement in the y-coordinate both coils 6,7 are connected according to the necessary direction of movement via a regulator to voltage sources corresponding but opposite polarity. The DC magnets 10 are so excited that the field direction according to the necessary direction of movement and according to the existing table position for torque freedom or torque generation is also present in size properly. At the same current strength but opposite current direction in the coils 6,7 same cross-section results in a compensation of the forces in the x-coordinate, when the magnetic field of the permanent magnet 2 acts equally strong on both coils 6.7. For an x-y movement in the plane, both coils 6, 7 are then supplied via a regulator with voltages of corresponding magnitude and polarity.

Claims (2)

Invention claim: 1. A two-coordinate stepping motor in which coils are arranged in a moving part which is guided by sliding, rolling, fluid or magnetic levitation in a plane which in turn is arranged in the working air gaps of magnets and on the grid plates, interferometer or other incremental Encoder plates are mounted for incremental signal acquisition and position control, characterized in that for the x-coordinate two oppositely polarized magnets (2) in a row and for the y-coordinate at least two magnets (3) are arranged side by side and that an outer coil (6 ) through the working air gaps of the magnets (2) and around the magnets (3) and an inner coil (7) in the working air gaps of the magnets (2) (3) is guided and within the coil (7) two juxtaposed Coils (8) are guided in the working air gaps of the magnets (3), wherein the coils (6), (7), (8) are mechanically connected. 2. Two-coordinate stepping motor according to item 1, characterized in that for the y-coordinate at least two DC magnets (10) are arranged side by side and only one inner coil (7) in the working air gaps of the DC magnets (10) and the permanent magnets (2) is guided. For this 2 pages drawings Field of application of the invention The invention relates to a two-coordinate stepper motor, in particular for fast and accurate positioning of spatial and planar objects in the device and automation technology for the location structure recognition or change. These drives are particularly suitable for connection to digital signals generating electronic devices. Characteristic of the known technical solutions It is known that two-coordinate motion devices exist with cross tables and various drives, including motion transducers. In addition, DD-PS 129948 and other US patents (eg, Mr. 3720056, No. 3735231) report two-coordinate stepping drives, all of which, however, have the disadvantage of relatively low driving forces at small pitches. In DD 146 525 has already been proposed that an arrangement can be realized in which in each movement coordinate (x, y) of the two-coordinate stepping motor at least two oppositely polarized permanent magnets on a ferromagn'etischen base plate and in each case a ferromagnetic yoke member is disposed that in the Air gap between the permanent magnet and yoke for each movement coordinate (x, y) at least one rectangular coil with far beyond the Magnetpolbreite (b _mp ) projecting coil heads of minimum length (Uiuiini) in a trained as a table top part with the effective coil strands of the center of the table are facing or in each coordinate direction (x, y) at least one Gleischsirommagnet consisting of coil and core, is arranged on a non-magnetizable base plate, wherein in the air gaps of the DC magnet mounted in a movable table top rectangular coil of the minimum outer eren edge length (l _S ä i) is located. For non-square driving surfaces and small space available for the permanent magnetic assemblies too large dimensions for sufficient torque compensation and for the DC magnet assemblies at large forces to be generated for good dynamics too much warming in the investigation level and too long positioning by the large inductances of the DC solenoid , Object of the invention The aim of the invention is to provide a two-coordinate stepping motor, with which torque-compensating or torque generating forces can be realized on a table top for smallest increments below 1 pm, characterized by low mass and large forces, low heating in the investigation level, short positioning times and a low production cost. Explanation of the essence of the invention The invention has for its object to provide a two-coordinate stepping motor, which has a favorable dynamic and thermal behavior and the ability to torque compensation and even smallest increments to less than 1 μηη allows. The object of the invention is achieved in that for the x-coordinate two oppositely polarized magnets in a row and for the y-coordinate at least two magnets are arranged side by side and that an outer coil through the working air column of the magnets of the x-coordinate and around the magnets of the y-coordinate are guided around, in which an inner coil is arranged, which is guided by the working air column of the magnets for the x and y coordinate. Within this inner coil two adjacent coils are still arranged, which are guided by the working air column of the magnets for the y-coordinate. All coils are mechanically connected to each other and to a table top and energized according to the movement task and the coil cross sections. To reduce the coil effort at least two DC magnets are arranged side by side for the y-coordinate and only an inner coil through the working air column of the DC magnets and the permanent magnets out.