JP2009281533A - Mechanical device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a mechanical device for largely reducing influence of vibration. <P>SOLUTION: This mechanical device 10 includes an actuator 26 arranged in a vibration damping object part 14 as an active vibration damping mechanism 18 and generating vibration in the vibrating direction of the vibration damping object part 14, an acceleration sensor 28 arranged in the vibration damping object part 14 and outputting an acceleration signal including a vibration component of the vibration damping object part 14, a signal processing means 38 for generating a signal of an opposite phase of the detected vibration component by detecting the vibration component of the vibration damping object part 14 among a component included in the acceleration signal from the acceleration sensor 28 based on natural vibration information of the vibration damping object part 14 obtained in advance, and a control means 40 for generating the vibration of the opposite phase in the actuator 26 to the vibration of the vibration damping object part 14 based on an opposite phase signal from the signal processing means 38. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an improvement of a mechanical device, particularly a vibration damping mechanism thereof.

An image measuring machine is used to measure the shape and dimensions of an object to be measured.
By the way, image measuring machines have been required to improve throughput year by year.
Therefore, in the image measuring machine, there is a problem in the residual vibration at the time of high speed and high acceleration / deceleration of the moving part. In addition, in an image measuring machine, even when the moving unit is continuously moving, minute vibrations are often generated and image variation errors are often generated.
When measuring with an image measuring machine, if high-speed and high acceleration / deceleration movement is performed, the vibration of the machine cannot be attenuated, there is residual vibration, and it may be difficult to improve the throughput.

In such a background, it has been considered to add a spring, dry friction, and viscous resistance to an image measuring machine as a vibration suppression method.
In some cases, an elastic rubber or a spring is added to the drive unit joint of the image measuring machine to reduce vibration propagation.

Conventionally, it is a technique related to a general stage, not an image measuring machine, but it is also conceivable to provide a counter mass mechanism. This is to cancel the reaction force at the time of driving the stage by linearly moving a mass having the same mass as the stage in the direction opposite to the driving direction of the stage when the stage is driven (for example, Patent Document 1).
Conventionally, it is a technique related to a general automobile, not an image measuring machine, but it is also conceivable to provide an active vibration damping mechanism in the engine mount of the automobile. This is to reduce the transmission of engine vibration to the passenger compartment due to the active vibration control mechanism (for example, Patent Document 2).
JP 2000-216082 A JP 2000-88045 A

However, even with the conventional method, a satisfactory vibration damping effect could not be obtained.
That is, in the case where the spring or the like is added, when the moving part moves at a high speed, all the damping of the spring acts as a running load, causing hysteresis.
In the case where the elastic rubber or the like is added to the drive unit joint, high speed measurement cannot perform desired drive control on the moving unit, and cannot perform desired vibration control on the moving unit, which is a big problem.

In the case of using the counter mass mechanism, the reaction force at the time of driving the stage is canceled, but it is difficult to reduce the influence of other vibrations.
If the active vibration damping mechanism is used as it is, the vibration-damped part may be excessively vibrated.

  For this reason, in the field of handling mechanical devices that are susceptible to vibration, there has been a strong demand for the development of technology that greatly reduces the effects of vibration, but there has been an appropriate technology that can solve this problem in the past. I did not.

  The present invention has been made in view of the above-described problems of the prior art, and an object thereof is to provide a mechanical device capable of greatly reducing the influence of vibration.

In order to achieve the above object, a mechanical device according to the present invention includes an active vibration suppression mechanism in a mechanical device including a fixed portion provided on a foundation and a moving portion that moves linearly with respect to the fixed portion. Features.
The active vibration suppression mechanism includes an actuator, an acceleration sensor, a signal processing unit, and a control unit, and applies the vibration in the opposite phase to the vibration of the vibration suppression unit of the mechanical device. Cancel the vibration of the vibration control part.
Here, the actuator is provided in a vibration-suppressed part of the mechanical device, and generates vibration in the vibration direction of the vibration-suppressed part.
Further, the acceleration sensor is provided in a vibration-suppressed part of the mechanical device, and outputs an acceleration signal including a vibration component of the vibration-suppressed part.
The signal processing means detects a vibration component of the controlled vibration part among components included in an acceleration signal from the acceleration sensor based on the natural vibration information of the controlled vibration part obtained in advance. A signal having an antiphase with respect to the detected vibration component is generated.
The control means causes the actuator to generate a vibration having an antiphase with respect to the vibration of the vibration controlled portion based on the antiphase signal from the signal processing means.

<Antiphase vibration>
The vibration of the vibration-suppressed part here and the vibration of the opposite phase is that the phase of the anti-phase vibration is opposite to the phase of the vibration-controlled part vibration, and the frequency of the anti-phase vibration is It is the same as the frequency, and the amplitude of the antiphase vibration is the same as the amplitude of the natural vibration of the controlled part, but the magnitude of the sign is opposite.

<Filter>
In the present invention, it is preferable that the signal processing means includes a filter and a phase adjustment means.
Here, the filter cuts components other than the natural vibration component of the vibration-suppressed part among components included in the acceleration signal from the acceleration sensor, and passes only the natural vibration component of the vibration-suppressed part.
The phase adjusting unit adjusts the phase of the vibration component signal obtained by the filter to obtain the antiphase signal.

<Linear Actuator>
In the present invention, it is preferable that the actuator is a linear motion body and includes a driving unit.
Here, the linear moving body reciprocates linearly in the vibration controlled direction of the vibration controlled portion.
The driving means drives the linear moving body.
An example of the driving means of the present invention is a linear motor.
The present invention adjusts the magnitude of the damping force of the actuator by adjusting the mass of the actuator and the like. Further, the frequency of vibration suppression by the actuator is adjusted by adjusting the frequency selected by the filter.

<Neutral point control>
In the present invention, it is preferable that the actuator moves back and forth linearly in the vibration-suppressed direction around a predetermined neutral point, and includes a position sensor and a neutral point control means.
Here, the position sensor detects a position in the vibration control direction of the actuator.
In addition, the neutral point control means moves the actuator back and forth linearly around the neutral point based on the position information detected by the position sensor.

<Table>
In the present invention, the moving part includes a table that moves linearly with respect to the fixed part,
The actuator and the acceleration sensor are provided on the table,
The signal processing means is based on natural vibration information of a system including the table, the actuator and the acceleration sensor obtained in advance, and among the components included in the acceleration signal from the acceleration sensor, Detecting a vibration component and generating a signal having an opposite phase to the detected vibration component;
The control means causes the actuator to generate vibration having an antiphase with respect to the vibration of the table based on the antiphase signal obtained by the signal processing means,
It is preferable to cancel the vibration in the movement direction of the table by adding anti-phase vibration by the actuator to the vibration in the movement direction of the table.

<Stand>
In the present invention, the fixing portion is provided on the foundation via a gantry,
The actuator and the acceleration sensor are provided on the gantry,
The signal processing means is based on natural vibration information of a system including the gantry, the actuator, and the acceleration sensor obtained in advance, and among the components included in the acceleration signal from the acceleration sensor, Detecting a propagating vibration component, and generating a signal having an opposite phase to the detected vibration component;
The control means causes the actuator to generate a vibration having an antiphase with respect to the vibration propagating from the foundation to the gantry based on the antiphase signal from the signal processing means,
It is preferable to cancel the vibration propagating from the foundation to the gantry by applying an anti-phase vibration by the actuator to the gantry of the mechanical device.

<Passive vibration control mechanism>
In the present invention, it is preferable to provide a passive vibration damping mechanism.
Here, the passive vibration suppression mechanism is provided between the active vibration suppression mechanism and the vibration-suppressed portion, and adjusts vibration by the actuator in a desired direction or in a desired direction, and the vibration-damped portion To tell.
Examples of the passive control mechanism of the present invention include a spring and an air spring.

<Image measuring machine>
In the present invention, it is preferable that the image measuring device includes an imaging unit and an image processing unit.
Here, the imaging means is provided in the fixed part or the moving part, images an object to be measured, and outputs image data.
The image processing means performs image processing on the image data obtained by the imaging means, and measures the shape or dimension of the object to be measured.
Examples of the image measuring machine of the present invention include those described in JP-A-2002-207004.

According to the mechanical device of the present invention, since the active vibration damping mechanism includes the signal processing means, the influence of vibration can be greatly reduced.
In the present invention, the signal processing means includes the filter and the phase adjusting means, so that the vibration control part can be more appropriately controlled.

In the present invention, since the active vibration suppression mechanism includes the linear motion body and the driving means, it is possible to more appropriately perform vibration suppression of the vibration controlled portion.
In the present invention, by providing the neutral point control means, it is possible to more appropriately perform the vibration control of the vibration controlled portion.

In the present invention, by providing an active vibration suppression mechanism on the movable table of the mechanical device, it is possible to greatly reduce the influence of vibration generated by the table.
In the present invention, by providing the active vibration damping mechanism on the gantry of the mechanical device, it is possible to greatly reduce the influence of the vibration that propagates from the foundation to the mechanical device.

  In the present invention, the active vibration control mechanism is provided in the vibration controlled portion via the passive control mechanism, so that the direction of the magnitude of vibration applied to the vibration controlled portion from the active vibration control mechanism is appropriately adjusted. Therefore, it is possible to more appropriately perform the vibration control of the vibration-controlled unit.

  In the present invention, by providing the image measuring machine with an active vibration damping mechanism, the influence of vibration on the image measurement result can be greatly reduced.

Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.
First Embodiment FIG. 1 shows a schematic configuration of a mechanical device according to a first embodiment of the present invention. This figure is a view of the mechanical device as viewed from above. In the present embodiment, an example will be described in which the active vibration control mechanism of the present invention is applied to a movable table of an image measuring machine to suppress vibration generated by the table.
An image measuring machine (mechanical device) 10 shown in FIG. 1 includes a base (fixed portion) 12, a table (moving portion) 14, driving means 16, and an active vibration damping mechanism 18.

Here, it is assumed that the base 12 is provided on the foundation 20.
The table 14 is of a movable type that reciprocates linearly in the direction of arrow A with respect to the base 12.
The driving means 16 drives the table 14 so that the table 14 reciprocates linearly in the direction of arrow A in the figure with respect to the base 12.

The active vibration control mechanism 18 applies vibration in the opposite phase to the vibration in the moving direction (arrow A direction) of the table 14 of the image measuring machine 10, thereby causing the table 14 of the image measuring machine 10 to move in the direction of arrow A. Cancel the vibration.
For this purpose, in the present embodiment, the active vibration damping mechanism 18 includes a vibration damping unit 22 and a drive unit 24, as shown in FIG.

<Vibration control unit>
The vibration control unit 22 is provided on the table 14 and includes an actuator 26 and an acceleration sensor 28.
Here, the actuator 26 is composed of a linear motion body, and is linearly reciprocated along the guide rail 30 by the linear motor 32 to generate linear vibration in the direction of arrow A (vibrated direction).
The acceleration sensor 28 detects the acceleration in the direction of arrow A applied to the table 14. The acceleration signal from the acceleration sensor 24 includes an acceleration component caused by movement of the table 14 in the direction of arrow A or a vibration component generated in the direction of arrow A generated by the table 14.

<Drive unit>
The drive unit 24 includes a control unit 34 and a power source 36.
Here, the control unit 34 includes a signal processing means 38 and a control means 40.
In addition, the power source 36 supplies power for driving the actuator 26 to the linear motor 32.
The signal processing means 38 generates the table 14 out of the components included in the acceleration signal from the acceleration sensor 24 based on the natural vibration (frequency) information of the system including the table 14 and the vibration suppression unit 22 obtained in advance. In the figure, a vibration component in the direction of arrow A is detected, and a signal having an opposite phase to the vibration component is generated.
The control unit 40 causes the actuator 26 to generate a vibration having a reverse phase with respect to the vibration in the direction of the arrow A in the figure generated by the table 14 based on the reverse phase signal from the signal processing unit 38.

Thus, in the image measuring machine 10 provided with the table 14, minute vibrations are generated in the table 14. For example, a minute vibration as shown in FIG. 3 occurs. In the present embodiment, it is very important to reduce this.
Therefore, in the present embodiment, an acceleration sensor 28 is provided on the table 14 of the image measuring machine 10 as the active vibration damping device 18, and a signal having a phase opposite to the acceleration signal from the acceleration sensor 28 is output by the signal processing unit 38. The actuator 26 is controlled by the control means 40.

In other words, in the present embodiment, the active vibration suppression mechanism has an antiphase as shown in FIG. 4B with respect to the vibration 50 generated by the table of the image measuring machine as shown in FIG. The vibration 52 is applied.
As a result, as shown in FIG. 5C, the vibration 50 generated by the table 14 is canceled by the anti-phase vibration 52 by the active vibration control mechanism.

  Therefore, in the present embodiment, the minute vibrations generated in the table 14 of the image measuring machine 10 can be greatly reduced, so that the influence of vibrations on the image measurement result by the image measuring machine 10 can be greatly reduced. it can. Thereby, in this embodiment, the vibration of the table 14 of the image measuring machine 10 during high-speed movement or low-speed movement (during continuous measurement) can be suppressed, and throughput and accuracy can be improved.

By the way, in the present embodiment, the following consideration is also very preferable for further reduction of vibration.
<Filter>
In the present embodiment, it is very important to appropriately detect only the vibration generated by the table in order to further reduce the vibration.
Therefore, in the present embodiment, as shown in FIG. 5, the control unit 34 includes a preamplifier 60, a high-pass filter (filter) 62, a post-amplifier 64, and a bandpass filter (filter) 66. And a phase adjustment circuit (phase adjustment means) 68.

Here, the preamplifier 60 amplifies the acceleration signal from the acceleration sensor 28 and outputs it to the high pass filter 62.
Further, the high-pass filter 62 cuts the acceleration component due to the movement of the table from the acceleration signal from the preamplifier 60 and passes a signal having a predetermined frequency or more so as to pass only the vibration component of the table. 64. As a result, the high-pass filter 62 can obtain an acceleration signal from which the acceleration component due to the movement of the table is removed. That is, the natural vibration of the table has a high frequency component among the components included in the acceleration signal from the acceleration sensor. Therefore, in order to detect the natural vibration of the table, a high-pass filter 62 that passes only high frequency components and cuts low frequency components is used.
The post-amplifier 64 amplifies the acceleration signal from the high-pass filter 62 and outputs it to the band-pass filter 66.
The band pass filter 66 cuts frequency components other than the natural vibration component of the table from the acceleration signal from the post-amplifier 64, passes only the natural vibration component of the table, and outputs it to the phase adjustment circuit 68. As a result, the bandpass filter 66 can obtain an acceleration signal including only the natural vibration component of the table.
The phase adjustment circuit 68 adjusts the phase of the acceleration signal from the bandpass filter 66 and obtains an antiphase signal of the acceleration signal from the bandpass filter 66.

As described above, in the present embodiment, the acceleration signal from the acceleration sensor is passed through the filters 62 and 66 so that only the signal that causes the vibration problem of the table 14 is selected, and the phase adjustment circuit 68 causes the vibration of the table 14 to vibrate. An antiphase signal is obtained by adjusting the phase of only the signal in question. The control means can appropriately control the anti-phase vibration generated by the actuator 26 based on the anti-phase signal thus obtained.
Further, the anti-phase vibration generated by the actuator 26 is detected by the acceleration sensor 28 and fed back to the control unit 24. Therefore, the control unit 24 performs control so that the table vibration is totally canceled. Yes.

<Neutral point control>
In this embodiment, since the vibration is generated by reciprocating linear movement of the actuator 26 in the moving direction of the table 14, it is also preferable to always perform neutral point control of the actuator 26.
Therefore, in the present embodiment, it is preferable that the active vibration damping mechanism 18 includes a position sensor 72 and a neutral point control circuit 74.
Here, the position sensor 72 is provided in the vibration suppression unit 22 and detects the position of the actuator 26 in the A direction.
The neutral point control circuit 74 is provided in the control unit 34 and moves the actuator 26 in a reciprocating linear manner around a predetermined neutral point based on position information from the position sensor 72.

<Temperature sensor>
In the present embodiment, it is also preferable to correct the position information detected by the position sensor 72 according to the temperature in order to perform the neutral point control more accurately.
For this reason, in the present embodiment, it is preferable to include a temperature sensor 76.
Here, the temperature sensor 76 is provided in the vibration suppression unit 22 and detects the temperature at the time of position measurement by the position sensor 72.
Then, the control unit 34 converts the position information from the position sensor 72 into position information at the reference temperature based on the measured temperature detected by the temperature sensor 76, and converts the converted position information to the position information of the actuator 26. It is said.

<Necessary damping force and response frequency>
What is required of the actuator 26 is a necessary damping force and a response frequency. In this embodiment, the damping force and the response frequency of the actuator 26 can be adjusted.
For this reason, in the present embodiment, it is also preferable to make the damping force of the actuator 26 variable. For this reason, in this embodiment, the magnitude of the damping force of the actuator 26 is adjusted by adjusting the mass of the actuator 26 and the like.
In the present embodiment, the response frequency of the actuator 26 is adjusted by controlling the driving of the actuator 26.

Second Embodiment In the first embodiment, the example in which the vibration generated by the image measuring machine is reduced has been described. However, by measuring the vibration generated from the outside of the foundation and oscillating in the opposite phase, the measurement can be performed from the external vibration. It is also preferable to add an active mechanism to the measuring instrument base in order to protect the machine and demonstrate optimum performance in any environment.

  That is, the installation environment of the image measuring machine is various, and is often affected by vibrations of external devices and foundations. In the conventional method, anti-vibration rubber and anti-vibration table have been added to deal with the above-mentioned vibration. However, anti-vibration rubber has a limit in the anti-vibration effect. Then it became a problem. Therefore, it is also preferable to provide the vibration damping unit of the present embodiment on a base under the base.

FIG. 6 shows a schematic configuration of a mechanical device according to the second embodiment of the present invention. The parts corresponding to those in FIG.
In the image measuring machine 110 shown in the figure, a base 112 is provided with respect to a foundation 120 via a gantry 190, and an active vibration control mechanism 118 is provided on the gantry 190 between the foundation 120 and the fixed portion 112. .

And the signal processing means 138 detects the vibration component which propagates from the foundation 120 to the mount 190 among the acceleration signals from the acceleration sensor 118, and generates a signal having an opposite phase to the detected vibration component.
Based on the reverse phase signal from the signal processing means 130, the control means 140 causes the actuator 126 to generate a vibration having a reverse phase with respect to the vibration propagated from the foundation 120 to the gantry 190, and the vibration propagated from the foundation 120 to the gantry 190 Suppress.

  As described above, according to the image measuring device 110 according to the second embodiment of the present invention, the active vibration damping mechanism 118 provided on the gantry 190 captures vibrations generated from the outside of the foundation 120 and excites them in the opposite phase. As a result, the image measuring device 110 can be protected from external vibrations, and optimal performance can be exhibited in any environment.

In this embodiment, the gantry 190 includes a base and four legs that support the base, and an actuator and a vibration control mechanism are installed inside the gantry.
In addition, in the case of a large image measuring machine, the stage is also large, so it is possible to install an actuator / vibration control mechanism inside the stage. In this case, it is mainly to remove the vibration of the stage.

<Image measuring machine>
The image measuring machine 110 shown in the figure includes a column 182, an imaging unit 184, and an image processing unit 186.
Here, it is assumed that the column 182 is erected on the base 112.
The imaging unit 184 is provided in the column 182. The object to be measured 188 is placed on the table 114. By moving the table 114 linearly relative to the column 182, the imaging unit 184 images the measurement object 188 while scanning the measurement surface of the measurement object 188, and outputs image data.
The image processing unit 186 performs image processing on the image data obtained by the imaging unit 184 and measures the shape or dimension of the object 188 to be measured.
In the so-called CMM, the probe is moved at high speed → low speed movement → measurement, and the vibration is slightly reduced during the low speed movement period. However, the image measuring machine usually has high speed movement → stop → measurement → high speed movement. Then, rapid acceleration / deceleration is performed, and measurement is performed immediately after high-speed movement. This is one of the advantages of the image measuring machine, and slowing the movement to suppress vibrations may reduce this advantage.
For this reason, in an image measuring machine, suppression of vibration caused by acceleration / deceleration is an important issue, and the present invention can be particularly suitably applied in this respect.
Further, a general three-dimensional measuring machine often has a workpiece to be measured, has a large Z-axis and corresponds to space measurement, and has a high degree of freedom in selecting a vibration control mechanism. On the other hand, since the image measuring machine has difficulty in dealing with the depth direction when images are acquired, thin measuring workpieces are mainly targeted, and the external shape of the apparatus is inevitably set to a small Z-axis. It can be said that the vibration mechanism must be thin. In this respect, the vibration damping mechanism of the present invention is extremely effective.
Further, the CMM is generally large and heavy, and the installation place is often on the first floor, but the image measuring machine is relatively small and is often installed on the upper floor. Therefore, further weight reduction is demanded, and on the other hand, prevention of vibration of the stage itself or vibration from the floor is strongly demanded with weight reduction. For this reason, it is preferable to arrange an actuator such as an acceleration sensor in the lower part of the apparatus, particularly near the installation surface.

<Passive vibration control mechanism>
The damping force by the actuator 126 may be very large compared to the vibration propagating from the foundation 120 to the pedestal 190. For this reason, when the active vibration damping mechanism for damping the moving part (table) is provided on the gantry 190 as it is, the vibration damping force of the actuator 126 may be very large with respect to the vibration from the foundation 120.
For this reason, it is also preferable to provide the active vibration damping mechanism 118 of the present embodiment on the mount 190 in combination with the passive vibration damping mechanism.

FIG. 7 shows an example of a combination of an active vibration suppression mechanism 118 and a passive vibration suppression mechanism suitable for the present embodiment.
As shown in the figure, the actuator 126 of the active vibration damping mechanism is provided on the mount 190 of the image measuring machine via a passive control mechanism 192 such as a spring or an air spring.

In this embodiment, the installation stand 190 is normally supported by four legs, and the base is placed thereon. It is preferable that the actuator 126 and the vibration control mechanism 192 are installed inside the installation base 190.
In the case of a large image measuring machine, since the stage becomes large, an actuator and a vibration control mechanism can be arranged inside the stage. In this case, it is mainly to remove the vibration of the stage.

  Thus, the vibration from the actuator 126 is adjusted in a desired direction or a desired direction by the passive control mechanism 182 and applied to the gantry 190. Therefore, even if the same actuator as the actuator 126 for damping the movable table of the image measuring machine is used, the gantry 190 can be well damped.

<Effect>
As described above, in this embodiment, an active vibration damping device such as an image measuring machine can be configured using an actuator (for example, a linear motor).
In the present embodiment, by using an actuator (for example, a linear motor), the damping force can be made variable, and the damping area can be made variable. It can be used widely until time.
Further, in the present embodiment, it is possible to improve the accuracy variation and the throughput due to the vibration of the image measuring machine by suppressing the vibration accompanying the movement of the image measuring machine and attenuating the minute vibration during the continuous measurement.
In addition, the present embodiment can be applied to general-purpose measuring machines and the like, and is very effective for achieving high throughput and high accuracy.
Further, in the present embodiment, by providing an active vibration suppression mechanism on the mount of the image measuring machine using an actuator, it is possible to remove external vibrations and exhibit the optimum performance of the measuring machine in any environment.

Modification <Mechanical device>
In the above configuration, the example in which the active vibration suppression mechanism of the present invention is provided in the image measuring machine has been described. However, the present invention is not limited to this, and any mechanical device requiring vibration suppression may be used. For example, it can be applied to measuring machines other than image measuring machines, machine tools, positioning devices, and the like.

<Vibration sensor>
In order to detect the vibration of the vibration-damped portion, the acceleration sensor is particularly preferable in terms of vibration detection sensitivity, but a speed sensor, a displacement sensor, or the like can also be used.

It is explanatory drawing (top view) of schematic structure of the mechanical apparatus concerning 1st embodiment of this invention. It is a block diagram of the active vibration suppression mechanism concerning this embodiment. It is an example of the minute vibration of an image measuring machine. It is explanatory drawing of an effect | action of the active damping mechanism concerning this embodiment. It is a more concrete block diagram of the active vibration suppression mechanism concerning this embodiment. It is explanatory drawing (side view) of schematic structure of the mechanical apparatus concerning 2nd embodiment of this invention. It is explanatory drawing of the passive damping mechanism with which the combination with the active damping mechanism concerning this embodiment is suitable.

Explanation of symbols

10,110 Image measuring machine (mechanical device)
12,112 base (fixed part)
14,114 table (moving part)
18, 118 Active damping mechanism 26, 126 Actuator 28, 128 Acceleration sensor 38, 138 Signal processing means 40, 140 Control means 62 High-pass filter (filter)
66 Band pass filter (filter)
68 Phase adjustment circuit (phase adjustment means)
190 Base 192 Passive control mechanism

Claims (8)

In a mechanical device comprising a fixed part provided on a foundation and a moving part that moves linearly relative to the fixed part,
An active damping mechanism that counteracts the vibration of the vibration-damped part by applying vibration in the opposite phase to the vibration of the vibration-damped part of the mechanical device;
The active vibration suppression mechanism is provided in a vibration-damped portion of the mechanical device, and an actuator that generates vibration in a vibration direction of the vibration-damped portion;
An acceleration sensor that is provided in a vibration-suppressed part of the mechanical device and outputs an acceleration signal including a vibration component of the vibration-suppressed part;
Based on the natural vibration information of the vibration controlled part obtained in advance, out of the components included in the acceleration signal from the acceleration sensor, the vibration component of the vibration controlled part is detected, and the detected vibration component Signal processing means for generating a signal of opposite phase;
Control means for causing the actuator to generate a vibration having a reverse phase with respect to the vibration of the vibration-damped portion, based on the reverse phase signal from the signal processing means,
A mechanical apparatus comprising: The mechanical device according to claim 1, wherein
The signal processing means cuts components other than the natural vibration component of the vibration-damped part out of the components included in the acceleration signal from the acceleration sensor, and passes only the natural vibration component of the vibration-damped part; and
Phase adjustment means for adjusting the phase of the vibration component signal obtained by the filter and generating the anti-phase signal;
A mechanical apparatus comprising: The mechanical device according to claim 2, wherein
The actuator is a linear body that reciprocates linearly in the vibration-suppressed direction of the vibration-suppressed portion,
A machine apparatus comprising drive means for driving the linear motion body. The mechanical device according to claim 3,
The actuator moves back and forth linearly in the vibration-suppressed direction around a predetermined neutral point,
A position sensor for detecting a position of the actuator in a vibration-suppressed direction;
Based on position information detected by the position sensor, neutral point control means for reciprocating linearly moving the actuator around the neutral point;
A mechanical apparatus comprising: The mechanical device according to any one of claims 1 to 4,
The moving unit includes a table that moves linearly with respect to the fixed unit,
The actuator and the acceleration sensor are provided on the table,
Based on the natural vibration information of the system including the table, the actuator, and the acceleration sensor obtained in advance, the signal processing means is a vibration in the moving direction of the table among the components included in the acceleration signal from the acceleration sensor. Detecting a component, and generating a signal having a phase opposite to that of the detected vibration component,
The control means causes the actuator to generate a vibration having a reverse phase with respect to a vibration in the moving direction of the table based on the reverse phase signal from the signal processing means,
A machine apparatus characterized in that the vibration in the movement direction of the table is canceled by applying anti-phase vibration by the actuator to the vibration in the movement direction of the table. In the mechanical apparatus in any one of Claims 1-5,
The fixing portion is provided on the foundation via a gantry,
The actuator and the acceleration sensor are provided on the gantry,
The signal processing means propagates from the foundation to the gantry out of the components included in the acceleration signal from the acceleration sensor based on the natural vibration information of the system including the gantry, the actuator and the acceleration sensor obtained in advance. Detecting a vibration component and generating a signal having an opposite phase to the detected vibration component;
The control means causes the actuator to generate a vibration having an antiphase with respect to the vibration propagating from the foundation to the gantry based on the antiphase signal from the signal processing means,
A mechanical apparatus characterized in that the vibration propagating from the foundation to the gantry is canceled by applying an antiphase vibration by the actuator to the gantry of the mechanical apparatus. The mechanical device according to any one of claims 1 to 6,
Provided between the active vibration suppression mechanism and the vibration controlled portion, and provided with a passive vibration suppression mechanism that adjusts the vibration by the actuator to a desired direction without adjusting the vibration to a desired direction. A mechanical device characterized by that. The mechanical device according to any one of claims 1 to 7,
An imaging unit provided in the fixed unit or the moving unit, which captures an image of an object to be measured and obtains image data;
Image processing means for performing image processing on the image data obtained by the imaging means, and measuring the shape or dimension of the object to be measured;
An image measuring machine provided with a machine.

Images