JP2714439B2 - DC actuator and 6-axis attitude control device using the same - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to a DC actuator using Lorentz force and a 6-axis attitude control device using the same.

[Prior Art] Conventionally, as a DC actuator using Lorentz force and a six-axis attitude control device using the same, as shown in FIG. 6, a permanent magnet is provided on each surface of a hexagonal cylindrical movable body 5a.
There is a type in which a DC actuator DA formed by 20a, 20b and a square-shaped movable coil 2 is arranged, and the current flowing through each movable coil 2 is changed so that the movable body 5a can be controlled with six degrees of freedom. .

[Problems to be Solved by the Invention] However, the above-described conventional DC actuator DA
, The square-shaped movable coil 2 is arranged in a magnetic circuit so as to obtain Lorentz force, so that one DC actuator DA can perform only one degree of freedom attitude control,
When it is necessary to control multiple degrees of freedom, the movable body 5a
, A large number of permanent magnets 20a and 20b must be arranged around the device, and there is a problem that the configuration becomes complicated and the size 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 small DC actuator having a simple configuration and a six-axis attitude control device using the same.

[Means for Solving the Problems] According to the DC actuator of claim 1 of the present invention, in a single magnetic circuit formed by a pair of U-shaped permanent magnets, a square-shaped movable coil and an eight-shaped A movable coil block in which a movable coil is integrated is arranged, and the movable coil block can be freely controlled with two degrees of freedom by a Lorentz force in two directions generated by applying an appropriate current to both movable coils.

The six-axis attitude control device according to the second aspect of the present invention includes a movable circuit in which a square-shaped movable coil and an eight-axis movable coil are integrated in one magnetic circuit formed by a pair of U-shaped permanent magnets. A DC actuator having a coil block arranged therein and a movable coil block having two degrees of freedom controllable by a Lorentz force in two directions generated by applying an appropriate current to both movable coils is arranged on the circumference. The magnetic poles of the permanent magnets constituting the DC actuator are arranged so as to be in a direction (axial direction) crossing the circumference, and three DC actuators are arranged at appropriate positions on the movable body. A control means for feedback-controlling the current flowing through the movable coil based on the output of a position detection sensor for detecting the position of the movable body is provided, and the posture of the movable body is freely controlled in six degrees of freedom. That.

[Operation] The present invention is configured as described above, and includes a rectangular-shaped movable coil and an 8-shaped movable coil in one magnetic circuit formed by a pair of U-shaped permanent magnets. An integrated moving coil block is arranged, and the moving coil block can be controlled with two degrees of freedom by the Lorentz force in two directions generated by applying an appropriate current to both moving coils. A small DC actuator is obtained.

In addition, a movable coil block integrating a square-shaped movable coil and a figure-eight movable coil is arranged in a single magnetic circuit formed by a pair of U-shaped permanent magnets. A DC actuator configured such that the movable coil block can be controlled in two degrees of freedom by two directions of Lorentz force generated by flowing an appropriate current is arranged on a circumference, and a permanent magnet that constitutes the DC actuator is provided. The magnetic poles are arranged in a direction intersecting the circumference (axial direction), and three DC actuators are arranged at appropriate positions on the movable body, and the current flowing through each movable coil of each DC actuator is transferred to the position of the movable body. If the posture of the movable body can be freely controlled in six degrees of freedom by performing feedback control based on the output of a position detection sensor for detecting the It is obtained.

Embodiment FIGS. 1 to 3 show a DC actuator according to the present invention.
This explains the configuration and principle of the DA. In one magnetic circuit formed by a pair of U-shaped permanent magnets 1a and 1b, a square-shaped movable coil 2 and an 8-shaped movable coil 3 are combined. An integrated movable coil block 4 is arranged, and the movable coil block 4 can be freely controlled in two degrees of freedom by a Lorentz force in two directions generated by applying an appropriate current to both movable coils 2 and 3. .

Now, the permanent magnets 1a and 1b generated as shown in FIG.
When the square-shaped movable coil 2 is arranged in the magnetic circuit of
As shown in FIG. 2 (a), a Lorentz force Fy can be generated in the Y direction. On the other hand, when the figure-eight movable coil 3 is arranged in a magnetic circuit composed of the permanent magnets 1a and 1b, FIG. As shown in b), a Lorentz force Fx can be generated in the X direction. Therefore, a combined force of Lorentz forces Fx and Fy shown in FIGS. 2A and 2B acts on the movable coil block 4 in which the two movable coils 2 and 3 are integrated as shown in FIG. By appropriately setting the current flowing through the movable coils 2 and 3, posture control (compliance control) with two degrees of freedom (X and Y directions) can be performed. The Lorentz force F generated in each of the movable coils 2 and 3 having n turns is
Assuming that the current flowing through the movable coils 2 and 3 is I, the magnetic flux density by the permanent magnets 1a and 1b is B, and the coil length in the magnetic field is L, F = n ・ I ・ B ・ L, and the force proportional to the current I And good controllability is obtained.

FIG. 4 and FIG. 5 show that three DC actuators DA are arranged at appropriate positions on the movable body 5 and each DC actuator DA
Control means 7 for feedback-controlling the current flowing through each of the movable coils 2 and 3 based on the outputs of the position detection sensors 6a to 6f for detecting the position of the movable body 5 so that the attitude of the movable body 5 can be freely controlled by six degrees of freedom. It was done. Here, in the embodiment, the movable body 5 has a cylindrical shape, the movable coil blocks 4 are attached to the outer peripheral surface of the movable body 5, and a predetermined magnetic circuit is formed corresponding to each movable coil block 4. The permanent magnets 1a and 1b are arranged to face the outer peripheral surface and the inner peripheral surface of the movable body 5 at an appropriate distance. In the embodiment, Z, θx, and θy are controlled by the Lorentz force generated in the three square-shaped movable coils 2, and X, Y are controlled by the Lorentz forces generated in the three 8-shaped movable coils 3. , θz is controlled.

Here, the movable body 5 is provided with, for example, a gripper 12 that holds the component B for inserting a directional component B into the hole a of the component A in the z-axis direction. The permanent magnets 1a and 1b are arranged in a housing 11 provided at the tip of the arm 10 of the assembly robot.

In addition, since the control means 7 needs to perform the feedback control calculation in consideration of the mutual interference of the Lorentz forces acting on the six movable coils 2 and 3, the control unit 7 uses a microcomputer 7 a that can perform high-speed matrix calculation. Is formed,
Outputs of the position detection sensors 6a to 6f are input to a microcomputer 7a via an interface 7b, and a control output output from the microcomputer 7a is applied to each movable coil 2, 3 via an amplifier 7c. ing. In the figure, 7d is a power supply.

Hereinafter, the operation of the embodiment will be described. Now, the current flowing through both moving coils 2 and 3 of each DC actuator DA is
Feedback control is performed by the control means 7 based on the outputs of the position detection sensors 6a to 6f, and the attitude of the movable body 5 can be controlled with six degrees of freedom.
Since the six-axis attitude control for inserting the head can be performed with a simple configuration, and the number of permanent magnets can be reduced as compared with the conventional example, the size can be reduced. In addition, the movable body 5 is made using the Lorentz force generated in the movable coils 2 and 3.
, The compliance control can be easily performed, and the current flowing through the movable coils 2 and 3 is proportional to the force acting on the movable body 5 (Lorentz force). Sex can be obtained.

[Effects of the Invention] The present invention is configured as described above, and includes a rectangular-shaped movable coil and an 8-shaped movable coil in one magnetic circuit formed by a pair of U-shaped permanent magnets. The movable coil block is integrated with the moving coil block. The movable coil block can be controlled with two degrees of freedom by the Lorentz force in two directions generated by applying an appropriate current to both moving coils. The coil enables six-axis control with three upper / lower magnetic circuits and six coils, and requires only half (ie, six) current amplifiers and half control command values as compared with the conventional example. There is an effect that an economical, simple configuration, and a small DC actuator can be obtained.

In addition, a movable coil block integrating a square-shaped movable coil and a figure-eight movable coil is arranged in a single magnetic circuit formed by a pair of U-shaped permanent magnets. A DC actuator configured such that the movable coil block can be controlled in two degrees of freedom by two directions of Lorentz force generated by flowing an appropriate current is arranged on a circumference, and a permanent magnet that constitutes the DC actuator is provided. The magnetic poles are arranged in a direction (axial direction) crossing the circumference, and three DC actuators are arranged at appropriate positions on the movable body, and the current flowing through each movable coil of each DC actuator is transferred to the position of the movable body. If the posture of the movable body can be freely controlled in six degrees of freedom by performing feedback control based on the output of a position detection sensor for detecting the There is an effect that can be obtained.

[Brief description of the drawings]

1 to 3 are explanatory views of the configuration and principle of an embodiment of a DC actuator according to the present invention. FIG. 4 is a perspective view of a main part of a six-axis attitude control device using the DC actuator according to the embodiment. FIG. 6 is a schematic configuration diagram showing the same as the above, and FIG. 6 is a schematic configuration diagram showing a conventional example of a 6-axis attitude control device. 1a and 1b are permanent magnets, 2 is a square-shaped movable coil, 3 is an 8-shaped movable coil, 4 is a movable coil block, 5 is a movable body, 6a
6f is a position detection sensor, and 7 is control means.

Claims (2)

(57) [Claims] 1. A 1 formed by a pair of U-shaped permanent magnets.
A movable coil block in which a square-shaped movable coil and a figure-eight movable coil are integrated is arranged in each magnetic circuit, and a two-way Lorentz force generated by applying an appropriate current to both movable coils is disposed. A DC actuator characterized in that the movable coil block has two degrees of freedom controllable. 2. A method comprising: forming a pair of U-shaped permanent magnets;
A movable coil block in which a square-shaped movable coil and a figure-eight movable coil are integrated is arranged in each magnetic circuit, and a two-way Lorentz force generated by applying an appropriate current to both movable coils is disposed. A DC actuator configured so that the movable coil block can be controlled with two degrees of freedom is arranged on the circumference, and the magnetic poles of the permanent magnets constituting the DC actuator are arranged so as to be in a direction crossing the circumference. A control means for arranging three DC actuators at appropriate positions on the movable body and performing feedback control of a current flowing through each movable coil of each DC actuator based on a position detection sensor output for detecting a position of the movable body; A six-axis attitude control device using a DC actuator, characterized in that the attitude of the robot can be freely controlled in six degrees of freedom.