JP6538194B2 - 物体を保持、位置づけし、移動させるための装置 - Google Patents
物体を保持、位置づけし、移動させるための装置 Download PDFInfo
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- H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
- H02K41/02—Linear motors; Sectional motors
- H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
- H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
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Description
この問題は、請求項1に記載の装置を用いることで解決する。有利な実施形態は、従属請求項の主題である。
3 中間空間
10 垂直磁気ベアリング
11 制御回路
12 電磁石
14 鉄磁心
15 電子ユニット
16 コイル
18 相手要素
19 基準部
20 距離センサ
22 コントローラ
23 振動ダンパー
24 増幅器
25 設定点ジェネレータ
26 距離
28 移動センサ
29 制御装置
30 基部
31 搬送経路
32 交差領域
38 リニアモータ
40 ドライバ
41 スライダー
42a 永久磁石
42b 永久磁石
43 固定子
44 鉄磁心
44.1、44.2、44.3、44.4、44.5、44.6、44.7 脚部
45 コイル
46 コイル
47 コイル
48 位置センサ
49 コーディング
50 キャリア
51 上側
52 物体
53 下側
55 左側
57 右側
60 外側輪郭
100 水平ベアリング
111 制御回路
112 電磁石
114 鉄磁心
114.1、114.2、114.3 脚部
116 コイル
118 相手要素
118a 永久磁石
118b 永久磁石
119 基準部
120 位置センサ
131 搬送経路
140 ドライバ
141 スライダー
142a 永久磁石
142b 永久磁石
143 固定子
200 水平ベアリング
218 相手要素
218a 永久磁石
218b 永久磁石
Claims (14)
- 物体(52)を保持し、位置づけし、及び/又は移動させるための装置であって、
基部(30)と、前記基部(30)に対して移動可能なキャリア(50)と、
前記基部(30)と前記キャリア(50)との間に支持力又は保持力(Hv、Hh)を生成するための少なくとも1つの磁気ベアリング(10、100、200)であって、前記キャリア(50)が前記磁気ベアリング(10、100、200)を介して前記基部(30)上に非接触支持される、少なくとも1つの磁気ベアリング(10、100、200)と、
前記基部(30)に沿って少なくとも1つの搬送方向(T)に前記キャリア(50)を変位させるために、前記基部(30)と前記キャリア(50)との間に非接触作用する少なくとも1つのドライバ(40;140)と
を備え、
前記ドライバ(40;140)は、前記基部(30)と前記キャリア(50)に配置され、前記搬送方向(T)に沿って作用する変位力(V)以外に、前記基部(30)と前記キャリア(50)との間に、前記支持力又は保持力(Hv、Hh)に対抗して作用する対抗力(G)を生じさせるように構成された少なくとも1つのスライダー(41;141)と1つの固定子(43;143)を有するリニアモータ(38)を備え、
前記少なくとも1つの磁気ベアリング及び前記少なくとも1つのドライバは、前記キャリアの互いに反対の側と磁気的に相互作用する、装置。 - 前記少なくとも1つの磁気ベアリング(10、100、200)が、能動的に制御可能な磁気ベアリング(10、100、200)として構成され且つ相手要素(18;118)と磁気的に相互作用する電気的に制御可能な電磁石(12;112)と、距離センサ(20、120)と、これらに連結され、前記基部(30)と前記キャリア(50)の既定の相対位置を調節するように構成された電子ユニット(15;115)とを備える、請求項1に記載の装置。
- 少なくとも1つの磁気ベアリング(10)が、前記キャリア(50)の重量力に対抗して作用する垂直保持力(Hv)を生成するための垂直磁気ベアリング(10)として構成される、請求項1又は2に記載の装置。
- 少なくとも1つの磁気ベアリング(100、200)が、前記基部(30)と前記キャリア(50)との間に水平に作用する保持力(Hh)を生成するための水平磁気ベアリングとして構成される、請求項1から3のいずれか一項に記載の装置。
- 前記水平磁気ベアリング(100)が、横方向(Q)に前記キャリア(50)を変位させるために前記キャリア(50)又は前記基部(30)に配置された相手要素(118)と協働する、前記基部(30)又は前記キャリア(50)に配置された少なくとも1つの電磁石(112)を備える、請求項4に記載の装置。
- 前記水平磁気ベアリング(100)と協働する前記相手要素(118)が、交互に分極し且つ前記キャリア(50)又は前記基部(30)に配置された少なくとも1列の永久磁石(118a、118b)を備え、前記少なくとも1列の永久磁石(118a、118b)は、前記搬送方向(T)に対して斜めの又は直角の横方向(Q)に互いに離間している、請求項5に記載の装置。
- 前記水平磁気ベアリング(100、200)は、前記キャリア(50)の上側(51)又は下側(53)と磁気的に相互作用する、請求項4から6のいずれか一項に記載の装置。
- 前記基部(30)が、前記搬送方向(T)又は横方向(Q)に互いに離間した複数の磁気ベアリング(10、100、200)を備え、前記磁気ベアリングは連続的に、前記基部(30)に沿って前記搬送方向(T)あるいは前記横方向(Q)に前記キャリア(50)を移動させるために、前記キャリア(50)に配置された少なくとも1つの相手要素(18;118;218)と磁気的に動作接続する、請求項1から7のいずれか一項に記載の装置。
- 前記基部(30)は、前記搬送方向(T)に及び横方向(Q)に互いに垂直に、又は斜めに走る少なくとも2つの搬送経路(31;131)を備え、各々において複数の磁気ベアリング(10、100、200)を有し、前記搬送経路(31;131)は交差領域(32)において互いにつながる、請求項1から8のいずれか一項に記載の装置。
- 2つのドライバ(40;140)の少なくとも2つの別々に位置合わせされたスライダー(41;141)又は固定子(43;143)が前記キャリア(50)上に配置され、それらの一方は、前記基部(30)に対して前記キャリア(50)を前記搬送方向(T)に移動させるように構成され、それらの他方は、前記基部(30)に対して前記キャリア(50)を前記横方向(Q)に移動させるように構成される、請求項9に記載の装置。
- 互いに平行して位置合わせされた少なくとも2つのスライダー(41;141)又は固定子(43;143)が、前記キャリア(50)上に前記搬送方向(T)又は前記横方向(Q)に互いから既定の最小間隔(DT、DQ)をおいて配置される、請求項9又は10に記載の装置。
- 前記搬送経路(31、131)が各々、前記搬送方向(T)又は前記横方向(Q)に互いから離間した固定子(43;143)又はスライダー(41;141)を備え、一つの搬送経路(31)の前記スライダー(41;141)又は固定子(43;143)は、それぞれの他の搬送経路(131)の前記スライダー(41;141)又は固定子(43;143)の間の中間空間(3、103)のレベルに配置される、請求項9から11のいずれか一項に記載の装置。
- 前記交差領域(32)において、前記キャリア(50)と前記基部(30)に配置された前記2つのドライバ(40;140)のスライダー(41;141)及び固定子(43;143)の、互いに対応し、前記搬送経路(31)の一つに属する対は、それぞれの他の前記搬送経路(131)のスライダー(41;141)と固定子(43;143)の対と交互に起動されうる、請求項10から12のいずれか一項に記載の装置。
- 前記交差領域(32)において、前記2つの搬送経路(131)のうちの一方に割り当てられた少なくとも2つの磁気ベアリング(10、100)を起動することができ、それぞれの他の前記搬送経路(131)に割り当てられた2つの別の磁気ベアリング(10、200)をそれに応じて動作停止させることができる、請求項9から13のいずれか一項に記載の装置。
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JP2019104256A Pending JP2019205342A (ja) | 2015-04-09 | 2019-06-04 | 物体を保持、位置づけし、移動させるための装置 |
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US (1) | US20180350648A1 (ja) |
EP (1) | EP3281221A1 (ja) |
JP (2) | JP6538194B2 (ja) |
KR (1) | KR102090950B1 (ja) |
CN (1) | CN107567654B (ja) |
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CN109715846A (zh) * | 2016-12-14 | 2019-05-03 | 应用材料公司 | 沉积系统 |
KR20200106964A (ko) * | 2018-01-25 | 2020-09-15 | 어플라이드 머티어리얼스, 인코포레이티드 | 진공 환경 내에서 캐리어를 비접촉식으로 운송하는 자기 부상 시스템 및 방법 |
CN108983505B (zh) * | 2018-07-13 | 2023-10-20 | 京东方科技集团股份有限公司 | 显示装置及其制造方法、封框胶 |
DE102018118814A1 (de) | 2018-08-02 | 2020-02-06 | Beckhoff Automation Gmbh | Verfahren zum Identifizieren eines Schlittens eines linearen Transportsystems |
JP7346020B2 (ja) * | 2018-11-15 | 2023-09-19 | 株式会社アルバック | 磁気浮上搬送装置 |
CN113891845B (zh) * | 2019-05-28 | 2023-10-20 | B和R工业自动化有限公司 | 运输装置 |
JP7306957B2 (ja) * | 2019-10-23 | 2023-07-11 | 株式会社アルバック | 搬送装置、および、真空処理装置 |
JP7483397B2 (ja) * | 2020-02-07 | 2024-05-15 | キヤノン株式会社 | 搬送システム |
DE102020123634A1 (de) * | 2020-09-10 | 2022-03-10 | Physik Instrumente (PI) GmbH & Co KG | Magnetische Lagereinrichtung und Positioniersystem |
CN114379984A (zh) * | 2020-10-19 | 2022-04-22 | 奥特斯科技(重庆)有限公司 | 用于输送部件承载件的磁性驱动装置、布置结构及方法 |
CN114857429B (zh) * | 2022-04-26 | 2024-02-20 | 深圳市大族机器人有限公司 | 定位平台和定位系统 |
WO2024079111A1 (de) | 2022-10-12 | 2024-04-18 | Vacom Vakuum Komponenten & Messtechnik Gmbh | Vorrichtung zum halten, positionieren und/oder bewegen eines objektes in einem vakuum |
DE102022130959B3 (de) | 2022-10-12 | 2023-08-24 | Vacom Vakuum Komponenten & Messtechnik Gmbh | Vorrichtung zum Halten, Positionieren und/oder Bewegen eines Objektes in einem Vakuum |
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JPS5594501A (en) * | 1979-01-11 | 1980-07-18 | Mitsubishi Electric Corp | Magnetic float control device |
JPS63310462A (ja) * | 1987-06-11 | 1988-12-19 | Kawasaki Heavy Ind Ltd | 行列式倉庫用の4方向搬送装置 |
US5196745A (en) * | 1991-08-16 | 1993-03-23 | Massachusetts Institute Of Technology | Magnetic positioning device |
JPH0537773U (ja) * | 1991-10-24 | 1993-05-21 | 三菱重工業株式会社 | 交流磁気浮上搬送装置 |
DE69316214T2 (de) * | 1992-07-07 | 1998-08-13 | Ebara Corp | Durch magnetische wirkung schwebende transportvorrichtung |
JPH0624559A (ja) * | 1992-07-07 | 1994-02-01 | Ebara Corp | 搬送装置 |
US5925956A (en) * | 1995-06-30 | 1999-07-20 | Nikon Corporation | Stage construction incorporating magnetically levitated movable stage |
JPH0937540A (ja) * | 1995-07-14 | 1997-02-07 | Shinko Electric Co Ltd | リニア誘導同期電動機 |
US5699621A (en) * | 1996-02-21 | 1997-12-23 | Massachusetts Institute Of Technology | Positioner with long travel in two dimensions |
JP2003087909A (ja) * | 2001-09-14 | 2003-03-20 | Nsk Ltd | 磁気浮上搬送装置及びその制御方法 |
JP2003168716A (ja) * | 2001-12-03 | 2003-06-13 | Dia Shinku Kk | 部品搬送装置及びこれを用いた部品保管装置 |
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JP2003189589A (ja) * | 2001-12-21 | 2003-07-04 | Canon Inc | 可動磁石型リニアモータ、露光装置及びデバイス製造方法 |
JP4471708B2 (ja) * | 2004-03-31 | 2010-06-02 | キヤノンアネルバ株式会社 | 基板搬送装置 |
WO2006135464A1 (en) * | 2005-06-10 | 2006-12-21 | Applied Materials, Inc. | Linear vacuum deposition system |
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WO2010103575A1 (ja) * | 2009-03-13 | 2010-09-16 | 株式会社日立製作所 | リニアモータ |
DE102009038756A1 (de) * | 2009-05-28 | 2010-12-09 | Semilev Gmbh | Vorrichtung zur partikelfreien Handhabung von Substraten |
KR20140087677A (ko) * | 2012-12-31 | 2014-07-09 | 한국기계연구원 | 경사 배치된 추진용 영구자석을 갖는 자기부상 시스템 |
DE102014003882B4 (de) * | 2014-03-19 | 2017-07-13 | Applied Materials, Inc. (N.D.Ges.D. Staates Delaware) | Transportvorrichtung zum Bewegen und/oder Positionieren von Objekten |
-
2015
- 2015-04-09 DE DE102015004582.2A patent/DE102015004582B4/de not_active Expired - Fee Related
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2016
- 2016-04-01 JP JP2017552826A patent/JP6538194B2/ja active Active
- 2016-04-01 WO PCT/EP2016/057268 patent/WO2016162288A1/de active Application Filing
- 2016-04-01 KR KR1020177032562A patent/KR102090950B1/ko active IP Right Grant
- 2016-04-01 CN CN201680020772.9A patent/CN107567654B/zh active Active
- 2016-04-01 US US15/562,319 patent/US20180350648A1/en not_active Abandoned
- 2016-04-01 EP EP16714394.0A patent/EP3281221A1/de not_active Withdrawn
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2019
- 2019-06-04 JP JP2019104256A patent/JP2019205342A/ja active Pending
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DE102015004582B4 (de) | 2017-02-09 |
US20180350648A1 (en) | 2018-12-06 |
CN107567654B (zh) | 2020-11-06 |
DE102015004582A1 (de) | 2016-10-13 |
KR102090950B1 (ko) | 2020-03-19 |
WO2016162288A1 (de) | 2016-10-13 |
JP2019205342A (ja) | 2019-11-28 |
KR20170137159A (ko) | 2017-12-12 |
JP2018518041A (ja) | 2018-07-05 |
CN107567654A (zh) | 2018-01-09 |
EP3281221A1 (de) | 2018-02-14 |
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