JPH02188159A - Positioner - Google Patents

Abstract

PURPOSE:To facilitate positioning when a moving body is supported noncontactingly by causing DC current flowing in the same direction to flow into a gap section of a magnetic circuit having two spots of gap equal in area but reverse in the flux direction. CONSTITUTION:When a switch 8 is closed and the current is caused to flow from a DC power source 7 to a coil 5, a brake will act. Here, when the area of a coil 5 to cross gap sections 3 and 3' is equal, the forces A and B acting respectively on the gap sections 3 and 3' are reverse in the direction but equal in strength, so that the forces are balanced and the moving body 4 comes to a standstill. On the other hand, in the condition where the moving body 4 causes misregistration in the right and left directions against the coil 5, only the area of the coil 5 crossing the gap 3' on the right is decreased and the outward force B' acting on the gap section 3' is decreased accordingly. The balance of force is lost and the moving body 4 moves in the direction of an arrow C. Positioning can thereby be made easily when the moving body is supported non-contactingly such as in air levitation or in magnetic levitation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a positioning device, and particularly to a non-contact type moving object positioning device.

[Conventional technology]

Conventional techniques include, for example, Mechanical Design, 1987;
There is a non-contact electromagnetic brake as shown in the February issue, separate issue.

A conventional positioning device includes a brake primary electromagnet, a fixed object on which the brake primary electromagnet is installed, a brake secondary yoke, and a movable object on which the brake secondary yoke is installed. Ru.

Next, a conventional positioning device will be described in detail with reference to the drawings.

Figures 3 (a) and (b) show the conventional positioning device. It is a side view which shows an example.

The positioning device shown in FIGS. 3(a) and 3(b) includes a brake primary electromagnet 9, a brake secondary yoke 10, a fixed object 6, and a moving object 4.

When the brake primary side electromagnet 9 is excited with the brake secondary side yoke 10 in the position shown in FIG. 3(a), the attraction force D-,
D''- acts, the moving object 4 moves in the direction of arrow E,
Positioning can be performed in the state shown in FIG. 3(b).

[Problem to be solved by the invention]

In the conventional positioning device described above, in addition to the force acting in the moving direction, an attractive force acts in a direction perpendicular to the moving direction between the brake primary side electromagnet and the brake secondary side yoke. When the robot is supported in a non-contact manner, such as by air levitation or magnetic levitation, there is a drawback that a new levitation blade must be provided to counteract this attraction force.

[Means to solve the problem]

The positioning device of the present invention is attached to a moving object, and has a magnetic circuit element in which a permanent magnet is sandwiched between two yokes of the same shape in a U-shape, facing each other with a certain gap. , a magnetic circuit having two gap portions in which the directions of magnetic flux are opposite; (B) a magnetic circuit that is attached to a fixed object;
A flat part with a width that can cross the gap at the same time, a width that does not protrude, and a thickness that allows the object to move without contact, and through which current flows in a direction perpendicular to the direction of the magnetic flux in the gap and the direction of movement of the moving object. It consists of a coil wound into a rectangular shape so as to have a

〔Example〕

Next, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a perspective view showing an embodiment of the present invention.

The positioning device shown in FIG. 1 (A) is attached to a moving object 4, and a magnetic circuit element in which a permanent magnet 1 is sandwiched between two yokes 2 of the same shape in a U-shape is placed with a certain gap between them. (B) A magnetic circuit having two gap portions 3.3-, which are opposed to each other with a gap between them, and the direction of magnetic flux is opposite. The width is such that it can be crossed at the same time without overflowing, and the thickness is such that it can be moved without touching.
The coil 5 is wound in a rectangular shape so as to have a flat part through which current flows perpendicularly to the direction of the magnetic flux of the gap part 3.3" and the moving direction of the moving object 4.

When the switch 8 is closed and current is applied to the coils from the DC power supply 7, the brake is applied.

FIGS. 2(a) and 2(b) are side views illustrating the operation of the positioning device shown in FIG. 1.

As shown in FIG. 2(a), when the area of the coil 5 crossing the gap 3.3- is equal, the forces A and B acting on the gap 3.3- are opposite in direction and magnitude. Because they are equal,
The forces are balanced and the moving object 4 comes to rest.

As shown in FIG. 2(b), when the moving object 4 is displaced to the right with respect to the coil 5, only the area of the coil that crosses the gap 3- on the right side decreases. The outward force B- acting on - also decreases, the balance of forces is broken, and the moving object 4 moves in the direction of arrow C,
As a result, positioning can be performed in the state shown in FIG. 2(a).

〔Effect of the invention〕

Instead of positioning using the attractive force of an electromagnet, the positioning device of the present invention uses a direct current that flows in the same direction in the gap of a magnetic circuit that has two gaps with the same area and opposite magnetic flux directions. By flowing, a force is applied only in the direction of movement, so there is no attraction force in the direction perpendicular to the direction of movement, so moving objects can be suspended by air levitation, magnetic levitation, etc.
It has the advantage that it can be easily used even when it is supported in a non-contact manner.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing an embodiment of the present invention, Fig. 2(a)
, (b) are side views illustrating the operation of the positioning device shown in FIG. 1, and FIGS. 3(a) and 3(b) are side views showing a conventional example. 1...Permanent magnet, 2...Yoke, 3.
3...Gap portion, 4...Moving object, 5...Coil, 6...Fixed object, 7
...DC power supply, 8...Sui Nochi.

Claims (1)

[Claims] (A) A magnetic circuit element that is attached to a moving object and has a permanent magnet formed into a scissors-shaped yoke between two yokes of the same shape, which are placed facing each other with a certain gap between them. (B) A magnetic circuit having two gap portions in which the directions of magnetic flux are opposite; (B) a magnetic circuit that is attached to a fixed object, and which
A flat part with a width that can cross the gap at the same time, a width that does not protrude, and a thickness that allows the object to move without contact, and through which current flows in a direction perpendicular to the direction of the magnetic flux in the gap and the direction of movement of the moving object. A positioning device characterized by comprising: a coil wound in a square shape so as to hold the coil;