JPH0421342A - Positioning mechanism - Google Patents

Abstract

PURPOSE:To set the moving position of a driven body with high accuracy by positioning the driven body by driving the driven body in an arbitrary direction by utilizing the attraction and repulsion between a movable magnet and fixed magnets and controlling the attracting and repelling forces between the magnets on the basis of the detection result of a position detecting means. CONSTITUTION:A pair of fixed magnets 6 and 8 arranged on the outside of the movable extent of a movable magnet 4 having a pair of magnetic poles on both sides of the magnet 4 before and after a moving body 2 in the moving direction of the body 2 are respectively magnetized by means of currents I1 and I2 and acts an attracting or repelling force which moves the magnet 4 in X-axis direction to the magnet 4. In addition, a fixed magnet 14 is magnetized with a current I3 and acts an attracting or repelling force which moves the magnet 4 in Y-axis direction to the magnet. Since, when the output of a control circuit 30 obtained by comparing a position designating input Vi and position signal VD from a position sensor 32 with each other is given to drive circuits 24, 26, and 28 and, as a result, the currents I1, I2, and I3 are respectively supplied to coils and the magnet 4 is driven, a driven body 2 is moved and positioned, the moving position of the driven body can be set with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a positioning mechanism that is used to move and position a driven body by utilizing attraction and repulsion generated by magnetic force.

[Conventional technology]

Conventionally, devices for obtaining driving force in the X-axis direction or Y-axis direction by using attraction or repulsion by magnetic force include, for example, Japanese Patent Application No. 61-277589 "Motor", Japanese Patent Application No. 61-279
There are Japanese Patent Application No. 61-285127 "Moving Body", Japanese Patent Application No. 61285128 "Moving Body", etc. In these devices, a fixed magnet is installed against a movable magnet, a magnetic force is applied between the two, and the desired driving force is obtained by changing the magnetic poles or the magnitude of the magnetic force of the movable magnet or the fixed magnet. It is.

[Problem to be solved by the invention]

By the way, in such a device, the movable magnet moves in the X and Y axis directions, and the center of movement changes arbitrarily in accordance with the movement. Therefore, when the movable magnet is mechanically supported, friction is generated due to the support, and this frictional force may reduce the driving force.

In addition, in such a device, the amount of movement of the movable magnet depends on the applied magnetic force, so the amount of movement is determined by the magnetic force, that is,
It has the advantage of being adjustable by adjusting the current flowing through the coil.

Accordingly, a first object of the present invention is to provide a positioning mechanism for moving a driven body in any direction using magnetic attraction and repulsion and positioning the driven body.

Further, the present invention provides the following advantages: by controlling the movement of the driven body,
A second object of the present invention is to provide a positioning mechanism that can set the moving position of a driven body with high precision.

[Means to solve the problem]

That is, in order to achieve the first object, the positioning mechanism of the present invention includes a movable magnet (rotor 4) having a pair of magnetic poles in front and back in the moving direction of the driven body (2), and a movable range of this movable magnet. A pair of first fixed magnets (stator 6
．． 8), and a second fixed magnet (stator 14) that is installed between the first fixed magnets and applies a force to the movable magnet in the direction of attaching and detaching it to the driven body. be.

Furthermore, in order to achieve the second object, the present invention provides a movable magnet (rotor 4) having a pair of magnetic poles in front and back in the moving direction of the driven body (2), and a movable range (L) of this movable magnet. a pair of first fixed magnets (stators 6.8) which are placed in front and behind each other in the moving direction and apply a force acting on the movable magnet in the moving direction or in the opposite direction; A second magnet is installed between the fixed magnets and applies a force to the movable magnet in the direction of attaching to and detaching from the driven body.
a fixed magnet (stator 14), a position detecting means (position sensor 32) for detecting the position of the moved object moved by the movable magnet, and a position detecting means (position sensor 32) that responds to the position of the moved object detected by the position detecting means. and a position control means (control circuit 30) for the moved object that controls the magnetic force or magnetic poles acting between the movable magnet, the first fixed magnet, and the second fixed magnet. be.

[For production]

A movable magnet that applies a driving force to the driven body is installed, and this movable magnet is provided with a pair of magnetic poles, an N pole, and an S pole in front and back in the moving direction of the driven body.

This movable magnet is set with a movable range of a certain width, and first fixed magnets are set in front and behind the movable range with this movable range in between. In other words, the movable range of the movable magnet is determined by the installation position of the first fixed magnet.

Here, assuming that the magnetic poles of the movable magnet are set constant, the magnetic poles or magnetic force of the first and second fixed magnets relative to the movable magnet will cause the movable magnet to be separated from the driven body and backward in the direction of movement. After the movable magnet is positioned at the driven body, the second fixed magnet brings the movable magnet into close contact with the driven body. In this state, the magnetic poles and magnetic force of the first fixed magnet apply an attractive force in the moving direction of the driven body in front of the movable magnet, and a repulsive force to the rear thereof, so that the driven body is moved by the driving force of the movable magnet. It will move within the movable range of the movable magnet. When moving the driven body backward, the movable magnet is positioned in the opposite direction to the moving direction, and the first fixed magnet applies magnetic force to the movable magnet to move the driven body backward. can.

Furthermore, if a position detection means for detecting the moving position of the driven body moved by the movable magnet is installed, the position control means will control the distance between the first and second fixed magnets and the movable magnet based on the position detection. The position of the driven body is controlled by controlling the magnetic force or the relationship between the magnetic poles. therefore,
The driven body can be positioned at any position using the movable magnet.

〔Example〕

Hereinafter, the present invention will be described in detail with reference to illustrative embodiments.

FIG. 1 shows a first embodiment of the positioning mechanism of the present invention.

A moving body 2 movable in the X-axis direction in the figure is installed in this positioning mechanism. A rotor 4 is installed on the lower surface of the movable body 2 as a movable magnet having a pair of magnetic poles N and S arranged forward and backward in the moving direction of the movable body 2. , and a stator 6.8 serving as a pair of first fixed magnets is installed across the movable range of the stator 6.8.

A coil 10.12 is wound around each stator 6.8, and a current of 1. , I2 is used. Therefore, the magnetic poles or magnetic force generated by the stator 6.8 exerts an attractive or repulsive force between itself and the rotor 4 to move the rotor 4 in the X-axis direction.

A second stator 14 is installed within the interval between each stator 6.8 as a second fixed magnet that applies a magnetic force to the rotor 4 to move the rotor 4 in the Y-axis direction. 14 uses an electromagnet around which a coil 16 is wound and magnetized by the current I3. Therefore, the magnetic poles or magnetic force generated by the stator 14 act on the rotor 4 with an attractive force or a repulsive force that causes the rotor 4 to move in the Y-axis direction.

A recess 18.20 is formed between the stator 14 and the rotor 4 on opposing surfaces, and between the recess 18.20 an elastic material such as sponge or a support 22 movable in the X-axis direction is installed. The rotor 4 is movably supported by the stator 14 by the support 22 .

With the above configuration, the rotor 4 can move within the space surrounded by the stator 6.8 and the stator 14 while being elastically supported by the stator 14 via the support 22.

Therefore, as shown in FIG. 2 (A), the stake 14 is magnetized by passing a current 3 through the coil 16 of the stator 14, and an attractive force is applied to the magnetic poles N and S of the rotor 4. , the stator 14 is moved in the Y-axis direction to retreat from the driven body 2.

At this time, each coil 10.12 of the stator 6.8 receives a current of 1. i, may be caused to apply a repulsive force to the rotor 4 from each stator 6.8.

Next, as shown in FIG. 2B, the current I3 applied to the coil 16 of the stator 14 is released or reversed, and the current t applied to the coil 10.12 of the stator 6.8 is
■ By flowing and magnetizing the stakes 6 and 8, both generate S poles, so that the stator 6 side has a repulsive force against the S pole of the rotor 4, and the stator 8 has an attractive force against the N pole of the rotor 4. to act. As a result, the rotor 4 is located at the right end of the movable range in the figure, and is attracted to the driven body 2 at that position.

Next, as shown in FIG. 2(C), the direction of the current I2 to the coil 12 of the stator 8 is reversed, and
By passing current 1 (in the opposite direction of current 1 in FIG. 2(B)) through the coil 10 of the stator 6 to produce both north poles in the stators 6 and 8, the stator Repulsive force on the 8 side, stator 6 against the S pole of rotor 4
Apply suction on the side. As a result, the rotor 4 receives a driving force that moves the movable range from the right end to the left end in the figure in the direction indicated by the arrow Lx. The driven body 2 to which the rotor 4 is adhered receives the driving force together with the rotor 4, and generates a displacement ΔL corresponding to the amount of movement of the rotor 4.

By driving the rotor 4 to the positions shown in FIG. 2 (A) to (C), the driven body 2 is moved by a displacement ΔL
It will be moved and positioned in units of .

In this embodiment and its operation, with respect to the magnetic poles of the rotor 4,
The magnetic pole of stator 6.8 has been reversed, or stator 6.8
It is also possible to apply a driving force to the rotor 4 by controlling the relative attractive force or repulsive force to an unbalanced state by adjusting the magnetic force without reversing the magnetic poles between them.

Further, in this embodiment, the amount of movement of the rotor 4 is set to ΔL corresponding to the maximum movable range, but the currents 1, . 1. , ■
By controlling the size and direction of 3, it can be set to, for example, ΔL/2.

Next, FIG. 3 shows a second embodiment of the positioning mechanism of the present invention.

This positioning mechanism includes a drive circuit 24 for passing current 11 through the coil 10 of the stator 6, and a drive circuit 24 for passing the current 11 through the coil 10 of the stator 8.
A drive circuit 28 for passing a current I2 through the coil 16 of the stator 14, and a drive circuit 28 for passing a current I3 through the coil 16 of the stator 14.
6 are installed, and currents r, , 1.6 are installed as positioning control means. , I3 to perform positioning control. The control circuit 30 receives a position designation input (2), and also receives a position signal (2) from a position sensor 32 that detects the moving position of the driven body 2. has been added.

Therefore, in this positioning mechanism, the positioning manual force ■,
The difference is determined based on the comparison between the position signal (1) and the position signal (2) from the position sensor 32, and a control output corresponding to the difference is applied to each drive circuit 24, 26, 28. As a result, the current 1. ,
2, I3 is supplied to each coil 10, 12, 16 to drive the rotor 4, and the driven body 2 is moved and positioned to the position represented by the position specifying human force V.

Next, FIG. 4 shows a third embodiment of the positioning mechanism of the present invention.

In this positioning mechanism, the positioning mechanisms shown in FIG. 1 constitute one positioning unit, so that a plurality of positioning units are installed together, that is, two positioning units 41 and 42 are installed.

In this case, the rotor 4 on the positioning unit 41 side is separated from the driven body 2 and is placed on standby on the stator 8 side, and at this time,
The rotor 4 of the positioning unit 42 is attracted to the driven body 2 to apply a driving force.

In this way, by driving the two positioning units 41 and 42 alternately, the driven body 2 can be driven without interruption to move the arrows A,
It can move in the direction indicated by B (X-axis direction).

Furthermore, if the two positioning units 41 and 42 simultaneously generate driving forces in a synchronized state, two driving forces can be applied to the driven object 2, and the increased driving force allows the driven object 2 with a large load to be moved. Not only can it be moved, but it can also prevent displacement due to vibrations and the like.

And, by the combination of positioning units 41 and 42,
The driven body 2 can be driven in any direction with a desired driving force and positioned with high precision.

In the embodiment, the case where the driven body 2 is moved in the X-axis direction has been described as an example, but the driven body 2 can be It can also be moved in the X-axis direction perpendicular to the plane of the paper, and can be positioned at any position, and is not limited to one direction, the X-axis direction.

Further, in the embodiments, the rotor is described as a permanent magnet, but it may be configured with an electromagnet similarly to the stator side.

Furthermore, the rotor and stator may be constructed using superconducting magnets.

〔Effect of the invention〕

As explained above, according to the present invention, the following effects can be obtained.

(a) By attracting and repelling the magnetic force applied between the movable magnet and the first and second fixed magnets, the driven body can be moved in any direction with an extremely simple mechanism, and its position can be determined. In addition, it is possible to simplify and downsize the drive mechanism.

(b) The position of the moving driven object is detected by the position detection means, and based on the detection, the attractive force or repulsive force that acts between the movable magnet and the fixed magnet is controlled, so that the driven object can be moved. The position can be set with high precision.

[Brief explanation of the drawing]

FIG. 1 is a diagram showing a first embodiment of the positioning mechanism of the present invention, FIG. 2 is a diagram showing the operation of the positioning mechanism shown in FIG. 1, and FIG. 3 is a diagram showing a second embodiment of the positioning mechanism of the present invention. FIG. 4 is a diagram showing a third embodiment of the positioning mechanism of the present invention. 2... Driven body 4... Rotor (movable magnet) 6.8... Stator (first fixed magnet) 14... Stator (second fixed magnet) 30... Control circuit (positioning) Control means) 32...Position sensor (position detection means) L
...Movable range chart

Claims (1)

[Claims] 1. A movable magnet having a pair of magnetic poles arranged in front and behind in the moving direction of the driven body, and a movable magnet that is installed in front and behind in the moving direction with a movable range of the movable magnet in between. a pair of first fixed magnets that apply a force acting in the moving direction or the opposite direction; and a pair of first fixed magnets that are installed between the first fixed magnets and apply a force that acts in the direction of attaching and detaching the driven body A positioning mechanism comprising: a second fixed magnet that applies to the movable magnet. 2. A movable magnet having a pair of magnetic poles arranged in front and back in the moving direction of the driven body, and a movable magnet that is installed in front and back in the moving direction with a movable range of the movable magnet in between, and that a pair of first fixed magnets that apply a force acting in the opposite direction; and a second fixed magnet that is installed between the first fixed magnets and applies a force that acts on the movable magnet in the direction of attaching or detaching the driven body. a second fixed magnet; a position detecting means for detecting the moving position of the moved object moved by the movable magnet; and a position control means for controlling the position of the object to be moved, which controls the magnetic force or magnetic pole acting between the fixed magnet and the second fixed magnet.