JPS61231610A - Position and angle controlling device - Google Patents

Abstract

PURPOSE:To control the movement of a position and an angle contactlessly with high accuracy in a desired direction by utilizing magnetic levitation technol ogy. CONSTITUTION:Electromagnets 7-11 are arranged radially at two positions apart in the direction of the center line of the cylinder 6 of a magnetic body, that is, in the axial direction of a fixed support 5. The gap 18 between the electromagnets 7-11 and the cylinder 6 of the magnetic substance is kept constant. Further, permanent magnets 16a, 17a and 16b, 17b are restricted repulsively in the direction of the center line of the cylinder 6 (axial direction). Further, the movement around the center line of the cylinder 6 is restricted by the repulsive force of permanent magnets 20, 21a, 21b. Thus, the movement control of the position and angle in the desired direction is attained contactlessly with high accuracy.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a position and angle control device capable of controlling translation and angular movement regarding two specific axes of an orthogonal three-axis coordinate system. The present invention relates to a position and angle control device that can be applied to a support device, an irradiation direction changing device for electron beams, laser beams, and the like.

[Conventional technology]

In controlling the direction of radio beams, electron beams, laser beams, etc., it is necessary to delicately adjust the position and angle of the beam emitting device, antenna, or reflector.

An example of a conventional device of this type is shown in FIG. 8 and will be described. FIG. 8 shows a case where an antenna is taken as an example.

In Fig. 8, ■ is a reflecting mirror of the antenna, and this reflecting mirror 1 is driven relative to the support base 4 by a rotation mechanism 2 around the El axis and a rotation mechanism 3 around the Az axis, so as to change the antenna beam direction. It is composed of The rotation mechanism 2 and the rotation mechanism 3 are each equipped with an independent actuator (not shown), and if these actuators drive and control the rotation mechanism 2 and the rotation mechanism 3, the directional axis of the antenna can be adjusted to the desired direction. controlled in the direction of

[Problem that the invention seeks to solve]

Conventional devices such as those described above have bearings and drive transmission mechanisms built into each of the rotating mechanisms 2 and 3, and there are mechanical sliding parts, so lubrication is essential and it cannot be used for long periods of time. It has the disadvantage that it wears out and its mechanical performance deteriorates due to its use.

Further, there is a problem in that it is difficult to control the orientation angle with high precision due to friction caused by mechanical sliding and backlash of the gears of the drive transmission mechanism.

Furthermore, direction control of radio waves, electron beams, and laser beams may require not only simple angular rotation but also translation in a specific axial direction, and a device such as the one shown in Figure 8 can satisfy such functions. In addition, an actuator for translation and a support device are required, resulting in the disadvantage that the device becomes large and complicated.

[Means for solving problems]

In order to solve such problems, the present invention provides at least three electromagnets each radially provided at two positions, a first and a second, separated in the axial direction of a fixed column, and electromagnets provided on both end faces of the fixed column. a first permanent magnet attached to the fixed column; a magnetic cylinder surrounding the outside of the fixed column and facing the electromagnet with a gap; A second permanent magnet attached to generate a repulsive force between the permanent magnet and the third and fourth permanent magnets attached to the axial center of the fixed column and the corresponding cylinder so as to repel each other. A permanent magnet and a displacement sensor for detecting the gap between the electromagnet and the cylinder are provided.

[Effect]

In the present invention, positional and angular movement control in a desired direction is performed in a non-contact manner using magnetic levitation technology.

〔Example〕

Embodiments of the present invention will be described in detail below based on the drawings.

FIG. 1 is a perspective view schematically showing an embodiment of a position and angle control device according to the present invention.

In FIG. 1, reference numeral 5 designates a fixed branch, and reference numeral 6 designates a magnetic cylinder surrounding the outside of the fixed support 5 and facing an electromagnet, which will be described later, with a gap therebetween. In addition,
In this FIG. 1, X13' and 2 indicate respective axes in the coordinate direction.

FIG. 2 is a perspective view showing details of the fixed column 5 in FIG. 1. However, for convenience of explanation, some parts are shown with dotted lines.
, In this second figure, ? , 8.9 and 1O911 are parts of electromagnets arranged radially in the first and second two separate locations in the axial direction of the fixed support 5, that is, on the upper and lower sides, respectively.

At least three of the lower electromagnets are arranged radially in each case (note that one of the lower electromagnets is shaded and not shown).

12 and 13.14 are displacement sensors for detecting the amount of clearance between the upper electromagnet 7 and the lower electromagnet 10.11, respectively, and the magnetic cylinder 6 (see FIG. 1). In the embodiment shown in FIG. 2, this displacement sensor is shown attached to each electromagnet, but as will be described later, in order to restrain four degrees of freedom using electromagnets using magnetic levitation technology, at least four is the required number. Further, as described above, at least three electromagnets are radially provided at two locations separated in the axial direction of the fixed column 5.

On the end face of the fixed column 5, first permanent magnets 16a, 1.6
b are attached to each. Reference numerals 21a and 21b are third permanent magnets whose functions will be described later.

FIG. 3 is a perspective view showing details of the magnetic cylinder 6. FIG. In FIG. 3, 15 is a flat plate as a flat end surface of the cylinder 6, and 17b is a fixed support 5 as shown in FIG.
This is a second permanent magnet in which the same poles as the permanent magnet 16b face each other and repel each other. The same applies to the back surface of the flat plate 15. - FIG. 5 is a sectional view showing an embodiment of the internal configuration of the position and angle control device according to the present invention. In FIG. 5, a magnetic cylinder 6 surrounds the outside of the fixed column 5, and electromagnets 7, 10
They are arranged to face each other with a gap 18 between them.

Reference numeral 19 denotes a stand to which the fixed column 5 is fixed. 17a is the second
The permanent magnet 16a is arranged so as to repel the permanent magnet 16a.

FIG. 6 is a partial cross-sectional view showing a part of the cross section perpendicular to the center line. In FIG. 6, the fourth permanent magnet 20 is attached to the cylinder 6, and the third permanent magnets 21a, 21b are attached to the fixed column 5. The fourth permanent magnet 20 and the third permanent magnets 21a, 21b are arranged so as to repel each other, and this force restricts rotation of the cylinder 6 about its center line. 22 and 23 are permanent magnets 20,
These are holes made in the cylinder 6 for attaching 21a and 21b.

FIG. 7 is a circuit diagram for explaining the magnetic levitation function.

In FIG. 7, 24 is a signal processing circuit that receives the amount of the gap 18 detected by the displacement sensor 12 and the command signal a and generates a signal to keep the gap 18 stable, and 25 is the signal processing circuit 24. This is a power amplifier that receives the output of the electromagnet 7 as an input and causes a current to flow through the electromagnet 7 in accordance with this input signal.

Next, the operation of the magnetic levitation means shown in FIG. 7 will be explained.

First, to explain the function of the electromagnet, displacement sensor 1
The current of the electromagnet 7 is controlled according to the output signal of the electromagnet 2, and the gap 18 between the magnetic cylinder 6 and the electromagnet 7 is kept constant.

Next, the signal processing circuit 24 amplifies the output signal of the displacement sensor 12, divides it by i, etc., and creates a signal for maintaining the gap 18 stably. Further, the power amplifier 25 causes current to flow through the electromagnet 7 according to the signal obtained by the signal processing circuit 24. Then, an external command signal a
Accordingly, the gap 18 between the magnetic cylinder 6 and the electromagnet 7 can be set to a desired value.

Note that this magnetic levitation technology is well known.

As is clear from the foregoing, the position and angle control device of the present invention operates in the direction of the center line of the magnetic cylinder 6, that is, in the axial direction of the fixed column 5, as shown in FIGS. At least three electromagnets 7 to 9 and electromagnets 10, 11, etc. are arranged radially at first and second two positions separated from each other, and each of these electromagnets 7 to 11
and the magnetic cylinder 6, and as shown in FIG. 17b rebelled and was restrained. Furthermore, the movement of this magnetic material around the center line of the cylinder 6 is restrained by the repulsive force of the permanent magnets 20a, 21a, and 21b, as shown in FIG.

With these functions, the position angle control device of the present invention
Translation in the x, y axis direction and x, y in the coordinate direction shown in the figure
Movement with a total of four degrees of freedom, including angular rotation around the axis, can be controlled by the command signal a, and the movement can be performed without being affected by friction or "backlash." Therefore, the position and angle can be determined with high precision.

The position and angle control device of the present invention has two translational and two
It can be applied to a pivot support device for an antenna that requires movement in four degrees of freedom, such as angular rotation, and an irradiation direction control device for electron beams, laser beams, and the like.

Further, the present invention configures the mechanism with the minimum number of electromagnets necessary to enable the above-mentioned four degrees of freedom of movement.

〔Effect of the invention〕

As explained above, the present invention includes at least three electromagnets each radially provided at two positions, first and second, separated in the axial direction of a fixed branch, and electromagnets attached to both end faces of a fixed column. between the first permanent magnet, a magnetic cylinder surrounding the outside of the fixed column and facing the electromagnet with a gap, and the first permanent magnet on the flat parts at both ends of this cylinder. a second permanent magnet attached to generate a repulsive force on the fixed column; third and fourth permanent magnets attached to the axial center of the fixed column and the corresponding cylinder so as to repel each other; and an electromagnet. By providing a displacement sensor that detects the gap between the body and the cylinder, the specified two-axis limited translational movement of a rigid body with six degrees of freedom and the above specified can be achieved using magnetic levitation technology without using complicated means. It allows movement in a total of 4 degrees of freedom, including limited angular movement around 2 axes,
A simple configuration in which the remaining two degrees of freedom are constrained by the repulsive force of the permanent magnet has the effect of allowing positional and angular movement control in a desired direction to be performed non-contact and with high precision.

In addition, since the repulsive force of the permanent magnet is used to constrain directions that do not require control, there are a total of four degrees of freedom: translation in the directions of the two target coordinate axes and angular rotation around those axes. This motion can be realized with the minimum number of electromagnets necessary, and therefore, the configuration can be economical, and the practical effect is extremely large.

[Brief explanation of the drawing]

FIG. 1 is a perspective view schematically showing an embodiment of a position and angle control device according to the present invention, FIG. FIG. 4 is a sectional view showing a part of the permanent magnet that constitutes the device shown in FIG. 1;
5 and 6 are cross-sectional views of a position and angle control device according to the present invention, FIG. 7 is a circuit diagram for explaining the magnetic levitation technology used in the present invention, and FIG. 8 is a diagram of a conventional device of this type. FIG. 2 is a configuration diagram showing an example. 5...Fixed column, 6...Magnetic cylinder, 7-1
1...Electromagnet, 12-14...Displacement sensor, 1
5... Flat plate, 16a, 16b, 17a, 17b,
20, 21a, 21b...Permanent magnet, 18...
Gap, 19...stand, 22.23...hole, 24
...Signal processing circuit, 25...Power amplifier. Patent Applicant Nippon Telegraph and Telephone Corporation Agent Kazuki Yamakawa (one idiot) Figure 2 JP-A-6L-231610 (5) Figure 3 7 ≦ 502 ≧ 5, Figure 6 6a6 6 mouth 8 N 3N mouth 10 □3 Figure 7! -h2S Mass cheer bangeki Akihitsu 8th figure Δ7 . 11, A mountain 8

Claims (1)

[Claims] at least three electromagnets each radially provided at two first and second positions spaced apart in the axial direction of the fixed column;
a first permanent magnet attached to both end surfaces of the fixed column;
A repulsive force is generated between a magnetic cylinder that surrounds the outside of the fixed column and is arranged to face the electromagnet with a gap, and the first permanent magnet on the flat parts at both ends of the cylinder. a second permanent magnet attached so as to generate an electric current, and third and fourth permanent magnets attached to the axially central portion of the fixed column and the corresponding cylinder so as to repel each other.
a permanent magnet, and a displacement sensor that detects a gap between the electromagnet and the cylinder, and controls the attractive force of the electromagnet based on the output of the displacement sensor to connect the electromagnet and the cylinder in a non-contact manner. 1. A position and angle control device, characterized in that the gap between the electromagnet and the cylinder can be changed by a command signal.