WO2004012260A1 - 精密加工用ステージ装置 - Google Patents
精密加工用ステージ装置 Download PDFInfo
- Publication number
- WO2004012260A1 WO2004012260A1 PCT/JP2003/009641 JP0309641W WO2004012260A1 WO 2004012260 A1 WO2004012260 A1 WO 2004012260A1 JP 0309641 W JP0309641 W JP 0309641W WO 2004012260 A1 WO2004012260 A1 WO 2004012260A1
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- WO
- WIPO (PCT)
- Prior art keywords
- movable table
- braking
- coil
- electromagnetic
- drive
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q5/00—Driving or feeding mechanisms; Control arrangements therefor
- B23Q5/22—Feeding members carrying tools or work
- B23Q5/28—Electric drives
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/26—Movable or adjustable work or tool supports characterised by constructional features relating to the co-operation of relatively movable members; Means for preventing relative movement of such members
- B23Q1/34—Relative movement obtained by use of deformable elements, e.g. piezoelectric, magnetostrictive, elastic or thermally-dilatable elements
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q1/00—Members which are comprised in the general build-up of a form of machine, particularly relatively large fixed members
- B23Q1/25—Movable or adjustable work or tool supports
- B23Q1/44—Movable or adjustable work or tool supports using particular mechanisms
- B23Q1/56—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/60—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism
- B23Q1/62—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides
- B23Q1/621—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair
- B23Q1/623—Movable or adjustable work or tool supports using particular mechanisms with sliding pairs only, the sliding pairs being the first two elements of the mechanism two sliding pairs only, the sliding pairs being the first two elements of the mechanism with perpendicular axes, e.g. cross-slides a single sliding pair followed perpendicularly by a single sliding pair followed perpendicularly by a single rotating pair
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2201/00—Specific aspects not provided for in the other groups of this subclass relating to the magnetic circuits
- H02K2201/18—Machines moving with multiple degrees of freedom
Definitions
- the present invention relates to a stage device for precision machining, and more particularly to a stage device for precision machining used in precision machining, wiring work, or inspection thereof in a semiconductor production process such as IC and LSI.
- the entire movable table is first moved in the X direction by the X-direction moving mechanism, and then (or simultaneously), the movable table is moved.
- Many systems have a double-layered moving body holding mechanism in which the entire table and X-direction moving mechanism are moved in the Y-direction by the Y-direction moving mechanism.
- this type of processing stage device is driven at a relatively low speed and is equipped with a mechanical braking mechanism when controlling the movement of the movable table in the X and Y directions.
- the X-direction moving mechanism for moving in the X direction and the Y-direction moving mechanism for moving in the Y direction intersect as described above. It has a moving body holding mechanism, and especially the contact moving parts that require precision have a Therefore, there is a disadvantage that a lot of labor is required for processing, and skill is also required for precise adjustment at the time of assembly. For this reason, productivity was low, and in many cases, the entire apparatus was expensive.
- a return spring for returning to the original position is provided on the movable table in many cases.
- a minute reciprocating motion at the stop position is likely to occur on the movable table due to the acceleration or deceleration driving force applied to the movable table.
- a mechanical braking device using friction has become indispensable.
- An object of the present invention is to provide a function for precisely moving a movable table for precision machining smoothly in a predetermined direction on the same surface, and to make it possible to greatly improve the assembling work and reduce the size and weight of the entire apparatus. Further, it is intended to provide a precision machining stage device which can effectively suppress a reciprocating operation and a minute vibration when the movable table is stopped, and thereby can perform the precise movement of the movable table more quickly and smoothly. is there. Disclosure of the invention
- the precision machining stage device A movable table that is incorporated in the main body and supports the workpiece; a table holding mechanism that is incorporated in the main body and that allows the movable table to move in any direction within the same plane; An electromagnetic driving means incorporated therein for feeding the movable table in the same plane; and an electromagnetic braking mechanism for generating a braking force for stopping the movable table at an arbitrary position in the same plane.
- the electromagnetic driving means includes a set of a plurality of driven magnets, and a driving coil for generating a magnetic force acting on the magnetic force of the driven magnet depending on a direction of energization, wherein the driven magnet and the driving coil
- the movable magnetic tape feed is generated by the mutual magnetic action of
- One of the driven magnet and the drive coil is fixed at a fixed position, and the other is provided so as to be movable integrally with the movable table,
- the electromagnetic braking mechanism includes a braking magnet and a nonmagnetic and conductive braking plate that face each other and move relatively in synchronization with the movement of the movable table,
- One of the braking magnet and the braking plate is fixed at a fixed position, the other is provided so as to be movable in synchronization with the movement of the movable table, and a set of the braking magnet and the braking plate is:
- a configuration is employed in which a braking force is generated based on a mutual magnetic action of a magnetic force due to an eddy current generated in the braking plate and a magnetic force of the braking magnet with the movement of the movable table.
- the electromagnetic driving means when the electromagnetic driving means operates, first, a mutual magnetic action occurs between the drive coil of the electromagnetic driving means and the driven magnet, and a predetermined magnetic force is applied to the movable table by the mutual magnetic action. Feed in the direction is given.
- the movable table is moved in the same plane by the table holding mechanism. Since movement is permitted, the robot moves smoothly in a predetermined direction without moving up and down.
- the movable table is located at a position where the original position returning force is balanced with the magnetic force of the electromagnetic drive means when the original position returning force is applied to the movable table (ie, a predetermined movement stop position).
- the movable table is often suddenly accelerated by the electromagnetic driving means or the original position returning force applied to the movable table when moving.
- the movable range of the movable table is, for example, in the unit of a mouth
- the movable table is suddenly decelerated and stopped while being rapidly accelerated. Therefore, when the movable table is stopped, a minute reciprocating motion is likely to occur when the movable table is stopped due to the inertial force of the movable table and the original position return force of the table holding mechanism.
- the braking magnet of the electromagnetic braking mechanism and the non-magnetic and conductive braking plate are relatively displaced in synchronization with the movement of the movable table. Then, the electromagnetic braking mechanism generates an eddy current of a magnitude proportional to the moving speed of the movable table on the control plate, and a magnetic force due to the eddy current generated on the brake plate and a magnetic force of the braking magnet. A braking force is generated based on the mutual magnetic action.
- the minute reciprocating operation of the movable table is converged within a short time.
- the stop time required to stop the movable table at a desired position is reduced, and the overall time required to move the movable table within the same plane is reduced, thereby improving work efficiency. It can be done.
- the electromagnetic braking mechanism applies braking to the movable table, or applies braking to the movable table and the table holding mechanism. It's something that may be.
- the braking time of the movable tape can be reduced as described above by suspending the braking force by the electromagnetic braking mechanism on the movable table. Further, the braking time of the movable table can be further reduced by applying the braking force of the electromagnetic braking mechanism to both the movable table and the electromagnetic braking mechanism.
- the electromagnetic braking mechanism includes a braking magnet and a non-magnetic and conductive braking plate that face each other and move relatively in synchronization with the movement of the movable table. Configuration.
- the entire device can be reduced in size and weight. Therefore, the inertial force of the movable table is not increased, and the movement of the movable table is not hindered. Also, since no special skill is required during the assembling work, the workability is improved, and in this respect, the productivity is greatly improved as compared with the conventional one having a double-structure moving mechanism. Can be
- a driven magnet constituting the electromagnetic driving means can be used, or it can be formed separately from the driven magnet.
- the braking plate has a portion that links the magnetic flux formed by the driving coil of the electromagnetic driving unit with the coil.
- a circuit equivalent to the secondary circuit of the transformer is constructed, and at the same time, this secondary circuit is always short-circuited via the electric resistance component (causing eddy current loss) of the braking plate. Is composed.
- the braking plate has the same effect as the short ring of the voice coil motor, the impedance of the primary circuit seen from the power source is observed to be small, and it is compared with the case where the secondary circuit is a solution (there is no braking plate).
- a relatively large current can be supplied without phase delay. Therefore, it is possible to output a relatively large electromagnetic force between the driven magnet and the driven magnet without a phase delay as compared with a case where the braking plate does not exist.
- the braking plate also functions as a heat radiating plate.
- the resistance increase and the decrease in the energized current value at high temperatures caused by the continuous operation of the driving coil (ie, the electromagnetic driving force) ) Can be set to a substantially constant level for a long time.
- external current control of the driving force by the magnetic force output from the electromagnetic driving means can be continued in a stable state, and aging (dielectric breakdown due to heat) can be effectively suppressed.
- the durability of the entire device and, consequently, the reliability of the entire device can be improved.
- the electromagnetic braking mechanism is provided at a central portion of the movable table.
- the braking plate of the electromagnetic braking mechanism may be formed as a single plate for a plurality of braking magnets. As a result, the time required for assembling the control plate can be shortened, and the efficiency of the assembling operation can be improved.
- the movable table is parallel to and integral with the movable table.
- W may be held by the table holding mechanism via an auxiliary table connected directly or directly.
- the relationship in which the movable table is held by the table holding mechanism can be appropriately selected, and is incorporated in a mode in which the braking force of the electromagnetic braking mechanism can be effectively exerted using the movable table and the auxiliary table. Can be done.
- the table holding mechanism is disposed at a predetermined interval in parallel on the same circumference of a peripheral end of the movable table, and has at least one of three ends that are implanted in the movable table.
- a bar-shaped elastic member corresponding to each one of the bar-shaped elastic members, arranged in parallel on the same circumference at a predetermined interval outside the respective bar-shaped elastic members, one end of which is held by the main body;
- at least three other rod-shaped elastic members having the same length, and a relay member that integrally holds the other end portions of the one and the other rod-shaped elastic members while maintaining a parallel state
- each of the three sets of rod-shaped elastic members of the table holding mechanism is constituted by a rod-shaped elastic member such as a piano wire having the same strength and the same length.
- the table holding mechanism As a link mechanism in this way, the movable table does not move up and down in the same plane, and the movable table can be accurately moved even when moved in microns. it can.
- the table holding mechanism is configured as a link mechanism, one of the braking magnet and the braking plate of the electromagnetic braking mechanism moves integrally with the movable table. It is preferable that the other is provided in the main body.
- the other is provided so as to move integrally with the movable table, the other is provided in the main body, and one of the braking magnet of the electromagnetic braking mechanism and the braking plate is It may be provided so as to move integrally with the relay member, and the other may be provided in the main body.
- the braking force of the electromagnetic braking mechanism can be effectively applied to the movable table.
- the braking magnet of the electromagnetic braking mechanism can be formed from the driven magnet, or can be formed separately from the driven magnet.
- the installation position of the electromagnetic braking mechanism can be appropriately selected, and the electromagnetic braking mechanism can be installed at a position where the braking force of the electromagnetic braking mechanism can be effectively exerted.
- the braking magnet of the electromagnetic braking mechanism can be formed of any one of a permanent magnet and an electromagnet.
- the configuration of the driven magnet of the electromagnetic driving means can be variously changed.
- the drive control of the movable table can be variously changed by forming the driven magnet by an electromagnet. For example, during acceleration and deceleration during movement of the movable table, both the drive coil and the electromagnet can be driven to move the movable table, and the moving direction of the movable table can be changed quickly. .
- the table holding mechanism may have an original position returning force for returning the movable table to an original position.
- the configuration of the device can be made more compact as compared with the case where the original position return mechanism is provided separately from the table holding mechanism.
- the driven magnet is set in a plane on which the movable table moves. It is desirable to arrange them on a plurality of axes equally divided in the circumferential direction with respect to one axis passing through the origin.
- the plurality of axes are set as a plurality of orthogonal axes passing through an origin set in a plane on which the movable table moves.
- the plurality of axes are set as a plurality of axes extending radially around an origin set in a plane on which the movable table moves.
- the original position at which the movable table is returned by the table holding mechanism is set so as to coincide with an original point which is a base point of an axis set within a plane on which the movable table moves.
- the return position of the movable table by the table holding mechanism coincides with the position serving as the starting point for moving the movable table, and the movable table can be accurately positioned and moved. .
- the plurality of driven magnets forming the electromagnetic driving means are arranged on the respective axes at positions equidistant from the origin, and the plurality of driving coils forming the electromagnetic driving means are arranged on the plurality of driven magnets. It is desirable that they be arranged correspondingly.
- the driven magnet and the driving coil, which constitute the electromagnetic driving means are arranged on the axis, it is possible to eliminate an unnecessary rotational force from being applied to the movable table, and to perform accurate position control of the movable table.
- the electromagnetic braking mechanism be disposed on the axis, but the set of the driven magnet and the driving coil is arranged with respect to the axis. They may be arranged at shifted positions. Even when the installation position of the set of the driven magnet and the driving coil is freely changed, the movable table can be stopped at a predetermined position by using the braking force of the electromagnetic braking mechanism, which is extremely versatile. Stage device that is rich in quality.
- the driven magnet of the electromagnetic driving means may be formed by a permanent magnet, or may be formed by an electromagnet.
- an energizing circuit is not required unlike an electromagnet, and the work involved in assembly and maintenance can be avoided accordingly.
- the driven magnet of the electromagnetic driving means is formed by an electromagnet
- the energization of the driven magnet is selectively controlled in a forward direction or a reverse direction in synchronization with the energization of the drive coil.
- various changes can be made to the drive control of the movable table.
- the drive coil has a coil piece for generating a magnetic force acting on the magnetic force of the driven magnet.
- the coil side of the drive coil is formed in a cross shape or a linear shape, or is arranged in a posture along the axis on which the driven magnet is arranged. It is a thing.
- a mutual magnetic action can be reliably generated between the coil side of the drive coil and the driven magnet.
- the direction of the mutual magnetic action generated between the coil and the driven magnet can be arbitrarily selected, and the movement of the movable tape can be controlled. Various changes can be made.
- the drive coil has a plurality of coils arranged inside and outside with different dimensions. It is possible to form from a hill. As a result, the mutual magnetic force generated between the drive coil and the driven magnet can be doubled, the feed force of the movable table can be improved, and the movable power of the movable table can be doubled.
- the linear coil side of the drive coil be disposed in a posture along or across the axis where the drive magnet is disposed. This makes it possible to arbitrarily select the mutual magnetic action generated between the drive coil and the driven magnet, and change the driving force on the movable table in various ways.
- the drive coil is formed by combining a plurality of small coils that are independently energized, and the cross-shaped or linear coil side is formed at a butt portion between the small coils. Is possible. Thereby, the coil side can be easily formed in the drive coil.
- the small coil is formed in a square shape, in particular, any one of a square, a triangle, a pentagon, and a fan.
- the square shape of the drive coil is not limited to a square, a triangle, a pentagon, or a fan because it is a means for easily forming the coil side.
- the outer dimensions of the drive coil are set to be larger than the outer dimensions of the driven magnet.
- the electromagnetic driving means controls energization of the driving coil and An operation control system for linearly moving the movable table or for linearly and rotationally moving the movable table may be provided. As a result, the movement of the movable tape can be varied.
- the operation control system includes: a coil drive control unit configured to control energization of a drive coil of the electromagnetic drive unit in accordance with a control mode; A program storage unit that stores a plurality of control programs according to the control mode, a data storage unit that stores predetermined coordinate data and the like used when executing the control programs, An operation command input unit that commands a predetermined control operation for the coil can be included.
- control code of the operation control system includes first to fourth control modes for moving the movable table in the positive and negative directions of each axis with the intersection of the two orthogonal axes as the origin, Fifth to eighth control modes for moving the movable table in directions in each quadrant defined by the two axes, and the movable table in a plane formed by the two orthogonal axes. And ninth to tenth control modes for rotating clockwise or counterclockwise.
- the coil drive control unit operates based on a command from the operation command input unit, and extracts information on the destination in the transfer direction and a predetermined control mode for movement from the program storage unit and the data storage unit. Then, the drive coil of the above-mentioned electromagnetic drive means is drive-controlled, whereby the movable table is moved in a predetermined direction.
- control mode of the drive coil is stored in advance, and the drive of the drive coil can be controlled based on the stored control mode. Respond quickly to orders. .
- the operation control system may further include a plurality of position detection sensors that detect movement information of the movable table and output the information to the outside, and perform a predetermined calculation based on information detected by the position detection sensor. It is possible to adopt a configuration in which a moving direction of the movable table and a change amount thereof are specified, and a position information calculation circuit for outputting the position information to the outside is provided.
- the moving information of the movable table and the position information after the movement can be output to the outside in real time, and the operator can easily grasp the moving direction of the movable table and the displacement after the movement from the outside. Therefore, the moving operation of the movable table can be performed with high accuracy and speed.
- the electromagnetic drive means operates in response to an external command to individually control a drive coil and a driven magnet of the electromagnetic drive means to move the movable table in a predetermined movement direction. It is also possible to adopt a configuration that includes
- one or two or more driven magnets that function effectively in the moving direction of the movable table can be selected and operated, and the movement of the movable table can be reliably controlled in a predetermined direction.
- the operation control system includes: an energization direction setting function for setting and maintaining an energization direction to the drive coil in one direction; a drive coil energization control function for variably setting a magnitude of the energization direction to the drive coil; A magnetic pole variable setting function that operates according to the direction of current flow to the drive magnet to individually set and maintain the magnetic pole for each of the drive magnets, and individually variably sets the magnetic force intensity of each of the driven magnets according to an external command.
- the magnetic force setting function and these functions are operated appropriately to determine the transfer direction and transfer force to the movable table. It is possible to have a configuration having a table operation control function for adjusting. This makes it possible to specifically and reliably control the movement of the movable table in a predetermined direction.
- FIG. 1 is a partially omitted schematic cross-sectional view showing a first embodiment of the present invention.
- FIG. 2 is a partially cutaway plan view of FIG.
- FIG. 3 is a schematic sectional view taken along the line AA of FIG.
- FIG. 4 is a partially cutaway bottom view as viewed from below in FIG.
- FIG. 5 is an explanatory diagram showing the positional relationship among the field-shaped driving coil disclosed in FIG. 1, the driven magnet, and the braking plate.
- FIG. 6 is a block diagram showing the relationship between each component of FIG. 1 and its operation control system.
- FIG. 7 is a diagram showing an operation example of an auxiliary table (movable table) provided and operated by the operation control system disclosed in FIG. 6.
- FIG. 1 is a partially omitted schematic cross-sectional view showing a first embodiment of the present invention.
- FIG. 2 is a partially cutaway plan view of FIG.
- FIG. 3 is a schematic sectional view taken along the line AA of FIG.
- FIG. 4
- FIG. 7 (A) shows a movable table in the upper right direction of 45 °.
- FIG. 7 (B) is an explanatory view showing a case where the table is moved in a plane
- FIG. 7 (B) is an explanatory view showing a case where the auxiliary table (movable table) is rotated by an angle 0.
- FIG. 8 shows four energization patterns (energization programs are stored in advance in a program storage unit) and their functions, which are energized to the four rectangular small coils of the drive coils disclosed in FIGS. 1 to 4. It is a chart.
- FIG. 9 is a diagram showing a control mode and an operation direction of the auxiliary table (movable table) when the operation control system disclosed in FIG. 6 drives and controls four drive coils.
- FIG. 9B is a diagram showing the relationship between the magnitude of the driving force and the action point in this case.
- FIG. Fig. 10 shows the control mode and the movement of the auxiliary plate (movable table) when the operation control system disclosed in Fig. 6 drives and controls four drive coils.
- FIG. 10 (A) is an explanatory diagram showing the third control mode and the operation of the movable table in the Y-axis (positive) direction
- FIG. 10 (B) is a diagram showing this operation.
- FIG. 4 is an explanatory diagram showing a relationship between a magnitude of a driving force and an action point in such a case.
- FIG. 11 is a diagram showing the control mode and the operation direction of the assisting table (movable table) when the operation control system disclosed in FIG. 6 drives and controls the four drive coils.
- A) is an explanatory diagram showing the operation of the fifth control mode and the movement of the auxiliary table (movable table) in the first quadrant on the X-Y coordinates.
- FIG. 11B is a diagram showing the magnitude of the driving force in this case.
- FIG. 12 is a diagram showing a control mode and an operation direction of an auxiliary table (movable table) when the operation control system disclosed in FIG. 6 drives and controls four drive coils.
- (A) is an explanatory diagram showing the seventh control mode and the operation of the auxiliary table (movable table) in the direction of the second quadrant on the X-Y coordinate.
- FIG. 12 (B) is a diagram showing the driving force in this case.
- FIG. 4 is an explanatory diagram showing a relationship between a size and an action point.
- FIG. 13 is a diagram showing a control mode and an operation direction of an auxiliary table (movable table) when the operation control system disclosed in FIG. 6 drives and controls four drive coils.
- FIG. 14 is an explanatory diagram showing the ninth control mode and the case where the auxiliary table (movable table) is rotated around the origin on the X-Y coordinate, and Fig. 13 (B) is the drive in this case.
- FIG. 4 is an explanatory diagram showing a relationship between a magnitude of a force and an action point.
- FIG. 14 is a diagram showing a positional relationship between the brake plate disclosed in FIG. 1 and the four drive coils and the driven magnet.
- FIG. 14 (A) shows a structure of a portion including the brake plate.
- FIG. 14 (B) is a partial sectional view taken along line AA in FIG. 14 (A).
- FIG. 15 is a view showing the principle of generating a braking force of the braking plate disclosed in FIG. 1.
- FIG. 15 is a view showing the principle of generating a braking force of the braking plate disclosed in FIG. 1.
- FIG. 15 (A) is an enlarged partial sectional view showing the braking plate portion of FIG. 1, and FIG. (B) is the braking plate seen along line A-A in Fig. 14 (A) in this case.
- FIG. 4 is an explanatory diagram showing an occurrence state of eddy current braking that occurs in FIG.
- FIG. 16 is a diagram showing an electrical relationship between the drive coil and the brake plate disclosed in FIG. 1.
- FIG. 16 (A) is an equivalent circuit showing a state where both are connected
- FIG. Fig. 16 (B) is an equivalent circuit showing the state of the drive coil when there is no brake plate.
- FIG. 17 is an explanatory diagram showing an overall operation example of the first embodiment disclosed in FIG.
- FIG. 18 is an explanatory diagram showing an example of the operation example of FIG.
- FIG. 19 is a partially omitted schematic sectional view showing a second embodiment of the present invention.
- FIG. 20 is a partially cutaway plan view of FIG.
- FIG. 21 is a view showing a third embodiment of the present invention.
- FIG. 21 (A) is a schematic partial sectional view partially omitted, and
- FIG. 2 (B) is a view showing FIG. 21 (A).
- FIG. 22 is a partially omitted schematic sectional view showing a fourth embodiment of the present invention.
- FIG. 23 is a partially omitted schematic sectional view showing a fifth embodiment of the present invention.
- FIG. 24 is a partially omitted schematic cross-sectional view showing a sixth embodiment of the present invention.
- FIG. 25 is an explanatory diagram showing a relationship between another example of the arrangement of the four drive coils on the fixed plate and the driven magnets disclosed in each embodiment of the present invention.
- FIG. 26 is a diagram showing another example of the electromagnetic driving means in the present invention.
- FIG. 26 (A) shows a case where a single mouth-shaped driving coil and four driven magnets are provided.
- FIG. 26 (B) is an explanatory view showing an example in which four driving coils and eight driven magnets are provided.
- FIG. 27 is a diagram showing another example of the electromagnetic driving means in the present invention.
- FIG. 27 (A) shows another example in which a single driving coil and K driven magnets are provided.
- FIG. 27 (B) is an explanatory view showing an example in which a cross-shaped frame-shaped drive coil and eight driven magnets are provided. .
- FIG. 28 is a partially omitted schematic cross-sectional view showing the eighth embodiment of the present invention.
- FIG. 29 is a diagram showing another example of the drive coil disclosed in each embodiment of the present invention, and is an explanatory diagram showing an example in which the drive coil has a rhombic shape.
- FIG. 30 is a diagram showing another example of the cross-shaped drive coil disclosed in each embodiment of the present invention, and is an explanatory diagram showing an example in which the drive coil is circular.
- FIG. 31 is a diagram showing another example of the drive coil disclosed in each embodiment of the present invention, and is an explanatory diagram showing an example in which the drive coil has an octagonal shape.
- FIG. 32 is a longitudinal sectional view showing a tenth embodiment of the present invention.
- FIG. 33 is a partially cutaway plan view of the tenth embodiment shown in FIG.
- FIG. 34 is a schematic cross-sectional view taken along line AA of FIG. 32.
- FIG. 35 is a block diagram showing the entire apparatus including the operation control system of the tenth embodiment disclosed in FIG.
- FIG. 36 is an explanatory diagram showing the relationship between the operation of the auxiliary table portion disclosed in FIG. 32 and the capacitance detection electrode for detecting position information.
- FIG. 32 is a longitudinal sectional view showing a tenth embodiment of the present invention.
- FIG. 33 is a partially cutaway plan view of the tenth embodiment shown in FIG.
- FIG. 34 is a schematic cross-sectional view taken along line AA
- FIG. 37 shows control contents of a plurality of energization control modes A 1 to A 4 executed by the table drive control means in the tenth embodiment disclosed in FIG. 35 and the moving direction of the entire driven magnet.
- 7 is a table showing (moving direction of a movable table).
- FIG. 38 shows the control contents of the plurality of energization control modes A5 to A8 executed by the table drive control means in the tenth embodiment disclosed in FIG. 3 is a table showing a moving direction of a movable table.
- FIG. 39 is a diagram showing the braking plate disclosed in FIG. 32, wherein FIG. 39 (A) is an explanatory diagram showing the configuration, and FIG. 39 (B) shows the operation principle thereof.
- FIG. 40 is an explanatory diagram showing an operation example of the entirety of the tenth embodiment disclosed in FIG.
- FIG. 41 is an explanatory diagram showing a state in which the capacitance detection electrode detects a change in the amount of movement of the auxiliary table portion that occurs in the operation example shown in FIG.
- FIG. 42 is an explanatory view showing another example of the brake plate disclosed in FIG. 32.
- Fig. 43 32 is a diagram showing another example of the drive coil disclosed in FIG. 42.
- FIG. 43 (A) is an explanatory diagram showing an example in which the drive coil is triangular
- FIG. 43 (B) is a drive coil.
- FIG. 43 (C) is an explanatory view showing an example in which the driving coil is formed in a hexagonal shape
- FIG. 43 (D) is an explanatory view showing an example in which the driving coil is formed in a hexagonal shape. It is explanatory drawing which shows the example in the case of shape.
- FIG. 44 is a longitudinal sectional view showing the eleventh embodiment of the present invention.
- FIG. 45 is a schematic cross-sectional view taken along the line AA of FIG.
- FIG. 46 is a block diagram showing the entire apparatus including the operation control system of the eleventh embodiment disclosed in FIG.
- FIG. 47 shows the control contents of the plurality of energization control modes B1 to B4 executed by the table drive control means in the embodiment disclosed in FIG. FIG. No.
- FIG. 48 shows the control contents of the plurality of energization control modes B5 to B8 executed by the table drive control means in the embodiment disclosed in FIG. 46 and the moving direction of the entire driven magnet (the moving direction of the movable table).
- FIG. FIG. 49 is a longitudinal sectional view showing an embodiment of the present invention.
- FIG. 50 is a schematic cross-sectional view taken along line AA of FIG. 49.
- FIG. 51 is a block diagram showing the entire apparatus including the operation control system of the embodiment shown in FIG.
- FIG. 52 shows the energization control contents of a plurality of energization control modes C1 to C4 executed by the table driving control means in the embodiment disclosed in FIG. FIG. No.
- FIG. 53 shows the control contents of the plurality of energization control modes C5 to C8 executed by the table drive control means in the embodiment disclosed in FIG. 49 and the moving direction of the whole driven magnet (movable table).
- FIG. FIG. 54 is a longitudinal sectional view showing a thirteenth embodiment of the present invention.
- FIG. 55 is a schematic cross-sectional view taken along the line AA of FIG. 54.
- FIG. 56 FIG. 5 is a block diagram showing the entire apparatus including the operation control system of the embodiment disclosed in FIG. 4.
- FIG. 57 shows the energization control contents of the plurality of energization control modes D1 to D4 executed by the table drive control means in the embodiment disclosed in FIG. 3 is a chart showing a table transfer direction).
- FIG. 58 shows the control contents of the plurality of energization control modes D5 to D8 executed by the tape drive control means in the embodiment disclosed in FIG. 54 and the moving direction of the entire driven magnet (movable table).
- FIG. FIG. 59 is a longitudinal sectional view showing a fifteenth embodiment of the present invention.
- FIG. 60 is a schematic cross-sectional view taken along the line AA of FIG. 59.
- FIG. 61 is a block diagram showing the entire apparatus including the operation control system of the embodiment disclosed in FIG. 59.
- FIG. 62 shows the energization control contents of a plurality of energization control modes E1 to E4 executed by the table drive control means in the embodiment disclosed in FIG. 59 and the moving direction of the entire driven magnet (movable table FIG. FIG.
- FIG. 63 shows the energization control contents of a plurality of energization control modes E5 to E8 executed by the table drive control means in the embodiment disclosed in FIG. 59 and the moving direction of the entire driven magnet. It is a table
- FIG. 64 shows the energization control contents of a plurality of energization control modes E9 to E10 (rotational operation) executed by the table drive control means in the embodiment disclosed in FIG. 5 is a chart showing a moving direction (a moving direction of a movable table).
- FIG. 65 is a longitudinal sectional view showing a fifteenth embodiment of the present invention.
- FIG. 66 is a schematic cross-sectional view taken along line AA of FIG. 65.
- FIG. 67 is a block diagram showing the entire apparatus including the operation control system of the embodiment disclosed in FIG.
- FIG. 68 shows the energization control contents of a plurality of energization control modes F1 to F4 controlled by the table drive control means in the embodiment shown in FIG. 9 is a table showing a table transfer direction).
- FIG. 69 shows the energization control contents of a plurality of energization control modes F5 to F8 executed by the table drive control means in the embodiment disclosed in FIG.
- FIG. 70 shows the energization control contents and driven states of a plurality of energization control modes F 9 to F 10 (rotational operation) executed by the table drive control means in the embodiment disclosed in FIG. 65.
- FIG. 5 is a table showing the moving direction of the entire magnet (the moving direction of the movable table).
- FIG. 71 is a longitudinal sectional view showing a sixteenth embodiment of the present invention.
- FIG. 72 is a schematic cross-sectional view taken along line AA of FIG. 71.
- FIG. 73 is a block diagram showing the entire apparatus including the operation control system of the embodiment shown in FIG. 71.
- FIG. 74 shows the energization control contents of a plurality of energization control modes K 1 to K 4 executed by the drive control means in the embodiment disclosed in FIG. 71 and the moving direction of the entire driven magnet (the moving direction of the movable table).
- FIG. 75 shows the contents of a plurality of energization control modes # 5 to # 8 executed by the table drive control means in the embodiment disclosed in FIG. 71 and the direction of movement of the entire driven magnet (movable table).
- FIG. FIG. 76 shows the energization control contents of a plurality of energization control modes ⁇ 9 to ⁇ 10 (rotational operation) executed by the table drive control means in the embodiment disclosed in FIG. 71 and movement of the entire driven magnet.
- 5 is a table showing directions (moving table transfer directions).
- FIG. 77 is a diagram showing a seventeenth embodiment of the present invention, and is a schematic cross-sectional view showing an example in which the electromagnetic braking mechanism is attached to both the movable table and the table holding mechanism.
- FIG. 78 is a diagram showing an example of the arrangement of braking magnets in the electromagnetic braking mechanism with the bottom of the main body removed from the main body and the braking plate removed.
- FIG. 79 is a characteristic diagram showing a result of comparing a braking characteristic in the 17th embodiment with a conventional example.
- FIG. 1 to FIG. 1 to 18 A first embodiment of the present invention is shown in FIG. 1 to FIG. 1 to 18, reference numeral 1 denotes a movable table, and reference numeral 2 denotes a table holding mechanism.
- the table holding mechanism 2 is provided below the case body (main body) 3.
- the table holding mechanism 2 allows the movable table 1 to move in an arbitrary direction within the same plane, and holds the movable table 1 in a state where a return force to the original position is applied to the movable table 1. Is configured.
- the table holding mechanism 2 is supported by a case main body 3 as a main body.
- the case body 3 As shown in FIG. 1, the case body 3 according to the present embodiment is formed in a box shape having upper and lower sides opened.
- Appendix 4 shows electromagnetic drive means.
- the main part of the electromagnetic driving means 4 is held on the case body 3 side, and has a function of applying a moving force (feed) to the movable table 1.
- Reference numeral 3A indicates a main body-side protruding portion that protrudes inwardly around the inner wall of the case main body 3.
- the electromagnetic driving means 4 is disposed between the movable table 1 and an auxiliary table 5 described later.
- the auxiliary table 5 is formed of a magnetic material, and is connected to the movable table 1 in parallel with the movable table 1 at a predetermined interval.
- the table holding mechanism 2 is provided on the auxiliary table 5 side, and holds the movable table 1 via the auxiliary table 5. Has been established.
- the electromagnetic driving means 4 includes four square-shaped driven magnets 6 fixedly mounted at predetermined positions on an assisting table 5 and a cross-shaped coil side arranged to face each of the driven magnets 6.
- a field-shaped drive coil 7 that has a predetermined moving force (feed) by a magnetic force along a predetermined moving direction on the movable table 1 in cooperation with each of the driven magnets 6;
- a fixed plate 8 is provided at the movable table 1 side of the auxiliary table 5 for holding at a fixed position.
- the fixing plate 8 is formed from a magnetic member.
- the drive coil 7 is illustrated as a closed circuit in order to emphasize the shape of the wound end. It has a structure with two terminals, and generates a magnetic force by conducting electricity. The method of illustrating the drive coil is the same in each of the embodiments described below.
- the plurality of field-shaped drive coils 7 each include a braking plate 9 made of a non-magnetic metal member (for example, a copper member having low electric resistance) on the end face side facing the driven magnet 6,
- the braking plate 9 is close to the facing magnetic pole surface of the driven magnet 6.
- the braking plate 9 is fixed to the fixed plate 8 side.
- the movable table 1 is formed in a circular shape, and the auxiliary table 5 is formed in a square shape.
- the auxiliary table 5 faces the movable table 1 and is arranged in parallel with a predetermined space therebetween, and is integrally connected to the movable table 1 via a connecting column 10 at the center thereof. Therefore, the movable table 1 is kept parallel to the auxiliary table 5. It can move integrally and rotate integrally while holding it.
- the connecting post 10 is a connecting member for connecting the movable table 1 and the auxiliary table 5 as described above, and is formed in a cross-sectional shape having flanges 1 OA and 1 OB at both ends. Projections 10a, 10b engaging with positioning holes 1a, 5a formed in the respective centers of the movable table 1 and the auxiliary table 5 are provided at the outer center of both ends.
- the movable table 1 and the auxiliary tape 5 are positioned by the projections 10a, 10b and the flanges 10A, 10B, are fixed to the connecting column 10, and are integrated.
- an adhesive is used in the present embodiment, but even if it is partially joined by welding, or the projections 10a and 10b are pressed into the positioning holes 1a and 5a.
- the other parts may be integrated by an adhesive or welding.
- one of the movable table 1 and the catching table 5 may be detachably fixed to the flange 10A or 10B of the connecting column 10 by screwing. In this case, after the screws are fixed, several knock pins may be engaged for positioning and fixing and driven between them (not shown). In this way, the movable table 1 and the auxiliary staple 5 can be reliably integrated.
- the table holding mechanism 2 has a function of holding the movable table 1 and freely moving the movable table 1 in any direction on the same surface without changing its height position. This is performed through the capture tape 5.
- the table holding mechanism 2 is an application of a link mechanism to a three-dimensional space, and corresponds to a corner portion around an end of the auxiliary table 5 in advance as a set of two piano wires installed at a predetermined interval. Then prepare four sets, this Four sets of piano wires are divided into each of the four corners of the square relay plate 2G for each set and planted upward.
- the table holding mechanism 2 is located on the inner side.
- the auxiliary table 5 is held from below by four piano wires 2A, and the relay plate 2G is held by the four piano wires 2B located on the outer side to the main body part 3. It is configured to hang freely from.
- the two piano wires may be other members as long as they are rod-shaped viscous wires having appropriate rigidity sufficient to support the movable table 1 and the auxiliary table 5.
- the auxiliary table 5 (that is, the movable table 1) is held in the air in a stable manner by the relay plate 2G and the four piano wires 2A and 2B, and the movement in the horizontal plane is As described later, it can be freely moved in any direction while maintaining the same height position.
- the rotation operation of the movable table 5 (that is, the movable table 1) in the same plane can be performed in almost the same manner.
- the table holding mechanism 2 includes four table-side piano wires 2 A planted downward from the four corners of the peripheral end of the auxiliary table 5 in FIG. A relay plate 2G provided at the lower end portion in FIG. 1 and a main body side mounted outside the table-side piano wire 2A so as to hang the relay plate 2G from the main unit 3 side It has a piano wire 2B.
- the upper ends of the four table-side piano wires 2A in FIG. 1 are fixed to the catching table 5, and the lower ends are fixed to the relay plate 2G.
- Reference numerals 5 A and 5 B denote lower protruding portions provided at two places on the lower surface side of the auxiliary table 5.
- the fixed position of the table-side piano wire 2A is set by the lower protruding portions 5A and 5B.
- the main-unit-side piano wires 2B are individually and parallelly arranged at predetermined intervals S.
- the lower end of the main body side piano wire 2B is fixed to the relay plate 2G in the same manner as the table side piano wire 2A, and the upper end of the main body side projection wire provided on the inner wall of the case body 3. 3 Fixed to B.
- Each of these piano wires 2 A and 2 B is formed of a rod-like elastic wire having moderate rigidity sufficient to support the movable table 1 and the auxiliary table 5 as described above.
- the movable table 1 is supported by the inner four table-side piano wires 2A on the relay plate 2G together with the auxiliary table 5, and the movable limit of the four table-side piano wires 2A is limited.
- the link mechanism According to the principle of the link mechanism, its translation and rotation in the plane are allowed.
- the relay plate 2G is suspended from the main body side projection 3B by four table-side piano wires 2B located on the outer side of the relay plate 2G.
- the translation and rotation in the plane of the main body 3 are also allowed.
- the auxiliary table 5 i.e., the movable table 1
- the relay plate 2G moves up and down while maintaining the parallel state.
- the support table 5 that is, the movable table 1
- the change in the height position causes the height of the relay plate 2G to move up and down. Is absorbed by
- the piano wires 2 A and 2 B on the table side and the case body side have the same diameter and the same elasticity, and their effective lengths L are exactly the same. Is set.
- the piano wires 2A and 2B according to the present embodiment are arranged along the left and right direction, for example, as shown in FIGS. 1 and 3, but the X axis on the XY plane As long as they are arranged at positions symmetrical with respect to the Y axis, they may be arranged at positions other than the positions shown in FIG.
- the relay plate 2G absorbs the fluctuation in the height position caused by the deformation of the piano wires 2A and 2B, and as a result, the auxiliary table 5 (that is, the movable table 1) is totally The slide moves in the same plane without changing the height.
- the auxiliary table 5 returns to the original position in a straight line due to the spring action (restoring force) of the piano wires 2A and 2B.
- the catching table 5 that is, the movable table 1
- the auxiliary table 5 that is, the movable table 1 as a whole has almost the same height. It rotates in the same plane while maintaining the height.
- the auxiliary table 5 returns to its original position in a straight line due to the spring action (restoring force) of the piano wires 2A and 2B.
- the electromagnetic drive means 4 for applying a predetermined moving force to the movable table 1 via the auxiliary table 5 is provided (see FIG. 1). ).
- the electromagnetic driving means 4 is composed of four driven magnets (permanent magnets are used in the embodiment) 6 mounted on an auxiliary table 5 and movable through the respective driven magnets 6.
- the table 1 includes four field-shaped drive coils 7 for generating a predetermined electromagnetic force in a predetermined direction of movement, and a fixed plate 8 for holding the field-shaped drive coils 7.
- the fixed plate 8 is provided on the movable table 1 side of the auxiliary table 5 (between the auxiliary table 5 and the movable table 1), and the periphery thereof is fixedly mounted on the case body 3. .
- the fixing plate 8 may be configured so that only the left and right ends in FIG. In the center of the fixing plate 8, a through hole 8A is formed to allow parallel movement of the connecting column 10 within a predetermined range.
- the through hole 8A according to the present embodiment is formed in a circular shape, it may be a square or another shape.
- the through-hole 8A of the fixed plate 8 may have any shape as long as the shape allows the movement of the connecting post 10.
- the entire periphery of the fixing plate 8 is held by the main body-side protruding portion 3.
- the fixing plate 8 and the main-body-side protruding portion 3A may be integrated with each other with a knock pin or the like after screwing, or may be integrated with each other by welding or the like in order to make the integration robust.
- the fixed plate 8 can smoothly respond to the displacement and movement of the movable table 1 in units of microns ( ⁇ ) without causing a positional shift with respect to the case body 3. The advantage that arises.
- the four driven magnets 6 are formed of permanent magnets whose opposing surface facing the drive coil 7 has a square shape.
- a plurality of axes are set by equally dividing in the circumferential direction with respect to one axis passing through the origin set in the same plane on which the movable table 1 moves. ing.
- the origin is set to coincide with the center of the fixed plate 8.
- the movable table 1 moves in the circumferential direction with respect to one axis passing through the origin set in the same plane.
- axes are set by dividing into four equal parts at each angle of 0 °. Assume that two sets of axes extending in opposite directions through the origin are respectively: the X axis and the ⁇ axis, and the directions coinciding with the X axis and the ⁇ axis are the X direction and the ⁇ direction. ing. Therefore, these X and ⁇ directions are orthogonal to each other at the origin.
- the position from which the movable table 1 starts to move is determined by the center position of the connecting column 10 when the movable table 1 is present on the main body 3 in a free state without receiving external force, that is, the position of the movable table 1
- the center position and the origin at which the X- ⁇ direction intersects are defined on the center position of the fixed plate 8. Are matched.
- the four driven magnets 6 are in the XY directions (on four axes) on the auxiliary table 5 and at the same time from the origin. They are arranged and fixed at distances, respectively.
- a field-shaped driving coil 7 force S is fixedly mounted at a fixed position on a fixed plate 8 corresponding to each of the four driven magnets 6 individually.
- the field-shaped drive coil 7 has a cross-shaped coil side along the X-Y axis at the center thereof, and is movable by a mutual magnetic action of a magnetic force generated by energization and a magnetic force of each driven magnet 6.
- a moving force (feed) is applied to table 1 along a predetermined moving direction.
- the orientation of the four driven magnets 6 is such that the magnetic pole on the side facing the field-shaped drive coil 7 is N pole on the X axis and S pole on the Y axis in this embodiment. Are set respectively (see Fig. 2 and Fig. 3).
- the magnetic force generated between the magnetic force generated in the vertical or horizontal direction of the cross coil side of the drive coil 7 and the magnetic force of the driven magnet 6 is always unified in the X-axis direction or the Y-axis direction, The resultant is always set to the maximum value. Therefore, it is possible to efficiently output the generated magnetic force as a driving force for the movable table 1.
- the size of the cross-shaped drive coil 7 is set such that the length of the cross-shaped coil side on the inside allows the maximum movement range of the driven magnet 6.
- a field-shaped driving coil 7 which is a main part of the electromagnetic driving means 4 is composed of four rectangular small coils 7a, 7b, 7c, 7d which can be energized independently. It is configured.
- the coil portions of the four small rectangular coils 7 a, 7 b, c, and 7 d inside each other in a cross shape form the cross-shaped coil side.
- the cross-shaped coil side located inside the field-shaped drive coil 7 has a vertical or horizontal direction. And the like, so that an electromagnetic driving force in a predetermined direction is output to the corresponding driven magnet 6. Then, a moving force is applied to the auxiliary table 5 in any direction including a rotational operation on the XY axis by the combined electromagnetic driving force generated in the four driven magnets 6 ′. It is like that.
- the four small rectangular coils 7a to 7d may be hollow coils, or may be ones filled with a conductive magnetic member such as ferrite.
- the hatched portion inside the coil indicates the magnetic flux linkage region.
- Reference numeral 9 denotes braking 3 ⁇ 4: 3 ⁇ 4 * ⁇ 'fixed to the cross-shaped driving coil 7 side in close proximity to the driven magnet 6.
- the moving state of the assisting table 5 (that is, the movable table 1) driven by the electromagnetic driving means 4 is detected by a position detection sensor mechanism 25.
- the position detection sensor mechanism 25 shown in FIG. 6 is composed of a capacitance sensor group 26 having a plurality of capacitance-type detection electrodes (eight in this embodiment) and a capacitance sensor group 26. And a position information calculation circuit 27 that performs voltage conversion of the plurality of capacitance change components and performs a predetermined calculation and sends the result to a table drive control unit 21 described later as position change information.
- the position information calculation circuit 27 includes a signal conversion circuit unit 27 A that individually converts a plurality of capacitance change components detected by the capacitance sensor group 26 into a voltage, and the signal conversion circuit unit 27 converts the signals.
- the voltage signals applied to the plurality of capacitance change components are converted into an X-direction position signal VX and a Y-direction position signal VY indicating positions on the X-Y coordinates by a predetermined calculation, and further, a rotation angle signal ⁇ is calculated.
- a position signal operation circuit section 27B for outputting the result.
- the plurality of capacitance sensor groups 26 face a lower surface portion around the auxiliary table 5 and are spaced apart from the upper surface of the main body side protrusion 3B by a predetermined distance.
- a relatively wide common electrode (not shown) is provided on the lower surface around the auxiliary table 5.
- each of the capacitance detection electrodes 26 X1, 26 X2, 26 X3, 26 X 4, 26 Y 1, 26 ⁇ 2, 26 ⁇ 3, 26 ⁇ 4, Capacitance detection electrodes 26 XI, 26 X2 are at predetermined intervals vertically along the right end of Figs. 2 and 3
- the capacitance detecting electrodes 26 X3 and 26 X are provided at predetermined intervals along the vertical direction at the left end of FIGS. 2 and 3.
- the capacitance detecting electrodes 26 X1, 26 X2, 26 X3, 26 X4, 26 Y1, 26 ⁇ 2, 26 ⁇ 3, 26 ⁇ 4 is mounted on the upper end of Figs. 2 and 3 at predetermined intervals along the left and right, and the capacitance detection electrodes 26 23 and 26 64 are mounted on the lower end of Figs. 2 and 3 at the left and right. It is equipped at predetermined intervals along.
- the auxiliary table 5 (that is, the movable table 1) is fed by the electromagnetic driving means 4 and moves in the direction of arrow F (upper right in the figure) as shown in FIG.
- the capacitance change component detected by 26 X4 (26 63, 26 64) is converted to voltage by the signal conversion circuit 27A and sent to the position signal calculation circuit 27B.
- each of the converted voltages is input and differentially output as an X-direction position signal VX—Y-direction position signal VY.
- each part when the assisting table 5 receives the feed by the electromagnetic driving means 4 and rotates in the direction of the arrow as shown in FIG. 7 (B), in this embodiment, each part operates and operates in the same manner as in the above case.
- This is configured so that the change component is voltage-converted and differentially output as a predetermined rotation angle signal 0.
- the electromagnetic drive means 4 is provided with an operation control system 20 for individually controlling the movement of the movable table 1 by controlling the drive of the plurality of field-shaped drive coils 7 individually. (See Figure 6).
- the operation control system 20 individually drives a plurality of field-shaped drive coils 7 of the electromagnetic drive means 4 according to a predetermined control mode, and moves the movable table 1 in a predetermined direction.
- the table drive control means 21 is provided with an operation command input unit 24 for commanding a predetermined control operation for each of the plurality of field-shaped drive coils 7.
- the position information during and after the movement of the movable table 1 is detected by the position detection sensor mechanism 25 and sent to the table drive control means 21 with high sensitivity as described later. It is like that.
- the table drive control unit 21 according to the present embodiment has a main control unit 21A and a coil drive control unit 21B.
- the main control section 21 A operates based on a command from the operation command input section 24 to program a predetermined control mode. And has a function of controlling the supply of a predetermined current to each of the plurality of field-shaped drive coils 7 selected from the memory unit 22.
- the coil drive control unit 21B simultaneously and individually drives and controls the predetermined four field-shaped drive coils ⁇ , 7... According to the control mode set by the main control unit 21A. It has the function to do.
- the main controller 21A calculates the position of the movable table 1 based on input information from a position detection sensor mechanism 25 for detecting a table position or performs other various operations in addition to the above functions. It also has functions at the same time.
- Reference numeral 4G denotes a power supply circuit section that supplies a predetermined current to the plurality of field-shaped drive coils 7 of the electromagnetic drive means 4.
- the table drive control means 21 receives information from the position detection sensor mechanism 25, performs a predetermined calculation, and based on this, preliminarily operates an operation command input unit.
- a table position correction function for controlling the transfer of the movable table 1 is provided.
- the movable table 1 when the moving direction of the movable table 1 is shifted due to disturbance or the like, the movable table 1 is controlled to be transferred in a predetermined direction while correcting the shift. Accordingly, the movable table 1 is quickly and accurately transferred to a preset target position.
- the table drive control means 21 is configured to control the four electromagnetic drive means 4 according to a predetermined control program (a predetermined energization pattern and a predetermined control mode which is a combination thereof) stored in advance in a program storage section 22.
- a predetermined control program a predetermined energization pattern and a predetermined control mode which is a combination thereof
- the drive coils 7 are individually driven and controlled.
- the program storage unit 22 stores a program for executing four basic energization patterns for the four field-shaped drive coils 7, 7,.... It is stored (see Figs. 6 and 8).
- Fig. 8 shows four types of energization patterns A, B, C, and D for the four rectangular small coils 7a, 7b, 7c, and 7d of the field-shaped drive coil 7 (stator side).
- the direction of the current generated in the cross-shaped part of each field-shaped drive coil and the corresponding direction of the electromagnetic driving force (thrust) generated in the driven magnet (permanent magnet) 6 on the mover side are shown.
- each of the rectangular small coils 7a to 7c is individually energized and controlled, which is equivalent to the state where only the current IB in the negative direction of the X axis is energized. .
- each of the rectangular small coils 7a to 7c is individually energized and controlled as shown in the drawing, and as a result, the state is the same as when only the current IC in the positive direction of the Y axis is energized.
- the energization pattern D is the square small coils 7 a ⁇ 7 c as shown, each controlled individually energized, equivalent thereto Yotsute, was the negative direction of the current ID Nomigatsu electrodeposition Y axis State.
- the four energization patterns A, B, C, and D are stored in the program storage unit 22.
- the program is executed based on a predetermined control program stored in advance.
- the hollow arrows shown in FIG. 8 indicate the electromagnetic driving force (thrust) generated between the armature and the driven magnet (permanent magnet) 6 corresponding to these energization patterns A, B, C, and D. The direction of each is shown.
- each corresponding electromagnetic force is generated by the Fleming's left-hand rule at the side of the energized coil of the field-shaped drive coil 7, since the field-shaped drive coil 7 is fixed on the fixed plate 8.
- the reaction force is generated as electromagnetic driving force (thrust) toward the driven magnet (permanent magnet).
- the outline arrows shown in FIG. 8 indicate the reaction force (electromagnetic driving force). Therefore, the direction of the reaction force (electromagnetic driving force) is reversed depending on the types of the magnetic poles N and S of the driven magnet 6.
- the program storage unit 22 stores the movable table 1 on the X-Y plane, which is assumed to be the center on the fixed plate 8 as the origin, in the positive and negative directions of the X axis and the positive and negative directions of the Y axis.
- Each operation program according to each of the ninth to tenth control modes for causing the CPU to rotate clockwise or counterclockwise at a predetermined position is stored.
- FIGS. 9 to 13 show the functions of the respective field-shaped drive coils 7 and the operation of the auxiliary table (movable table 1) that occur when the operation programs according to the first to tenth control modes are executed. An example of each state is shown below.
- FIGS. 9 (A) and 9 (B) show a state when the first control mode is executed.
- the two field-shaped driving coils 7, 7 are controlled to conduct current by the method of the current pattern D, and the two field-shaped driving coils 7, 7 on the Y axis are controlled to flow by the method of the current pattern C, respectively.
- symbols N and S indicate the types of magnetic poles of each driven magnet (permanent magnet) 6.
- FIG. 9 (B) illustrates the direction on the X- ⁇ coordinate when the same electromagnetic driving force is generated in each of the field-shaped driving coils 7, 7,.... Than this,
- the auxiliary table 5 is transferred in a negative direction (not shown) on the X-axis. May be set completely opposite to the case of the first control mode.
- the two field-shaped drive coils 7 and 7 on the X-axis are energized and controlled by the method of the current pattern C, and the two field-shaped drive coils 7 and 7 on the Y-axis. Are controlled by the current pattern D method.
- the auxiliary table 5 is smoothly transported in the negative direction on the X axis (not shown).
- FIGS. 10 (A) and 10 (B) show the state when the third control mode is executed.
- the two cross-shaped drive coils 7, 7 on the X-axis are in the current pattern A method, respectively.
- the energization is controlled, and the two field-shaped drive coils 7 on the Y-axis are energized by the method of the current pattern ⁇ ⁇ ⁇ ⁇ .
- FIG. 10 ( ⁇ ) shows the direction of the resultant force on the X- ⁇ coordinates when the same electromagnetic driving force is generated in each of the field-shaped driving coils 7, 7,.... Therefore, when transferring the auxiliary table 5 in the positive direction on the ⁇ axis, it is particularly important to generate the same magnitude of driving force on each of the cross-shaped driving coils 7 on the X axis. It becomes.
- the two field-shaped drive coils 7, 7 on the X-axis are energized and controlled by the method of the current pattern ⁇ , respectively, and the two field-shaped drive coils 7, 7 on the ⁇ -axis Each of them is controlled by the method of current pattern ⁇ ⁇ ⁇ ⁇ .
- the auxiliary table 5 is smoothly transported in the negative direction on the Y axis (not shown).
- FIGS. 11A and 11B show the state when the fifth control mode is executed.
- the two cross-shaped drive coils 7 and 7 on the X axis are energized and controlled by the method of the current pattern D, and the two cross-shaped drive coils on the Y-axis.
- the currents 7 and 7 are controlled by the current pattern B method.
- an electromagnetic driving force is generated in the directions of arrows F X1 and F X3 for the two driven magnets (permanent magnets) 6 on the X axis, and With respect to the two driven magnets (permanent magnets) 6, an electromagnetic driving force is generated in the directions of arrows F Y2 and F Y4, thereby moving from the center point on the X-Y axis in the first quadrant direction.
- the assisting table 5 is driven toward (arrow FXY).
- FIG. 11 (B) illustrates the direction of the resultant force on the XY coordinates when the same electromagnetic driving force is generated in each of the field-shaped driving coils 7, 7,....
- the auxiliary table 5 is transferred from the center point on the XY axis in the direction of the third quadrant (not shown).
- the current pattern to be supplied to... May be set completely opposite to the case of the fifth control mode.
- the two field-shaped drive coils 7 and 7 on the X-axis are energized and controlled by the method of the current pattern C, respectively, and the two field-shaped drive coils 7 and 7 on the Y-axis are The energization is controlled by the current pattern B method.
- the auxiliary table 5 is smoothly transferred from the center point on the XY axis toward the third quadrant (not shown).
- FIGS. 12 (A) and 12 (B) show a state when the seventh control mode is executed. As shown in this figure, in the seventh control mode, the two cross-shaped drive coils 7 and 7 on the X-axis are respectively driven by the current pattern C. W
- the energization is controlled, and the two field-shaped drive coils 7 on the Y-axis are energized by the method of the current pattern ⁇ ⁇ ⁇ ⁇ .
- an electromagnetic driving force is generated in the directions of arrows F X1 and-F X3 for the two driven magnets (permanent magnets) 6 on the X axis
- an electromagnetic driving force is generated in the directions of arrows F ⁇ 2 and FY4, and this causes The capture table 5 is driven in the direction of the two quadrants (arrow F YX).
- Fig. 12 ( ⁇ ) illustrates the direction of the resultant force on the X- ⁇ coordinates when the same electromagnetic driving force is generated in each of the field-shaped driving coils 7, 7,....
- the auxiliary table 5 is transferred from the center point on the X-Y axis in the direction of the fourth quadrant (not shown). May be set to be completely opposite to the case of the seventh control mode.
- the two cross-shaped drive coils 7, 7 on the X-axis are respectively controlled to be energized by the method of the current pattern D, and the two cross-shaped drive coils 7, 7 on the Y-axis are respectively controlled.
- the energization is controlled by the current pattern A method.
- the auxiliary table 5 is smoothly transferred from the center point on the X-Y axis toward the fourth quadrant (not shown).
- Figures 13 (A) and (B) show the state when the ninth control mode is executed. It is a thing. As shown in this figure, in the ninth control mode, the auxiliary table 5 (that is, the movable tape 1) is rotated by a predetermined angle of 0 minute, and in this control operation, a predetermined allowable range is set. In this configuration, the assisting table 5 having no center axis makes a counterclockwise circular motion so that a stationary operation at a predetermined position is possible.
- the field-shaped drive coil 7 on the positive axis of the X-axis is formed by the method of the current pattern A
- 7 is formed by the method of current pattern B
- the field-shaped drive coil 7 on the Y-axis positive axis is formed by the method of current pattern D
- Each is energized.
- the driven magnets (permanent magnets) 6 corresponding to the respective field-shaped driving coils 7, 7,..., As shown in FIG.
- An electromagnetic driving force is generated in a direction F Y1, — F X2, — F Y3, or F X4 orthogonal to each axis along the direction.
- the magnitude of the electromagnetic driving force generated in each of the driven magnets (permanent magnets) 6 is set to the same magnitude P, and the auxiliary table is controlled.
- No. 5 makes a counterclockwise circular motion even in a state where there is no center axis within a predetermined allowable range, thereby enabling a stationary operation at a predetermined position.
- the stop position after the circular movement is a balance point (a position rotated by a predetermined angle ⁇ , which is a predetermined angle ⁇ ) between the entire electromagnetic driving force and the original position return force due to the panel action of the table holding mechanism 2.
- the relationship between the rotation angle and the electromagnetic driving force is experimentally specified in advance, and is stored in the data storage unit 23 in a searchable chart (map).
- Fig. 13 (B) illustrates the directions on the XY coordinates when the same electromagnetic driving force is generated in each of the field-shaped driving coils 7, 7, ....
- the auxiliary table 5 that is, the movable table 1) rotates counterclockwise by a predetermined angle 0 around the center point O on the X—Y axis and stops.
- the magnitude of the rotation angle ⁇ ⁇ for setting the stop position after rotation is determined by appropriately setting and controlling the magnitude of the same current that is supplied to each of the drive coils 7, 7-.
- the rotation angle ⁇ is determined.
- the magnitude of the current is set and controlled by the main controller 21A.
- the auxiliary table 5 (that is, the movable table 1) is rotated clockwise. For this reason, in the tenth control mode, the direction of the same current to be supplied to the respective field-shaped driving coils 7, 7,... May be set in the opposite direction.
- the cross-shaped drive coil 7 on the positive axis of the X-axis uses the current pattern B method
- the cross-shaped drive coil 7 on the negative X-axis uses the current pattern A method
- the upper cross drive coil 7 is energized by the current pattern C
- the cross drive coil 7 on the negative Y axis is controlled by the current pattern D.
- the auxiliary table 5 is smoothly controlled to rotate clockwise only by the predetermined angle of 0 minute (not shown).
- An operation program for each of these energization patterns and each control operation is stored in an operation program storage section 22 provided in the table drive control section 21 so as to be output.
- the table drive control means 21 selects one of the operation programs based on a command from the operation command input unit 24, and controls the drive of the electromagnetic drive means 4 based on the selected program. I have. , —, "
- the electromagnetic braking mechanism includes a braking magnet and a non-magnetic and conductive braking plate 9 that face each other and move relatively in synchronization with the movement of the movable table 1.
- One of the braking magnet and the braking plate 9 is fixed at a fixed position, and the other is provided so as to be movable in synchronization with the movement of the movable table 1.
- a set of the braking magnet and the braking plate 9 is provided. Is configured to generate a braking force based on the magnetic action of the magnetic force of the eddy current generated in the braking plate 9 as the movable table 1 moves and the magnetic force of the braking magnet.
- the driven magnet 6 is used as the braking magnet of the electromagnetic braking mechanism according to the present embodiment.
- a metal braking plate 9 made of a non-magnetic member is provided around the end face of each of the four field-shaped driving coils 7 facing the driven magnet 6.
- Each of the driven magnets 6 is fixedly mounted in opposition to and close to the magnetic pole surface of the driven magnet 6 in a state of being insulated from the magnet.
- the electromagnetic braking mechanism has a function of slowly moving the auxiliary table 5 (movable table 1) while suppressing the sudden movement of the auxiliary table 5 (movable table 1).
- FIG. 14 (A) is a partial cross-sectional view showing the braking plate 9 of FIG.
- FIG. 14 (B) is a plan view taken along the line AA of FIG. 14 (A).
- FIGS. 15 (A) and 15 (B) show the occurrence of the electromagnetic braking (eddy current braking).
- a braking plate 9 is fixed to an end of a cross-shaped drive coil 7 so as to face the N pole of the driven magnet 6.
- a predetermined moving force f 1 force s is generated in the braking plate 9 (to the right in the figure) according to the left-hand rule.
- a reaction force f2 of the moving force f1 is generated as a braking force on the driven magnet 6, and its direction is the same as the direction of the moving force fl. Is in the opposite direction. That is, the braking force f 2 is in a direction opposite to the initial rapid movement direction of the driven magnet 6 (that is, the auxiliary table 5), and its magnitude is proportional to the movement speed of the trapping table 5. Because of this size, the abrupt movement of the assisting table 5 is suppressed by the appropriate braking force f 2, and the assisting table 5 moves smoothly in a stable state.
- a predetermined braking force f 2 is generated at the other braking plate 9.
- the auxiliary table 5 having the driven magnet 6 Although easy to reciprocate at the stop point is produced.
- the auxiliary table 5 (movable table 1) can be moved in a stable state.
- the reciprocating microvibration which functions similarly is effectively suppressed.
- each metal-shaped braking plate 9 made of a non-magnetic member mounted on the end face of each coil-shaped drive coil 7 has a transformer It constitutes a secondary circuit and is short-circuited through a predetermined low resistance r (causing eddy current loss).
- K 1 indicates a primary winding representing a field-shaped drive coil 7
- K 2 indicates a secondary winding corresponding to the braking plate 9.
- FIG. 16 (A) shows a state in which the secondary winding is short-circuited via an electric resistance component (low resistance r: causing eddy current loss) in the braking plate 9. In this case, a current equivalent to the short-circuit state of the secondary winding (ie, an eddy current proportional to the magnitude of the magnetic flux of the drive coil 7) flows through the braking plate 9. The other parts with the braking plate 9 are in exactly the same condition.
- FIG. 16 (B) shows a state in which the braking plate 9 is not provided (a state in which the secondary winding portion is opened).
- each of the braking plates 9 also has a function of radiating heat generated when each of the field-shaped drive coils 7 is driven.
- the current increase is set at a substantially constant level for a long time by effectively suppressing the increase in resistance and the decrease in the current value (ie, the decrease in the electromagnetic drive force) at high temperatures caused by the continuous operation of the drive coil. can do.
- external current control for the electromagnetic driving force output from the electromagnetic driving means can be continued in a stable state, and aging (dielectric breakdown due to heat) can be effectively suppressed.
- the durability of the entire device and, consequently, the reliability of the entire device can be improved.
- the braking plate 9 is provided for each of the field-shaped drive coils 7 as the braking plate. It may be formed as a single braking plate that acts on the shape drive coil 7 in common, and a plurality of cross-shaped drive coils 7 face this single braking plate. .
- FIG. 6 first, when an operation command for moving the movable table 1 to a predetermined position is input from the operation command input section 24, the main control section 21A of the table drive control means 21 is immediately activated. Then, based on the operation command, the reference position information of the movement destination is selected from the data storage unit 23, and at the same time, the control program for the predetermined control mode corresponding to this is read from the operation program storage unit 22. Then, the coil selection drive control section 21B is operated to drive and control the four cross-shaped drive coils 7 of the electromagnetic drive means 4 based on a predetermined control mode.
- FIGS. 17 and 18 a command to move the movable table 1 to a predetermined position in the positive direction of the X-axis was input from the operation command input unit 24, and based on this, the entire apparatus was operated. Indicates the status.
- the first control mode shown in FIG. 9 is selected as the control mode, and the energization pattern is selected in the state shown in FIG. 9 for each of the four rectangular drive coils 7 accordingly. And that it has acted accordingly.
- the auxiliary table 5 when the auxiliary table 5 is fed to the right side of the figure by the electromagnetic driving means 4, it resists the elastic force (returning to the original position) of each of the piano wires 2A and 2B.
- the auxiliary table 5 moves.
- the auxiliary table 5 i.e., the movable table 1 balances the elastic return force of each of the piano wires 2A and 2B with the electromagnetic driving force of the electromagnetic driving means 4 applied to the auxiliary table 5. Stop at point (movement target position).
- the symbol T indicates the distance traveled.
- a hatched portion indicates a portion where the capacitance components of the other capacitance detection electrodes 26 X3 and 26 X4 have decreased due to the movement of the auxiliary table 5, and a cross hatched portion indicates the one capacitance detection electrode 2.
- the portion where the capacitance component of 6 XI, 26 X2 has increased is shown.
- FIG. 18 shows a case where there is no displacement in the Y-axis direction.
- the moving operation of the auxiliary table 5 is usually performed rapidly in any of the application control and the release control of the electromagnetic driving force. Therefore, the auxiliary table 5 (or the movable table 1) undergoes a repetitive motion (reciprocating motion) caused by the inertia force and the spring force at the stop position at the movement destination or at the stop position when returning to the original position.
- a repetitive motion reciprocating motion
- the main control unit 2 of the table drive control means 21 similarly to the above case. 1A is activated immediately, and the reference position information of the destination is selected from the data storage unit 23 based on the operation command.
- a control program corresponding to a predetermined control mode corresponding to the operation program storage unit 22 is selected.
- a coil selection drive control section 21B is provided to drive and control the four field-shaped drive coils 7 of the electromagnetic drive means 4 based on a predetermined control mode.
- the auxiliary table 5 (movable table 1) can be used without using the heavy double-structure XY-axis movement holding mechanism required in the conventional case. , From the center position (within a predetermined range) While maintaining the same height position, it can be smoothly moved in any direction on the XY plane or can be driven to rotate in the same plane.
- the auxiliary table 5 (movable table 1) equipped with the driven magnet 6 changes suddenly, it is proportional to the sudden change between the driven magnet 6 and the braking plate 9 made of a non-magnetic metal member. Since the electromagnetic braking (eddy current braking) force of the specified magnitude acts, the movable table 1 is suppressed from sudden movement, and can move smoothly in a stable state in a predetermined direction.
- the braking plate 9 has a simple configuration in which it is individually mounted on the cross-shaped driving coil 7 so as to face each driven magnet 6, and the electromagnetic driving means 4 for generating electromagnetic driving power is also provided on the auxiliary table 5. With the simple configuration of mounting the driven magnet 6 and the fixed driving coil 7 on the fixed plate 8 facing it, the whole device can be reduced in size and weight. Not only is the portability good, but also the workability is good because no special skills are required during the assembly work.
- a metal braking plate 9 made of a non-magnetic member and provided on the end face of the drive coil 7 on the side of the driven magnet 6 has a circuit equivalent to the transformer secondary circuit in relation to the drive coil 7. And short-circuited via the electrical resistance component (causing eddy current loss) of the braking plate 9. Therefore, the field-shaped drive coil 7 constituting the primary circuit in this case can pass a relatively large current as compared with the case where the secondary circuit is in the open state. Accordingly, it is possible to output a relatively large electromagnetic force as compared with a case where the braking plate 9 is not provided between the driven magnet and the driven magnet.
- the braking plate 9 also functions as a heat radiating plate, it is possible to effectively suppress a change in diameter (insulation rupture due to heat) due to continuous operation of the cross-shaped driving coil 7. As a result, the durability of the entire device can be increased, and as a result, the reliability of the entire device can be improved.
- each of the rice-shaped drive coils 7 may be provided at a predetermined position on the table 8.
- each field-shaped drive coil 7 is provided while penetrating the fixed table 8, and the driven magnet 6 is moved to the movable table 1 side and the auxiliary table 5 in opposition to each field-shaped drive coil 7. You may equip both sides.
- the drive coil 7 is not necessarily limited to the cross-shaped drive coil. If it is, another form of drive coil may be used.
- FIG. 19 to FIG. A second embodiment is shown in FIG. 19 to FIG.
- the auxiliary table 5 provided in the first embodiment is deleted, and the movable table 31 is directly held by the table holding mechanism 2.
- the movable table 31 is directly driven by the electromagnetic driving means 4. It is characterized in that it is configured as follows.
- reference numeral 31 denotes a rectangular movable table.
- the movable table 31 has a circular flat work surface 31 A on the upper surface.
- Reference numeral 2 denotes the same table holding mechanism as the table holding mechanism in the first embodiment.
- the table holding mechanism 2 is disposed in the lower part of FIG. 19, as in the first embodiment, and allows the movable table 31 to move in any direction within the same plane, and The movable table 31 is held in a state where the original position returning force can be applied to the table 31.
- the movable table 31 is connected to the case main body 3 3 via the table holding mechanism 2 disposed inside the case main body 33 as a main body. Built in.
- a capacitive position detection for constantly detecting the moving position of the movable table 31. Sensors are provided in the same manner as in the first embodiment.
- a square-shaped spacer 31 B having a flat surface of a predetermined width is provided around the end of the lower surface (bottom surface) in FIG. 19 of the movable table 31, a square-shaped spacer 31 B having a flat surface of a predetermined width is provided.
- the common electrode 31Ba of the capacitive position detection sensor is provided.
- the same capacitance detection electrodes 26X1, 26X2, 26X3, 26X4, 26Y1 as the capacitance detection electrodes in the first embodiment are used.
- 26 Y2, 26 Y3, 26 Y4 are provided in the same manner as in the first embodiment, and are provided on the upper surface of a driving means holding portion (projecting portion on the main body side) 33 A described later. I have.
- the table holding mechanism 2 is a table holding machine according to the first embodiment. ,, "
- two piano wires installed at a predetermined interval (other members may be used as long as they are rod-shaped elastic wires having appropriate rigidity enough to support the movable table 31).
- a set of 2A and 2B is prepared in advance corresponding to the peripheral end of the movable table 31.
- the four sets of piano wires 2A and 2B are provided in a rectangular relay for each set. Separate into the four corners of member 2G and plant it upward.
- the movable table 31 is held from below by the four table-side piano wires 2 A located inside, and the relay member 2 G is held by the four piano wires 2 B located outside on the case body 3.
- the structure is like swinging from 3 and swinging.
- the movable table 31 can move in any direction within the same plane without changing the height position as in the case of the first embodiment, and at the same time, within the allowable range. It is also possible to rotate.
- the case body (main body portion) 33 is formed in a box shape having upper and lower portions opened.
- Reference numeral 34 indicates electromagnetic drive means.
- the electromagnetic drive means 34 is formed in the same manner as the electromagnetic drive means 4 in the first embodiment, is arranged on the lower side of the movable table 31 in FIG. 19 and is held on the case body 33 side,
- the movable table 31 has a function of imparting a moving force.
- Reference numeral 33A denotes a driving means holding portion as a main body-side protruding portion protruding around the inner wall of the case main body 33.
- the electromagnetic driving means 34 is held by the case body 33 via the driving means holding portion 33A.
- the upper surface in FIG. 19 of the driving means holding portion 33 A is formed as a flat surface, and the position information of the movable table 31 is externally output on this flat surface.
- the electromagnetic driving means 34 includes ffl driven magnets 6 fixedly mounted at predetermined positions on the lower surface of the movable table 31 in FIG. 19, It has a cross-shaped coil side arranged opposite to each driven magnet 6 and has a predetermined driving force electromagnetically applied to each driven magnet 6 along a predetermined moving direction of the movable table 31. And a fixed plate 38 that holds the cross-shaped drive coil 7 at a fixed position.
- the fixed plate 38 is set in parallel with the movable table 31 at a predetermined interval, is disposed below the movable table 31 in FIG. 1.9, and the periphery thereof is a driving means of the case body 33. Further, on the end face side of the field-shaped drive coil 7 on the side of the driven magnet 6, similarly to the case of the first embodiment, a braking member made of a non-magnetic metal member is held. Plates 9 are individually arranged close to the pole faces of the driven magnet 6.
- the braking plate 9 according to the present embodiment is fixed to the end face portion of the horizontal drive coil 7 and is fixed to the fixed plate 38 side via the vertical drive coil 7.
- the braking plate 9 is fixed to the fixed plate 38 via another spacer member (not shown) while maintaining a state in which the braking plate 9 is in contact with the end face of the cross-shaped drive coil 7. May be configured. This is the same in the case of the first embodiment.
- the movable table 31 is held by four table-side piano wires 2A located inside.
- Reference numeral 31 C denotes the four table-side pianos.
- 19 shows four table-side legs projecting downward from the lower surface in FIG. 19 of the movable table 31 to engage with the line 2A.
- the movable table 31 is connected to and held by four table-side piano wires 2A via the four table-side legs 31C.
- the length of the four table-side legs 31C is determined by the four piano-side piano wires 2A positioned on the inner side and the four piano wires 2B positioned on the outer side and the effective length L thereof. Are set to the same length.
- Through holes 38 A of a predetermined size are formed at four corners of the fixing plate 38.
- the through hole 38 A according to the present embodiment is formed in a rectangular shape. However, if the size of the movable table 31 is large enough to allow the operation, the shape of the through hole 38 A may be circular or another shape. There may be.
- the four table-side legs 31C individually penetrate the through-hole 38A, whereby the movable table 1 located in the upper part of FIG. The table is held by four piano wires 2 A on the four table sides of the table holding mechanism 2.
- the second embodiment described above has substantially the same operation and effect as the first embodiment.
- the movable table 31 is provided by removing the auxiliary table 5 provided in the first embodiment.
- the table is held directly by the table holding mechanism 2 and the movable table 31 is directly driven by the table drive control means 21, so the structure is further simplified and the size and weight can be reduced accordingly. It becomes. Therefore, the weight of the movable table 1 is reduced, so that not only the durability of the table holding mechanism 2 can be improved, but also the portability of the entire apparatus can be improved.
- the work process of connecting and incorporating the bull 5 to the movable table 31 is not required, productivity and maintainability can be significantly improved, and there is an advantage that the cost of the entire apparatus can be reduced.
- FIG. 21 shows a third embodiment.
- the third embodiment shown in FIG. 21 is different from the first embodiment in that a braking plate 9 individually provided at the ends of a plurality of cross-shaped driving coils facing each driven magnet is provided. It is characterized by a structure that is shared by using a single plate-like member.
- FIG. 21 shows a case where a single braking plate 39 made of the same material is provided instead of the four braking plates 9 provided in the first embodiment. .
- the central portion of the braking plate 39 allows the connecting column 10 disclosed in FIG. 1 to pass through, and the connecting column 10 together with the auxiliary table 5 (and the movable table 1) is connected to the second column 21.
- a through hole 39 9 is formed with a size large enough to allow movement in the plane of the orthogonal axis X- ⁇ in the figure.
- the braking plate 39 is in contact with each end of each of the plurality of U-shaped drive coils 7, and is fixed via the respective D-shaped drive coils 7.
- the braking plate 39 is fixed to the fixed plate 8 via another spacer member (not shown) while maintaining the state in which it abuts on the end face of each of the field-shaped drive coils 7. You may comprise so that it may be fixed.
- the same operation and effect as those in the first embodiment can be obtained, and further, the assembling work of the braking plate 39 is compared with the case of the first embodiment.
- Significantly simplified and braking play Since the entire surface area of the grommets 39 becomes large, they also function effectively as heat sinks. Further, since the structure is simplified, there is an advantage that productivity and durability of the device can be improved.
- a case where a single plate-like member of the same material is provided instead of the plurality of braking plates 9 in the first embodiment is exemplified. It is not limited.
- a single plate-like member of the same material is provided as a single braking plate 39 instead of the plurality of braking plates 9 in the configuration in which the auxiliary table 5 is omitted. May be configured.
- the drive control of the electromagnet is performed by the table drive control means 21, and the forward direction, the reverse direction, or the energization stop state is selected in conjunction with the operation of each of the cross-shaped drive coils 7, and a predetermined state is selected.
- Energization control is performed (not shown).
- both the drive coil and the electromagnet can be controlled to respond to this, so it is possible to respond quickly to changes in the moving direction of the movable table. It becomes. Further, since the magnetic flux density (magnet strength) of the driven magnet can be freely set as needed, there is an advantage that the strength of the driven magnet can be changed according to the use condition.
- FIG. 22 shows a fourth embodiment.
- the electromagnetic braking mechanism according to the first embodiment shown in FIG. 1 uses a driven magnet 6 as a braking magnet, and is configured by combining the driven magnet 6 and a braking plate 9.
- the electromagnetic braking mechanism 41 according to the fourth embodiment shown in FIG. 22 uses a separate magnet independent of the driven magnet as the braking magnet, and uses the braking magnet and the braking magnet. And a braking plate 49 in place of the braking plate 9.
- the electromagnetic braking mechanism 41 includes four braking plates 49 fixedly mounted on the same circumference on the upper surface of the fixed plate 8 at equal intervals, and each of the braking plates 49 And four braking magnets 46 fixedly mounted on the lower surface of the movable table 1 so as to be close to and opposed to each other.
- each of the four braking plates 49 and the four braking magnets 46 is a four-shaped driving coil 7 and a driven magnet 6 of the electromagnetic driving means 4. It is equipped in a position corresponding to.
- Each of the four braking plates 49 is formed of a conductive member (for example, a copper plate) made of a nonmagnetic material. Also, the four braking magnets 46 are arranged such that the polarities N and S of their magnetic poles are reversed every other (so that the polarities of adjacent magnets are different). The magnetic circuit is smoothly formed via the fixed plate 8 and the fixed plate 8.
- the operation and effect can be obtained substantially the same as those of the first embodiment shown in FIG. 1.
- the electromagnetic braking mechanism 41 also has the same effects as those in FIG. The same as the electromagnetic braking (eddy current braking) caused by the relationship between the braking plate 9 and the driven magnet 6 shown in the first embodiment. Alternatively, more electromagnetic braking can be obtained.
- the braking plate 9 is deleted from the installation area of the electromagnetic driving means 4, the gap (interval) between each of the field-shaped driving coils 7 and each of the driven magnets 6 is reduced. Can be set small (narrow). For this reason, there is an advantage that the electromagnetic driving force can be set larger than in the case of the first embodiment.
- the braking plate 9 in the first embodiment (FIG. 1) is omitted has been exemplified.
- the braking plate 9 is provided as it is.
- the electromagnetic braking mechanism 41 may be used in a newly added state.
- the number of the braking magnets 46, the number of the braking plates 49, and the location of the equipment are specified, but the present invention is not necessarily limited to this.
- the braking magnet 46 may be provided with any number of three or more, and the braking plate 49 may have a size corresponding to each of the braking magnets 46.
- a plate may be provided.
- FIG. 23 shows a fifth embodiment.
- the fifth embodiment shown in FIG. 23 is different from the second embodiment shown in FIG. 19 in that an electromagnetic braking mechanism 51 is newly provided, and this electromagnetic braking mechanism 51 is provided by the electromagnetic drive. It is characterized by the fact that it is separately (independently) equipped from means 3 and 4.
- the electromagnetic braking mechanism 51 includes two braking magnets 56 provided at the center of the upper surface of the fixed plate 38, S9
- a single braking plate 59 is fixedly provided on the lower surface of the movable table 1 in close proximity to and facing the magnet 56.
- one braking plate 59 and two braking magnets 56 are all provided with the four field-shaped driving coils 7 and the driven magnets 6 of the electromagnetic driving means 4.
- the braking plate 59 is formed of a conductive member (for example, a copper plate) made of a non-magnetic material.
- the two braking magnets 56 are arranged such that the polarities N and S of their magnetic poles are reversed (so that the polarities of adjacent magnets are different), whereby the movable table 1 and the fixed plate 3 8 The magnetic circuit can be formed smoothly through the interface.
- the fifth embodiment can obtain substantially the same functions and effects as those of the second embodiment shown in FIG. 19, and furthermore, the fifth embodiment uses an electromagnetic drive Since it has been removed from the installation area of 4, the gap (interval) between each field-shaped drive coil 7 and each driven magnet 6 can be set small (narrow). For this reason, there is an advantage that the electromagnetic driving force can be set larger than in the case of the second embodiment.
- the case in which the braking plate 59 in the second embodiment (FIG. 19) is omitted has been exemplified.
- the braking plate 9 is actually provided as it is. You may use it in the state where it did.
- the electromagnetic braking mechanism 51 a case where the number of the braking magnets 56, the number of the braking plates 59, and the locations thereof are specified has been exemplified, but the present invention is not necessarily limited to this. is not.
- the braking magnet 56 may be equipped with any number of three or more, and the braking The magnets may be individually and independently provided corresponding to the moving magnets 56.
- FIG. 24 shows an example of the sixth embodiment.
- the electromagnetic braking mechanism according to the sixth embodiment shown in FIG. 24 differs from the electromagnetic braking mechanism according to the third embodiment shown in FIG. 21 in that, instead of the braking plate 39, A new braking plate 69 that has a large extension and is fixed to the case body 3 (see Fig. 1) is fixed, and the fixing plate 8 is removed.
- Reference numeral 69 A denotes a through hole formed in the center of the braking plate 69.
- the through hole 69 A is formed in a size that allows the connecting column 10 to move.
- the braking plate 69 is formed of a conductive member made of a non-magnetic material (for example, a plate made of copper).
- each of the field-shaped driving coils 7 has a form in which the lower surface side is held by the braking plate 69.
- the electromagnetic driving means 64 includes a braking plate 69, a field-shaped driving coil 7 fixed on the braking plate 69, and It is composed of a braking plate 69 corresponding to the field-shaped drive coil 7 and each driven magnet 6 mounted on the auxiliary table 5 via a predetermined gap.
- the electromagnetic braking mechanism according to the sixth embodiment is configured by a combination of a braking plate 69 and a driven magnet 6.
- reference numeral 66 represents four other driven magnets.
- the four other driven magnets 66 are attached to the movable table 1 so as to face the upper surface (the end surface on the movable table 1 side) in FIG. As a result, the driving force of the electromagnetic driving means 64 is strengthened.
- the newly added magnetic poles of the driven magnets 66 are set so that the surfaces facing the respective driven magnets 6 have different magnetic poles (a form in which the N pole and the S pole face each other). ing.
- Other configurations are the same as those of the third embodiment shown in FIG.
- the same operation and effects as those of the third embodiment shown in FIG. 21 are provided.
- the positional relationship between the braking plate 69 and the driven magnet 6 is the third embodiment. Since the same state as that of the embodiment (FIG. 21) is maintained, the braking function by the braking plate 69 is completely the same as that of the third embodiment (FIG. 21). I have. Regarding other functions and effects, since the fixing plate 8 is eliminated, there is an advantage that the entire apparatus can be further reduced in size and weight.
- the newly added driven magnet 66 may be formed of a normal magnetic member made of, for example, an iron material.
- the magnetic member replacing the driven magnet 66 effectively functions as a magnetic circuit forming member.
- the new driven magnet 66 may be deleted. By doing so, the size and weight of the entire device can be further promoted, and the versatility of the device can be further increased, which is convenient.
- the cross-shaped drive coil 7 as a drive coil forming a main part of the electromagnetic drive means 4, 34, 64 is limitedly provided on the XY axis.
- the coil may be provided with a field-shaped drive coil 7 at a position off the XY axis.
- the driven magnet 6 (or 66) is fixed to the cross drive coil 7 at a position corresponding to the cross drive coil 7.
- the vertical or horizontal coil side portion corresponds to the X.
- the present invention is not necessarily limited to this, and they may be arranged with a predetermined inclination with respect to the X axis or the Y axis.
- Fig. 25 shows an example in which four T-shaped drive coils 7 are provided. However, three or five or more coils may be used as long as they function equally.
- the outer diameter of the trapezoidal drive coil 7 may be a shape other than a square.
- the T-shaped drive coil 7 is provided as a drive coil forming a main part of the electromagnetic drive means.However, this is an exemplary description, and if it functions equally. Alternatively, another drive coil may be provided.
- FIG. 26 (A) shows a case where a single mouth-shaped drive coil 71 having a relatively large inner area is used as a drive coil, and the four sides of the mouth-shaped drive coil 71 are used.
- a total of four electromagnets 81 capable of individually variably setting the N and S of the magnetic poles (including the power-off control) are individually arranged in opposition, so that the electromagnetic driving means 4 (or 3 4) is shown.
- the rotation of the movable table 1 is controlled by appropriately controlling the energization direction of the mouth-shaped drive coil 71 and each electromagnet 81 and a predetermined amount of current including the stop of energization.
- drive control for movement in all directions is possible.
- the shape of the mouth-shaped driving coil 71 may be rectangular or square.
- FIG. 26 (B) shows an example in which four mouth-shaped drive coils 72 and eight electromagnets 82 having relatively small inner areas are used as drive coils.
- the four mouth-shaped driving coils 72 are arranged at positions intersecting the XY axes, for example, at symmetrical positions.
- the N and S of the magnetic poles are variably set (opposite to the coil side portion of each mouth drive coil 72 located at the location where each mouth drive coil 72 intersects the X axis and Y axis, respectively.
- a total of eight possible electromagnets 82 (including stop control) are individually arranged, thereby constituting the electromagnetic driving means 4 (or 34).
- the shape of the mouth-shaped drive coil 72 may be rectangular or square.
- Fig. 27 (A) shows four drive coils with relatively small inner areas.
- the following shows an example in which a mouth-shaped driving coil 73 and eight electromagnets 83 are used.
- the four mouth-shaped driving coils 73 are arranged at positions intersecting with the X-Y axes, for example, at symmetric positions.
- N and S of the magnetic poles are variably set (turning off electricity), facing the coil side portions of each mouth-shaped drive coil 73 located at locations where these mouth-shaped drive coils 73 do not intersect the X-axis and Y-axis, respectively.
- a total of eight possible electromagnets 83 are arranged individually (including control), thereby constituting the electromagnetic drive means 4 or 34.
- the shape of the mouth-shaped driving coil 73 may be rectangular or square.
- FIG. 27 (B) shows an example in which a single cross-shaped frame-shaped drive coil 74 and eight electromagnets 84 are used as drive coils.
- the vertical and horizontal center lines of the cross-shaped frame-shaped drive coil 74 are arranged at positions where they are located on the X-Y axis, for example, in a symmetrical position. .
- the N and S of the magnetic poles are variably set so as to oppose the coil side portions of the cross-shaped frame-shaped drive coil 74 which are located at positions where the cross-shaped frame-shaped drive coil 74 does not intersect the X axis and the Y axis, respectively.
- Electricification stop control is also included.
- a total of eight possible electromagnets 84 are individually arranged, thereby constituting the electromagnetic driving means 4 or 34.
- the driven magnets 6 that abut against the predetermined coil side portions of the respective drive coils 71, 72, 73 or 74 and correspond to the respective driven magnets 6
- the braking plates 9 are fixedly mounted on the drive coil side for each driven magnet so as to face each other.
- a single plate-like member made of the same member is used instead of the plurality of braking plates 9. (Not shown).
- the movable table supporting the workpiece is precisely and smoothly moved in the predetermined direction on the same surface (without changing the height position) and smoothly or in the original position. It can be returned and equipped with a table holding mechanism that uses an elastic member and can move the movable table in any direction in the same plane. No moving mechanism is required. This eliminates the need for special precision machining, etc., which can significantly improve machining and assembling work and reduce the size and weight of the entire device.
- a conductive brake plate made of a non-magnetic member is provided facing a plurality of magnets that constitute a part of the electromagnetic drive means for driving the table. Even if a minute vibration or the like in the same plane is generated due to the vibration or the like, it can be effectively suppressed. Thereby, the precision movement of the movable table can be performed smoothly.
- the movable table arranged so as to be movable in any direction on the same plane, and the movement of this movable table in any direction within the same plane are described.
- a table holding mechanism that permits the movement; a main body that supports the table holding mechanism; and an electromagnetic driving unit that is provided on the main body and that applies a moving force to the movable table.
- the table holding mechanism may have a function of applying an original position return force to the movable table, as described later.
- the electromagnetic driving means has at least a plurality of driven magnets fixedly mounted at a predetermined position on the movable table side, and a coil side arranged to face each of the driven magnets, and A drive coil that electromagnetically applies a predetermined drive force to the drive magnet along a predetermined moving direction of the movable table.
- the drive coil may be assembled to the main body via a fixed plate or via another member instead of the fixed plate.
- a braking plate made of a non-magnetic metal member is disposed close to the pole face of the driven magnet, and an electromagnetic braking mechanism is configured by a combination of the braking plate and the driven magnet. I have.
- the electromagnetic driving means when the electromagnetic driving means operates, first, a magnetic force is generated between the driving coil provided in the electromagnetic driving means and the driven magnet, and the movable table moves in a predetermined direction. Granted.
- the movable table since the movable table is held by the table holding mechanism in such a manner that the movable table is allowed to move in any direction in the same plane, the movable table moves smoothly in the predetermined direction without moving up and down.
- the motor stops at a position where the original position return force of the table holding mechanism and the magnetic force of the electromagnetic driving means are balanced (that is, a predetermined movement stop position).
- an abrupt change in the operation of the movable table causes electromagnetic braking (eddy current brake) to act between the driven magnet and the braking plate, thereby suppressing the sudden movement of the movable table. It can move gradually and smoothly in a stable state in a predetermined direction.
- electromagnetic braking eddy current brake
- the electromagnetic braking mechanism has a simple configuration in which a braking plate and a driven magnet are combined
- the electromagnetic driving means has a simple configuration in which a driven magnet and a driving coil opposed thereto are combined. I have. This makes it possible to reduce the size and weight of the entire device as compared with a conventional device equipped with a double-structured moving mechanism, and not only has good portability, but also has special skills in assembling work. Since no work is required, workability is improved and productivity can be improved.
- the metal braking plate made of a non-magnetic member provided on the end face of the driving coil on the side of the driven magnet constitutes a circuit corresponding to a secondary circuit of the transformer in relation to the driving coil. And short-circuited through the electric resistance component (causing eddy current loss) of the braking plate.
- the drive coil constituting the primary circuit of the transformer can conduct a relatively large current as compared with the case where the secondary circuit is in the open state. This makes it possible to output a relatively large electromagnetic force as compared with a case where the braking plate ′ is not provided between the driven magnet and the driven magnet.
- This braking plate also functions as a heat radiating plate, and in this regard, it can effectively suppress aging (eg, insulation breakdown due to heat) due to continuous operation of the drive coil, and achieve durability and durability of the entire device. Reliability can be improved.
- an auxiliary table is integrally connected to the movable table in parallel with and opposed to the movable table at a predetermined interval, and the table holding mechanism is provided on the auxiliary table side. It is also possible to adopt a configuration in which a driven magnet is provided.
- the drive coil is constituted by a plurality of cross-shaped drive coils, and the driven magnets are individually arranged corresponding to the cross-shaped portions located inside the cross-shaped drive coil. It is also possible. Thus, each driven magnet (and, consequently, the movable table) can be freely and precisely moved in a predetermined direction within an allowable movement range set inside the cross-shaped drive coil.
- the cross-shaped drive coil actually generates, for example, a driving force in the X direction or the ⁇ direction between the corresponding driven magnets by a separately provided drive control means, so that the overall control is performed as a whole.
- the movable table can be moved in a predetermined direction through the driven magnet under the control.
- driven magnets are constituted by permanent magnets. Since the driven magnet is a permanent magnet, a current-carrying circuit such as an electromagnet is not required, and accordingly, the complexity of work during assembly and maintenance can be avoided, thereby improving productivity and maintainability. The durability of the entire device can be increased.
- the plurality of driven magnets are constituted by electromagnets, and each of the driven magnets is selectively energized in a forward direction, a reverse direction, or an energization stop state in conjunction with the driving coil. It is also possible.
- acceleration / deceleration during the movement of the movable table can be handled by controlling both the drive coil and the electromagnet, so that it can respond quickly to changes in the direction of movement of the movable table.
- the braking plate may be individually provided corresponding to a plurality of driven magnets, and the braking plate may be fixed to an end of each driving coil.
- the braking plate is constituted by a single plate member for the plurality of driven magnets as a whole, and the single plate member is fixedly attached to each magnet side end of each of the drive coils. You may.
- a space is set between the drive coils, so that maintenance work can be facilitated and, in other words, maintainability can be improved.
- the braking plate is composed of a single plate member covering a plurality of driven magnets as a whole, the assembly work is simplified, and the productivity and durability of the entire device are improved, and the cost is reduced. Can be achieved.
- braking plate It is also possible to separate the braking plate from the drive coil side and combine it with another braking magnet to form an electromagnetic braking mechanism. In this case, it is possible to equip the braking plate at a location different from the drive coil.
- the electromagnetic braking mechanism can be provided at an arbitrary location separately from the electromagnetic driving means, and the strength of the electromagnetic braking force can be freely set.
- the gap between the drive coil and the driven magnet can be set smaller on the electromagnetic drive means side, so that a gap between the drive coil and the driven magnet is generated.
- the electromagnetic driving force can be efficiently generated.
- the braking plate is constituted by a single braking plate corresponding to each driven magnet, the single braking plate is fixed to the main body, and the driving coil is held by the single braking plate. It may be.
- the fixed plate can be omitted, but also the drive coil can be held by the braking plate. Further, since the fixing plate can be omitted, the size and weight of the entire apparatus can be further reduced. As a result, portability and versatility can be further improved, and costs can be reduced with a reduction in the number of components.
- FIG. 28 shows an eighth embodiment.
- An eighth embodiment shown in FIG. 28 is a modification of the first embodiment in which the four field-shaped drive coils 7 are respectively inserted through the holes of the fixed plate 48 so as to penetrate the fixed plate. 4 Attached to 8 and equipped with a driven magnet 6 on each of the auxiliary table 5 and the movable table 1 respectively corresponding to the end faces of the respective field-shaped drive coils 7, thereby providing electromagnetic drive means.
- the feature is that it is composed of 4 4.
- Reference numeral 48A denotes a through hole that allows the connecting column 10 to move in the same manner as the through hole 8A in FIG.
- Reference numerals 49 and 50 respectively abut the respective end surfaces of the respective drive coils 7 and are fixedly mounted on both surfaces of the fixed plate 8 so as to be opposed to and close to the respective driven magnets 6.
- the braking plate is shown.
- Other configurations are the same as those of the first embodiment. This embodiment has the same operation and effect as the first embodiment.Furthermore, since the driven magnets 6 are respectively provided above and below the cross-shaped coil sides on both end surfaces of the cross-shaped drive coil 7, Therefore, the electromagnetic driving force can be doubled. For this reason, the auxiliary table 5 and There is an advantage that the movable table 1 can be driven in a plane, and the performance and reliability of the entire apparatus can be improved.
- the braking plates 49, 50 according to the present embodiment are exemplified by a case where each of the cross-shaped driving coils 7 is separately provided on the same surface by partitioning each end surface thereof.
- the driven magnets 6 on the auxiliary table 5 side or the movable table 1 side
- a single braking plate may be used in common.
- the driven magnet 6 of the electromagnetic driving means is used as the magnet for controlling the electromagnetic braking mechanism, but a separate body is used instead of these driven magnets.
- a separate body is used instead of these driven magnets.
- each driven magnet 6 and each corresponding field-shaped driving coil 7 can be reduced, and the electromagnetic driving force acting between them can be set to be large.
- a rectangular drive coil is described as a rectangular drive coil, but the present invention is not necessarily limited to the rectangular drive coil.
- the shape shown below can also function as a cross-shaped drive coil.
- the drive coils 61 shown in Fig. 29 can be energized independently. Composed of four triangular small rectangular coils 61a, 61b, 61c and 61d, and the entire combination is a rhombus (a square one is 90 ° (Rotated state), and has a cross-shaped coil side inside as shown in Fig. 29.
- FIG. 29 shows that the four field-shaped driving coils 61 formed in this way are arranged and fixed on each axis on the XY orthogonal coordinates in the same manner as in the first embodiment.
- the table shows the case where it is fixedly mounted on Table 8 (not shown).
- the driven magnets 6 are provided on the auxiliary table 5 corresponding to the cross-shaped coil sides of the respective field-shaped driving coils 61.
- Reference numeral 59 denotes a braking plate that functions in the same manner as the braking plate 39.
- reference numeral 5 indicates an auxiliary table. Other configurations are the same as those in the first embodiment.
- the cross-shaped drive coil 61 functions in the same manner as the cross-shaped drive coil 7 in the first embodiment, and the precision machining stage device equipped with the cross-shaped drive coil 6 is also capable of performing the first embodiment. The same operation and effect as in the case of the form can be obtained.
- the field-shaped drive coil 62 shown in Fig. 30 is composed of four fan-shaped rectangular small coils 62a, 62b, 62c, 62d that can be energized independently of each other. Is a circular shape, and has a cross-shaped coil side on the inside as in the case of FIG.
- FIG. 30 shows four circular field-shaped driving coils 62 formed in this manner, as in the case of the first embodiment, on each axis on XY orthogonal coordinates. And fixed to a fixed table 8 (not shown). Also, in this case, the driven magnet 6 is The brake plate is mounted on the auxiliary table 5 corresponding to the side of the coil.
- Reference numeral 59 denotes the same brake plate as the brake plate 39 in the third embodiment.
- reference numeral 5 indicates an auxiliary table. Other configurations are the same as those of the first embodiment.
- the circular field drive coil 62 functions in the same manner as the square field drive coil 7 in the first embodiment, and the precision machining stage device provided with the same is also used in the first embodiment. Operational effects equivalent to those of the first embodiment can be obtained.
- the field-shaped drive coil 63 shown in Fig. 31 is composed of four pentagon-shaped rectangular small coils 63a, 63b, 63c, 63d that can be energized independently.
- the whole combination is an octagonal shape, and the inside has cross-shaped coil sides as in the case of FIG. 29.
- FIG. 31 shows that the four octagonal field-shaped drive coils 63 formed in this manner are arranged on each axis on the X-Y orthogonal coordinates as in the case of the first embodiment.
- the figure shows a case where the fixed table 8 (not shown) is fixedly mounted. Also in this case, also c and summer as the driven magnet 6 is mounted on the auxiliary table 5 in correspondence with the cross-shaped coil side of Kakuta shape drive coil 6 3, reference numeral 5 9 the third 10 shows the same braking plate as the braking plate 39 in the embodiment. Similarly, reference numeral 5 indicates an auxiliary table. Other configurations are the same as those of the first embodiment.
- the octagonal field-shaped drive coil 63 functions in the same manner as the square-shaped field-shaped drive coil 7 in the first embodiment.
- the same operation and effect as in the case of the first embodiment can be obtained.
- the outer shape of the cross-shaped drive coil of the present invention is not necessarily limited to a square shape as long as it has a cross-shaped coil side on the inside, and the same function can be obtained. Other shapes may be used as long as they conform.
- each field-shaped drive coil is hollow. It may be filled with a non-conductive magnetic member.
- the case where a permanent magnet is provided as the driven magnet 6 has been exemplified.
- an electromagnet may be used as the driven magnet 6 instead of the permanent magnet.
- the drive control of the electromagnet as the driven magnet 6 is performed by the table drive control means 21, and in the forward direction or in conjunction with the operation of each of the cross-shaped drive coils 7.
- the reverse direction or the energization stop state is selected and predetermined energization control is performed (not shown).
- the drive control of the movable table 1 can have various changes. For example, during acceleration and deceleration during movement, both the drive coil and the electromagnet can be driven and responded to, so it is possible to respond quickly to changes in the direction of movement of the movable table, etc. It becomes.
- the magnetic flux density (magnet strength) of the driven magnet can be freely set as needed, and the strength of the driven magnet is used in the state of use. There is an advantage that it can be changed according to the situation.
- the four driven magnets 6 and the corresponding The field-shaped drive coils 7, 61, 62, or 63 are placed on the X-axis and Y-axis, respectively, at the same distance from the origin on the X-Y orthogonal coordinates on the upper surface of the auxiliary table 5 (or movable table 1).
- the present invention is not necessarily limited to this, and each of the four driven magnets 6 is the origin if it is a balanced position on the XY orthogonal coordinates. It doesn't have to be equidistant from the center.
- the driven magnets 6 an even number (not necessarily four) of the driven magnets 6 are prepared, and the even number of the driven magnets 6 are placed on the same circumference of the auxiliary table 5 (or the movable tape 1).
- the field-shaped driving coils 7 may be arranged on the fixed plate 8 in such a manner that they are arranged at equal intervals and individually correspond to the respective driven magnets 6 whose positions are specified.
- an even number of the driven magnets 6 are prepared, and the even number of the driven magnets 6 are placed on the X-Y orthogonal coordinates on the surface of the auxiliary table 5 (or the movable table 1).
- the auxiliary table 5 or the movable table 1).
- the coils 7 may be respectively arranged on the fixing plate 8.
- the capacitance sensor group 26 is composed of eight capacitance detection electrodes 26 X1, 26 X2, 26 X3, 26 X4, 26 Y 1, 26 Y2, 26 Y3, 26 Two Y4s are arranged at predetermined intervals on each side (for example, the area located at both ends of each axis in the XY plane) corresponding to the square-shaped common electrode on the lower surface around the auxiliary table 5 or the movable table 1.
- the example of the case where it is arranged is halved, for example, the position at the positive direction end of each axis on the XY plane It is also possible to dispose two of them at a predetermined interval only in the region to be processed.
- the table holding mechanism 2 includes four table-side bar-shaped elastic members (table-side piano wire) 2A and four body-side bar-shaped elastic members corresponding to the two and located on the main body side. (Piano wire on the main body side) 2B, and a specific example in which the corresponding bar-shaped elastic members 2A and 2B are arranged at close positions has been described, but the present invention is not necessarily limited to this.
- the number of the rod-shaped elastic members 2A and 2B may be three (six in total) on the assumption that they are arranged in a well-balanced manner.
- the bar-shaped elastic members 2A and 2B on the table side and the main body side, which constitute one set do not necessarily have to be provided close to each other.
- each of the rod-shaped elastic members 2A and 2B is elastically deformed in substantially the same manner to cope therewith. And functions and effects equivalent to those of the table holding mechanism 2 can be obtained.
- the number of the rod-shaped elastic members 2A and 2B in the table holding mechanism 2 may be five or more.
- the present embodiment is characterized in that the shape of the outer shape of the cross-shaped drive coil in the precision machining stage device is specified.
- each field-shaped drive coil is composed of four rectangular small coils that can be independently energized, and the overall shape of the combination is a square. State. Each field-shaped drive coil is composed of four triangular small coils that can be independently energized, and the overall shape of the combination is a rhombus. Each field-shaped drive coil is composed of four fan-shaped rectangular small coils that can be independently energized, and the overall shape of the combination is circular. Each field-shaped drive coil is composed of four pentagon-shaped rectangular small coils that can be independently energized, and the overall shape of the combination is an octagon. As described above, the configuration of the cross-shaped drive coil can be variously changed.
- a cross-shaped drive coil corresponding to the shape and structure of the movable table and other environmental conditions can be set, and the versatility of the device can be improved.
- a braking plate made of a non-magnetic metal member is disposed on an end surface of the cross-shaped driving coil on the driven magnet side, close to the magnetic pole surface of the driven magnet, and the braking plate is fixed to the fixed plate. It becomes possible to fix the equipment on the side.
- electromagnetic braking eddy current brake
- the auxiliary table or movable table equipped with the driven magnets moves rapidly, electromagnetic braking (eddy current brake) acts between the driven magnet and the braking plate, and the auxiliary table or movable table is movable.
- the table can be moved gradually with rapid movement suppressed.
- an operation control system for restricting the movable table from moving in a plane is provided in the electromagnetic drive means, and the operation control system is provided with a cross-shaped coil side of a plurality of field-shaped drive coils of the electromagnetic drive means. At least one of the vertical direction and the horizontal direction can be operably controlled to selectively energize and move the movable table in a predetermined direction. It becomes.
- the motion control system functions effectively to create multiple By moving the movable table, the movable table can be specifically moved in a predetermined direction.
- an operation control system for restricting the movement or rotation of the movable table can be provided in the electromagnetic drive means.
- the coil drive control means operates based on a command from the operation command input unit of the operation control system, and retrieves information on the direction of movement and a predetermined control mode for movement from the program storage unit and the data storage unit.
- a plurality of movement information detection sensors for detecting movement information of the movable table and outputting the information to the outside are provided separately at a plurality of positions on a peripheral end of the movable table, and information detected by the plurality of movement information detection sensors is provided. It is also possible to adopt a configuration in which a position information calculation circuit is provided which performs a predetermined calculation based on the above, specifies the moving direction of the movable table and the amount of change thereof, and externally outputs the information as position information.
- the moving information of the movable table or the position information after the movement can be output to the outside in real time, and the operator can easily grasp the moving direction of the movable table and the displacement of the position after the movement from the outside. Therefore, the necessity of redo or correction can be quickly grasped. For this reason, the operation of moving the auxiliary table (that is, the movable table) can be performed with high accuracy and speed.
- a plurality of position information detection sensors for detecting the movement information of the movable table and outputting the information to the outside are separately provided at a plurality of positions of the auxiliary table, and based on information detected by the plurality of position information detection sensors. Perform a predetermined calculation to identify the direction of movement of the movable table, It is possible to provide an ft information operation circuit unit that outputs the position information externally.
- the movement information of the movable table or the position information after the movement can be externally output in real time. Further, since the operator can easily grasp the moving direction of the movable table and the displacement of the position after the movement from the outside, the operator can quickly grasp the necessity of redoing or correcting, and the auxiliary table (ie, The moving work of the movable table can be executed quickly and with high accuracy.
- the driven magnet can be constituted by a permanent magnet.
- FIG. 32 to FIG. 43 show a tenth embodiment of the present invention.
- reference numeral 1 denotes a movable table for precision work.
- Reference numeral 2 indicates a table holding mechanism.
- the table holding mechanism 2 is disposed below the movable table 1 in FIG. 3 to allow the movable table 1 to move in an arbitrary direction in the same plane, and to the movable table 1 It has a home position return function, and is configured to hold the movable table 1 in a state where the home position return force can be constantly applied to the movable table 1.
- the table holding mechanism 2 is supported by a case main body 3 as a main body.
- the case main body 3 is located above and below as shown in FIG. ⁇ It is shaped like a box with the bottom open.
- Reference numeral 4 indicates an electromagnetic driving means for driving the movable table 1.
- the main part of the electromagnetic driving means 4 is held on the case body 3 side, and has a function of applying a predetermined moving force to the movable table 1 in response to an external command.
- Reference numeral 3A indicates a driving means holding portion protruding around the inner wall of the case body 3.
- the electromagnetic driving means 4 according to the present embodiment is disposed between the movable table 1 and an auxiliary table 5 described later.
- an auxiliary table 5 is arranged below the movable table 1 in FIG. 32.
- the auxiliary table 5 faces the movable table 1 and is arranged in parallel with a predetermined space therebetween, and is connected to the movable table 1.
- the auxiliary table 5 and the movable table 1 constitute a movable table 15.
- the table holding mechanism 2 is provided on the trapping table 5 side, and is configured to hold the movable table 1 via the auxiliary table 5.
- the electromagnetic driving means 4 includes four square-shaped driven magnets 6 A, 6 B, 6 C, and 6 D fixedly mounted at predetermined positions of an auxiliary table 5 as described later, and each of the driven magnets 6.
- One relatively large rectangular annular driving coil 7 as a driving coil in which the coil sides 7 a, 7 b, 7 c, and 7 d are arranged to face each of A to 6 D, and the annular driving coil 7 And a fixing plate 8 for holding the fixed position.
- the fixed plate 8 is disposed on the movable table 1 side of the auxiliary table 5 and is held by the case body 3 as shown in FIG.
- the annular drive coil 7 and the fixed plate 8 constitute a stator portion, which is a main portion of the electromagnetic drive means 4.
- the annular driving coil 7 repulsively drives the driven magnets 6A to 6D between the driven magnets 6A to 6D in a direction orthogonal to the coil sides. Generates electromagnetic driving force.
- the movable table 15 is transferred in a direction that is not orthogonal to each of the coil sides 7a to 7d (a direction oblique to each of the coil sides 7a to 7d)
- at least two The transfer of the movable table 15 is performed by the resultant force of the electromagnetic driving force on each of the driven magnets 6A to 6D.
- a braking plate 9 made of a non-magnetic metal member is provided with each of the driven magnets 6 A to 6 D.
- the braking plate 9 is fixed to the annular drive coil 7 side (in this embodiment, the fixed plate 8 side).
- Reference numerals 9 A and 9 B denote spacer members for holding the braking plate 9.
- the movable tape 1 is formed in a circular shape, and the auxiliary table 5 is formed in a square shape.
- the auxiliary table 5 is disposed in parallel with the movable table 1 at a predetermined interval, and is integrally connected to the movable table 1 via a connecting column 10 at the center thereof.
- the movable table 15 is configured.
- the movable table 1 can move integrally and rotate integrally while keeping the movable table 1 parallel to the trapping table 5.
- the connecting column 10 is a connecting member for connecting the movable table 1 and the auxiliary table 5 as described above, and is provided with flanges 10A and 10B at both ends. Projections 10a, 1a are formed in the center of the movable table 1 and the catching table 5 at the center of the outer end of each end. 0b is provided.
- the movable table 1 and the auxiliary table 5 are positioned by the projections 10a and 1013 and the flanges 10 and 10B, are fixed to the connecting column 10, and are integrated.
- an adhesive is used for this integration.
- the protrusions 10a and 10b are pressed into the positioning holes 1a and 5a.
- Other parts may be integrated by an adhesive or welding.
- one of the movable table 1 and the auxiliary table 5 may be screwed to be detachably fixed to the flange 10OA or 10B of the connecting column 10.
- several dowel pins should be driven between the two engaging pins for positioning and fixing (not shown).
- the table holding mechanism 2 has a function of holding the movable table 1 and allowing the movable table 1 to freely move in any direction on the same surface without changing its height position. It has an original position return function for returning the movable table 1 to the original position when the external force is released at the same time, and this is executed via the auxiliary table 5.
- a link mechanism is applied to a three-dimensional space as a whole, and a piano wire (table-side piano wire) as two rod-shaped elastic members installed at a predetermined interval is provided.
- Two sets of 2B are prepared in advance corresponding to the corners around the end of the auxiliary table 5, and the four sets of piano wires 2A and 2B are formed into a square shape for each set. It is divided into each of the four corners of the relay plate 2G as a relay member and planted upward.
- Each of the piano wires 2A and 2B has the same rigidity.
- the piano wires 2A and 2B if they are rod-shaped elastic members having moderate rigidity enough to support the movable table 1 and the auxiliary table 5, other materials are used instead of the piano wires. It may be formed.
- the auxiliary table 5 is held from below by four piano wires 2A positioned inside, and is used as a relay member by the four piano wires 2B positioned outside. All the relay plates 2G are configured to be slidably suspended from the main body 3.
- the movable table 15 (that is, the movable table 1 and the auxiliary table 5) is stabilized in the air by the relay plate 2G and the four piano wires (bar-shaped elastic members) 2A and 2B. In the horizontal plane, it can be freely moved within a predetermined range in any direction while maintaining the same height position as described later. The rotation operation of is also possible in almost the same way.
- the upper ends of the four table-side piano wires 2A in FIG. 32 are fixed to the auxiliary table 5, and the lower ends are fixed to the relay plate 2G.
- Reference numerals 5 A and 5 B denote lower protruding portions provided at two places on the lower surface side of the auxiliary table 5.
- the fixed position of the table-side piano wire 2A is set by the lower protruding portions 5A and 5B.
- the main-unit-side piano wires 2B are individually provided at predetermined intervals S to correspond to the individual ones. And they are arranged in parallel.
- the main body-side piano wire 2B has a lower end fixed to a relay plate (relay member) 2G as in the case of the table-side piano wire 2A, and an upper end provided on the inner wall of the case body 3. It is fixed to the side protrusion 3B.
- Each of the piano wires 2A and 2B is formed of an elastic wire having appropriate rigidity sufficient to support the movable table 1 and the auxiliary table 5. ⁇
- the movable table 1 is first supported together with the auxiliary table 5 on the relay plate 2G by the inner four table-side piano wires 2A, and the four table-side piano wires 2A Within the elastic limit, its translation and rotation in the plane are allowed according to the principle of the link mechanism.
- the middle and joint plates 2G are suspended from the main body-side projection 3B by the four outer table-side piano wires 2B on the relay plate 2G. With respect to the main body 3, its translation and rotation in the plane are similarly allowed.
- auxiliary table 5 i.e., the movable table 1
- the relay plate 2G moves up and down while maintaining the parallel state. That is, when the auxiliary table 5 (that is, the movable table 1) is moved or rotated in the plane by the external force, the change in the height position is absorbed by the relay plate 2G.
- the movable table 1 maintains the same height in any direction within the elastic limit of each of the pino wires 2A and 2B even when the movable table 1 is moved by the external force. It is possible to move while doing.
- each pair of piano wires 2 A and 2 B on the table side and the case body side are provided at substantially equal intervals, and the piano wire 2 A on the table side and the piano wire 2 B on the case body side are provided. Since these are mounted close to each other with a predetermined interval, there is an advantage that if the movable tape 1 can be moved in a stable state because the overall balance is secured and the movable tape 1 can be moved in a stable state.
- each of the piano wires 2A and 2B on the table side and the case body side has the same diameter and the same elasticity, and the length L of the exposed portion is set exactly the same. ing.
- Each piano wire 2A, 2B is divided in the left-right direction with respect to the Y-axis and in the vertical direction with respect to the X-axis, as shown in FIGS. 32 and 34, for example. , Respectively.
- each of the piano wires 2 A and 2 B is located at a position symmetrical with respect to the X axis and the Y axis, respectively (or each of the piano wires 2 A and 2 B is substantially equal overall). If installed, it may be installed at a position other than the position shown in Fig. 33.
- the elastic stresses are uniformly generated in the piano wires 2A and 2B when the movable tape 1 is moved.
- the advantage that the movable table 1 can be moved smoothly including the position return operation can be obtained.
- the table holding mechanism 2 for example, when the auxiliary table 5 slides in the same direction as a whole, all the piano wires 2A and 2B of each set are deformed in the same manner.
- the height of the auxiliary table 5 is increased by the deformation operation of the piano wire 2A on the same side that is also elastically deformed. The position is unchanged, In contrast, the height of the relay plate 2G supported commonly by the piano wires 2A and 2B fluctuates.
- the relay plate 2G absorbs the fluctuation in the height position caused by the deformation of the piano wires 2A and 2B, and as a result, the auxiliary table 5 (that is, the movable table 1) as a whole is The slide moves in the same plane without changing the height.
- the auxiliary table 5 returns to the original position in a straight line by the spring action of the piano wires 2A and 2B (actuation of the original position return function).
- the movable table 15 maintains the substantially same height as a whole for the same reason. In addition, it rotates in the same plane. In this case as well, when the driving force is released, the auxiliary table 5 returns to the original position in a straight line by the spring action of the piano wires 2A and 2B (activation of the original position return function).
- both piano wires 2A and 2B are appropriately balanced (for example, at equal intervals).
- both piano wires 2A and 2B are appropriately balanced (for example, at equal intervals).
- three sets of six pieces may be used.
- the three sets of six piano wires 2 A and 2 B are arranged such that one set of piano wires 2 A and 2 B are arranged close to each other, and the three sets of three sets of piano wires 2 A and 2 B are arranged as a whole. B may be installed at substantially equal intervals (evenly at three locations).
- a structure in which five or more sets of both piano wires 2A and 2B are incorporated may be used.
- the electromagnetic driving means 4 includes four driven magnets 6 A to 6 D (an electromagnet is used in the present embodiment) provided on the auxiliary table 5, and each of the driven magnets 6.
- An annular drive coil as a drive coil for applying a predetermined electromagnetic force to the movable staple 1 in a predetermined movement direction via A to 6D
- a fixing plate 8 for holding the annular driving coil 7.
- the fixed plate 8 is mounted on the movable table 1 side of the auxiliary table 5 (between the auxiliary table 5 and the movable table 1) as shown in FIG. 32, and the periphery thereof is fixedly mounted on the case body 3. .
- the fixed plate 8 may have a structure in which only the left and right end portions in FIG.
- a through hole 8A is formed in the center of the fixing plate 8 to allow parallel movement of the connecting column 10 within a predetermined range.
- the through hole 8A is formed in a circular shape in the present embodiment, but may be formed in a square shape or another shape.
- a part or all of the periphery of the fixing plate 8 is connected to and held by the main body-side protruding portion 3.
- the fixing plate 8 and the main body side protruding portion 3A may be integrated with a plurality of knock pins or the like after screwing, or may be integrated by welding or the like in order to make the integration robust.
- the fixed plate 8 can smoothly cope with the displacement and displacement of the movable table 1 with respect to the case body 3.
- the annular drive coil 7 is arranged on a _ ⁇ plane assumed to have the center at the center of the coil holding surface on the fixed plate 8, with the center of the ring being aligned with the origin.
- the driven magnets 6 A to 6 D correspond to the respective coil sides 7 a, 7 b, 7 c, and 7 d of the drive coil 7 that intersect with the X-axis and the ⁇ -axis. Are arranged individually.
- the four driven magnets 6A to 6D are arranged at the end faces of the magnetic poles (with the respective coil sides of the annular drive coil 7).
- a rectangular electromagnet is used, and is placed on the X-Y plane assumed on the upper surface of the auxiliary table 5 and on the X-axis and Y-axis at the same distance from the center. It is fixed.
- the four driven magnets 6 A A predetermined operating current is applied to a part or the entirety of 6D, and a magnetic pole (N pole, S pole, or no magnetic pole) is set according to the transfer direction of the movable table section 15.
- the magnitude of the magnetic force of each of the driven magnets 6A to 6D including the annular driving coil 7 is adjusted by controlling the energization, whereby the movable table 15 is transferred in a predetermined direction.
- the moving direction of each of the driven magnets 6A to 6D is a direction perpendicular to each of the coil sides 7a to 7d of the annular driving coil 7 (that is, a direction outward from the origin on the XY plane). For this reason, the rotary drive for the movable table section 15 is not performed, and the movement is limited to the movement in the 360 ° direction in the same plane.
- the function of the electromagnetic drive means 4 regarding the transfer direction and the drive transfer force with respect to the movable table section 15 (the energization drive for the annular drive coil 7 and the four driven magnets 6A to 6D) is described in FIG. Details will be described with reference to FIGS. In FIGS. 37 and 38, it is shown that there is no rotational drive by energizing the drive coil.
- the square annular driving coil 7 which forms the main part of the electromagnetic driving means 4 is formed in an octagonal shape with the corners cut off, and It is formed in a rectangular shape with two coil sides 7a, 7b, 7c, 7d.
- the energizing direction of each coil side 7a to 7d is determined by the operation control system 2 described later.
- the driven magnets For A to 6D each driven magnet 6A, 6B, 6C or 6D is moved in a predetermined direction (coil side 7a, 7b, 7c or 7d) according to Fleming's left-hand rule.
- the electromagnetic force (reaction force) that presses in the direction perpendicular to the direction can be output.
- the resultant force of the electromagnetic driving forces generated in the four driven magnets 6A to 6D can be moved.
- the moving direction can be adjusted to the transfer direction of the table section 15, and the moving force can be applied to the movable table section 15 in any direction on the XY plane.
- the outer side and the inner side of the annular drive coil '7 on the same plane are at least as high as the height (in the Y-axis direction) of the annular drive coil 7 and the driven magnet 6A
- a magnetic material such as ferrite may be charged and equipped within a range including an operation range of up to 6D.
- the moving position of the movable table 15 driven by the electromagnetic driving means 4 is detected by position information detecting means 25.
- the position information detecting means 25 includes a capacitance sensor group 26 (capacitance detecting electrodes 26 X1 to 26 X 4 as a whole) and a plurality of capacitance change components detected by the capacitance sensor group 26 are subjected to voltage conversion, and a predetermined operation is performed to change the position. It has a configuration including a position information calculation circuit 27 as a calculation unit that sends information to a table drive control means 21 of an operation control system 20 described later.
- the position information calculation circuit (calculation section) 27 includes a signal conversion circuit section 27 A for individually converting a plurality of capacitance change components detected by the capacitance sensor group 26 into a voltage, and a signal conversion circuit section 27.
- the converted voltage signals applied to the plurality of capacitance change components are converted into an X-direction position signal VX and a Y-direction position signal VY indicating a position on the X-Y coordinate by a predetermined calculation and output, and further a rotation angle signal ⁇ is calculated. And a position signal operation circuit section 27B that outputs the result.
- the capacitance sensor group 26 having the plurality of detection electrodes faces the lower surface portion around the auxiliary table 5 and has the main body side protruding portion 3B.
- the position detection sensor includes a plurality of capacitance detection electrodes 26 XI, 26 X2, 26 X3, 26 X4, and 26 Y1, 26 Y2, 26 Y3, 26 Y4 and a common electrode (not shown).
- the capacitance detection electrodes 26 X1, 26 X2, 26 X3, 26 X4, 26 Y 1, 26 Y2, 26 Y3, 26 Y 4 is treated as a position detection sensor.
- a pair of capacitance detection electrodes (position detection sensors) 26 X1 and 26 X2 are the third 33. At the right end of Figs.
- Fig. 34 and 34 they are installed at predetermined intervals along the top and bottom, while the other pair of capacitance detection electrodes (position detection sensors) 26 X3 and 26 X4 are shown in Fig. 33. , Prescribed along the top and bottom at the left end of Fig. 34 Equipped at intervals.
- FIGS. 4 A pair of capacitance detection electrodes (position detection sensors) 2 6 ⁇ 3 and ⁇ 4 are mounted on the upper end of FIG. Along with a predetermined distance. That is, as shown in FIGS. 33 to 34, the eight capacitance detecting electrodes (position detecting sensors) 26 X1 to 26 ⁇ 4 and 26 Yl to 26 ⁇ 4 according to the present embodiment are: They are arranged at symmetrical positions with respect to the X axis and the ⁇ axis.
- each section operates and functions in the same manner as described above.
- the change component is voltage-converted and differentially output as a predetermined rotation angle signal 0.
- the operation control system 20 described later determines that the operation of the movable table unit 15 is abnormal, and the corrective operation is performed.
- the eight capacitance detection electrodes position detection sensors
- the position information calculation circuit (calculation unit) 27 specifies the direction and amount of movement of the movable table unit 15 based on the eight pieces of sensor information.
- the movable table is set to X It means that it has moved along the axis (without rotational movement).
- the amount of movement is determined by the increase or decrease in the capacity of the two pairs of position detection sensors 26 X 1, 26 X 2, and 26 X 3, 26 X 4 in the X-axis direction.
- the movable table 1 moves in the positive X-axis direction in the first quadrant as shown in Fig. 36.
- 45 means moving in the direction of 5 ° (without rotation)
- the direction of movement is determined by the pattern of increase and decrease of the capacity of each position detection sensor, and the amount of movement is the capacity of each position detection sensor. It is specified by the amount of change.
- the specification of the movement direction based on the capacitance change pattern of each of the position detection sensors, and the relationship between the amount of change in the capacitance of each position detection sensor and the amount of movement of the movable table 1 are, for example, experimentally specified and mapped in advance.
- the information may be stored in a memory or the like, and the position shift or the like may be determined based on the information. By doing so, the arithmetic processing can be sped up.
- the noise simultaneously applied to the left and right (upper and lower) capacitance detection electrodes in FIG. 34 is applied to the differential output (for example, to one end and the other end in the X-axis direction).
- They are added and output as follows. Therefore, there is an advantage that position change information of the auxiliary table 5 (movable table 1) can be output with high sensitivity.
- the electromagnetic driving means 4 individually controls the driving of the annular driving coil 7 and the four driven magnets 6 A 6 D to move the movable table 15.
- an operation control system 20 that regulates the rotation operation is provided (see Fig. 35).
- the operation control system 20 includes an energizing direction setting function for setting and maintaining the energizing direction to the annular drive coil 7 in a predetermined direction (one or the other), and a function of energizing current to the annular drive coil 7.
- a drive coil energization control function that is variably set, and a magnetic pole individual setting function that operates according to the energization direction to the annular drive coil 7 and individually sets and maintains the magnetic poles of the driven magnets 6A and 6D.
- the magnetic strength of each of the driven magnets 6A6D is individually variably set (set by variably controlling the energizing current) in accordance with an external command, and thereby the transfer to the movable table 15 is performed. It has a table operation control function to adjust the direction transfer force.
- the operation control system 20 individually drives the annular drive coil 7 of the electromagnetic drive means 4 and each of the driven magnets 6 A 6 D in accordance with a predetermined energization control mode in order to execute the various functions.
- a table drive control means 21 for controlling the movement of the movable table section 15 in a predetermined direction, and a movement direction of the movable table 1 and a movement amount thereof which are provided along with the table drive control means 21 are specified.
- Multiple control modes (A 1 A 8 A program storage unit 22 storing a plurality of control programs according to eight power-on control modes), and a data storage unit 23 storing predetermined data and the like used when executing each of the control programs. (See Figure 35).
- the table drive control means 21 is provided with an operation command input section 24 for commanding a predetermined control operation for the annular drive coil 7 and each of the driven magnets 6A to 6D. Further, the position information during and after the movement of the movable table 1 is detected by the position information detecting means 25, arithmetically processed, and sent to the table drive control means 21. ing.
- Various control functions of the operation control system 20 are comprehensively included in a plurality of energization control modes A1 to A8 of the program storage unit 22. Is selected based on a selection command input from the outside via an external device. Through the selected predetermined control modes A1 to A8, the various control functions are operated and executed, and the movable table 1 is transferred in a predetermined direction based on an external command. I have.
- the table drive control means 21 operates based on a command from an operation command input section 24 and selects a predetermined energization control mode from a program storage section 22 to select the annular drive coils 7 and 4.
- a main control unit 21 A for controlling the supply of a predetermined DC current including a hole to each of the driven magnets 6 A to 6 D, and a predetermined control mode (A 1 to A 8), a coil selection drive control unit 21 B for driving the annular drive coil 7 and the four driven magnets 6 A to 6 D simultaneously or individually.
- the main controller 21A calculates the position of the movable table 1 based on input information from the position information detecting means 25 for detecting the table position, or It also has a function of performing various other calculations at the same time.
- reference numeral 4G denotes a power supply circuit section for supplying a predetermined current to the annular driving coil 7 of the electromagnetic driving means 4 and the four driven magnets 6A to 6D.
- the table drive control means 21 receives the information from the position information detection means 25, performs a predetermined calculation, and based on the information, sets the reference position of the movement destination set in advance by the operation command input unit 24.
- a displacement calculating function for calculating a deviation from the information, and, based on the calculated displacement information, the electromagnetic driving means 4 is driven to move the movable table 15 to a preset reference position of a destination.
- a table position detecting function for controlling.
- the transfer control of the movable table section 15 in a predetermined direction is performed while correcting the shift.
- the movable table 15 is quickly and accurately transferred to a preset target position.
- the correction of the positional deviation is executed by adjusting the energizing current of each of the driven magnets 6A to 6D during energizing driving.
- the table drive control means 21 is provided with an annular drive coil 7 of the electromagnetic drive means 4 and four driven magnets according to a predetermined control program (predetermined control mode) stored in advance in a program storage unit 22. 6A to 6D are individually driven and controlled with a predetermined relationship. That is, the program storage unit 22 according to the present embodiment includes a drive coil control program for specifying the direction of current supply to the annular drive coil '7 and variably setting the magnitude of the current supply; This function works when the direction of energization to is specified, and the energization of each of the four driven magnets (electromagnets) correspondingly Eight
- a plurality of magnet control programs for individually specifying the direction, specifying the N pole or S pole of the magnetic pole, and individually variably setting the magnitude of the energizing current including energization stop are stored.
- the operation timings of the respective control programs are arranged and stored in eight sets of energization control modes A1 to A8 (see FIGS. 37 and 38).
- each energization control mode A1 to A4 to move the movable table 15 in the positive or negative direction of the X axis and in the positive or negative direction of the Y axis is shown.
- An example (charted) of A4 is shown.
- the control mode A1 in the tenth embodiment is an example of an energization control mode for moving the movable table 1 in the positive direction of the X axis (see FIG. 37).
- the energization of the driven magnets 6B and 6D on the Y-axis is controlled, and the end face of the driven magnet 6A on the X-axis facing the coil side 7a becomes an N-pole.
- the end face of the driven magnet 6C on the X-axis facing the coil side 7c is set to the S pole.
- the movable table 15 is transferred in the positive direction on the X axis.
- the control mode A2 is an example of a control mode for moving the movable table 1 in the negative direction of the X axis (see FIG. 37).
- This control mode A2 is different from the control mode A1 in that the setting of the magnetic poles of the driven magnets 6A and 6C on the X axis is reversed. Others are the same as those in the control mode A1.
- an electromagnetic driving force is generated in a direction opposite to that of the control mode A 1 according to the same principle as that of the control mode A 1.
- the driven magnets 6A and 6C are repulsively driven in the direction indicated by the solid arrow (left direction in the figure), whereby the movable table 15 moves in the negative direction on the X axis. Be transported.
- the control mode A3 is an example of a control mode for moving the movable table 1 in the positive direction of the Y axis (see FIG. 37).
- the energization stop of the driven magnets 6A and 6C on the X axis is controlled.
- the end face of the driven magnet 6B on the Y axis facing the coil side 7b is set to the N pole, and the end face of the driven magnet 6D on the Y axis facing the coil side 7d is also set. Section is set to S pole.
- the control mode A4 is an example of a control mode for moving the movable table 1 in the negative direction of the Y axis (see FIG. 37).
- This control mode A4 is different from the control mode A3 in that the setting of the magnetic poles of the driven magnets 6B and 6D on the Y axis is reversed. Others are the same as those in the control mode A3.
- the control mode A5 in the tenth embodiment is an example of an energization control mode for moving the movable table 1 in the direction of the first quadrant on the XY plane coordinates (third embodiment). See Figure 8).
- the four driven magnets 6A to 6D are simultaneously energized, and their magnetic poles N and S are located at positions facing the coil sides 7a and 7 of the annular drive coil 7.
- the magnetic pole at the end face is set to the N pole, and the magnetic pole at the end face of the annular drive coil 7 at the location facing the coil sides 7 c and 7 d is set to the S pole.
- the transfer angle 0 in the first quadrant direction with respect to the X axis acts on each of the driven magnets 6A to 6D by variably controlling the magnitude of the current flowing through each of the driven magnets 6A to 6D.
- the size can be variably set.
- the movable table section 15 can be freely transferred and controlled in an arbitrary direction in the first quadrant direction.
- This control mode A6 is an example of a control mode for moving the movable table 1 in the direction of the third quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 38).
- the four driven magnets 6A to 6D are simultaneously energized, and the magnetic poles N and S are set completely opposite to those in the control mode A5.
- the transfer angle ⁇ in the direction of the third quadrant with respect to the X axis acts on each of the driven magnets 6 A to 6 D by variably controlling the magnitude of the current flowing through each of the driven magnets 6 A to 6 D.
- the size can be variably set.
- the movable table 15 It is possible to freely control the transfer in any direction in the quadrant direction.
- the control mode A7 is an example of a control mode for moving the movable table 1 in the direction of the second quadrant on the XY plane coordinates (see FIG. 38).
- the four driven magnets 6A to 6D are simultaneously energized, and the magnetic poles N and S of the magnets 7A and 7D are located at positions opposite to the coil sides 7b and 7c of the annular driving coil 7.
- the magnetic pole at the end face is set to the N pole, and the magnetic pole at the end face of the annular drive coil 7 facing the coil sides 7c and 7a is set to the S pole.
- the transfer angle 0 in the second quadrant direction with respect to the X axis acts on each of the driven magnets 6A to 6D by variably controlling the magnitude of the current flowing through each of the driven magnets 6A to 6D.
- the size can be variably set. Thereby, the transfer of the movable table section 15 can be freely controlled in any direction in the second quadrant direction.
- the control mode A 8 is an example of a control mode for moving the movable table section 15 in the direction of the fourth quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 38).
- each of the four driven magnets 6A to 6D passes simultaneously.
- the magnetic poles N and S are set opposite to those in the control mode A7.
- the transfer angle ⁇ in the direction of the fourth quadrant with respect to the X axis is determined by variably controlling the magnitude of the current supplied to each of the driven magnets 6A to 6D.
- the size can be variably set by changing the electromagnetic driving force acting on the Thereby, the movable table section 15 can be freely transferred and controlled in an arbitrary direction in the fourth quadrant direction.
- FIGS. At positions where the coil sides 7a to 7d of the annular driving coil 7 face and are close to the magnetic pole surfaces of the four driven magnets 6A to 6D, FIGS. As shown in the figure, a metal braking plate 9 made of a nonmagnetic member is arranged in a state insulated from the surroundings, and is fixedly mounted on the annular drive coil 7 side.
- Each of the braking plates 9 has a function of gently moving the movable table portion 15 while suppressing rapid movement of the movable table portion 15 while suppressing the movement.
- Fig. 39 shows the principle of operation.
- FIG. 39 (A) is a partially omitted partial cross-sectional view showing the braking plate 9 in FIG. 32.
- FIG. 39 (B) is a plan view (operation principle explanatory view) taken along the line AA of FIG. 39 (A).
- a movable table part equipped with four driven magnets 6A to 6D If the 5 moves rapidly, an electromagnetic damper (Eddy current brake) of a magnitude proportional to the moving speed between each of the driven magnets 6A to 6D and the corresponding braking plate 9 is provided. ) Works. As a result, the movable table section 15 is gradually moved while the rapid movement is suppressed.
- Eddy current brake electromagnetic damper
- the braking plate 9 is fixed to the coil side 7a of the annular driving coil 7 so as to face the N pole of the driven magnet 6A.
- Reference numerals 9 A and 9 B indicate spacer members for fixing the braking plate 9.
- the spacer members 9A and 9B are formed of a non-conductive member in the present embodiment.
- a reaction force f2 of the moving force f1 is generated as a braking force on the driven magnets 6A to 6D, and its direction is the moving force fl.
- the direction is opposite to the direction. That is, the braking force f2 is in a direction opposite to the direction of the initial sudden movement of the driven magnets 6A to 6D (that is, the auxiliary table 5), and the magnitude thereof is equal to the movement of the auxiliary table 5. Since the size of the auxiliary table 5 is proportional to the speed, the rapid movement of the auxiliary table 5 is suppressed by the appropriate braking force f 2, and the auxiliary table 5 moves smoothly in a stable state.
- a predetermined braking force f 2 is generated at the other braking plate 9.
- Each of the braking plates 9 also has a function of radiating heat generated when the annular driving coil 7 is driven. At this point, while effectively suppressing an increase in resistance at high temperatures and a decrease in the value of the energizing current (that is, a decrease in the electromagnetic driving force) caused by the continuous operation of the annular drive coil 7, the energizing current is maintained at a substantially constant level for a long time. Therefore, external current control for the electromagnetic driving force output from the electromagnetic driving means can be continued in a stable state, and aging (insulation rupture due to heat) can be effectively performed. Therefore, the durability of the entire apparatus and, moreover, the reliability of the entire apparatus can be improved.
- Fig. 35 first, from the operation command input section 24, the movable table 1 When an operation command for moving the table to a predetermined position is input to the operation control system 20, the main control unit 21A of the table drive control means 21 is immediately activated, and the data storage unit 2 is operated based on the operation command.
- the reference position information of the movement destination is selected from 3 and, at the same time, a predetermined control mode (a control program according to any one of A1 to A8) corresponding thereto is selected from the operation program storage unit 22.
- the coil selection drive control section 21B is operated to drive and control one of the annular drive coils 7 and the four driven coils of the electromagnetic drive means 4 based on a predetermined control mode.
- an operation command for moving the movable table 1 to a predetermined position in the positive direction of the X-axis is input from the operation command input unit 24 to the operation control system 20, and based on this, the entire apparatus is Operate according to the predetermined energization control mode.
- the state after the operation in this case is illustrated in FIGS. 40 to 41.
- control mode A1 shown in Fig. 37 is selected as the energization control mode, and accordingly, the annular drive coil 7 and the four driven coils 6A to 6D are controlled by the control mode A1. It means that it has been activated.
- auxiliary table 5 when the auxiliary table 5 is provided to the right of FIG. 32 by the electromagnetic driving means 4, the auxiliary table 5 is opposed to the elastic force of each piano wire 2A, 2B.
- Table 5 moves.
- the auxiliary table 5 i.e., the movable table 1 is configured to determine the difference between the positive return force of each of the piano wires 2 A and 2 B and the electromagnetic drive force of the electromagnetic drive means 4 applied to the auxiliary table 5. It stops at the balance point (movement target position) (see Fig. 40 and Fig. 41).
- the symbol T indicates the distance moved.
- hatched portions indicate portions where the capacitance components of the other capacitance detection electrodes 26 X 3 and 26 X 4 have decreased due to the movement of the auxiliary table 5.
- FIG. 41 shows an ideal state in which there is no displacement in the Y-axis direction.
- the capacitance of the capacitance detecting electrodes 26 XI, 26 X 2, 26 X 3, 26 X 4 As described above, the actual position after the movement is detected based on the information on the increase and decrease of the components, and feedback control (not shown) for preventing the displacement is performed.
- the auxiliary table 5 when the electromagnetic driving force applied to the auxiliary table 5 is released from this state, the auxiliary table 5 returns to the original position by being applied to the elastic return force of the piano wires 2A and 2B (the original position). Activate the position return function).
- the moving operation of the auxiliary table 5 is usually performed rapidly regardless of the application control or the release control of the electromagnetic driving force.
- the auxiliary table 5 (or the movable table 1) undergoes a reciprocating motion due to the inertial force and the spring force at the stop position at the movement destination or at the stop position at the time of returning to the original position.
- this kind of reciprocating operation is suppressed by electromagnetic braking (eddy current brake) generated between the braking plate and the driven magnet, and moves smoothly toward a predetermined position. Stop control is performed in a stable state.
- electromagnetic braking eddy current brake
- the main control section 21A of the table drive control means 21 is similarly operated. Operates immediately, selects the reference position information of the movement destination from the data storage unit 23 based on the operation command, and at the same time, controls the operation program storage unit 22 according to a predetermined control mode corresponding thereto. Select your program. Subsequently, the coil selection drive control section 21B is operated to drive and control the annular drive coil 7 of the electromagnetic drive means 4 and the four driven magnets 6A to 6D based on a predetermined control mode.
- the movable table portion 15 is moved from the center position (within a predetermined range) without a sliding operation by the table holding mechanism 2 to which the ring mechanism is applied. It can be smoothly moved (or rotated) in any direction on the X- ⁇ plane while maintaining the same height position.
- the need for a heavy, double-structured XY-axis movement holding mechanism, which was conventionally required, can be eliminated, so that the entire apparatus can be reduced in size and weight, and at the same time, the weight can be reduced.
- the portability can be remarkably improved, the number of parts is reduced as compared with the conventional example, and the durability can be remarkably improved. Also, since no skill is required for adjustment during assembly, productivity can be increased.
- the movable table section 15 having the driven magnets 6A to 6D moves rapidly. Even if the movable table section 15 changes, the movable table section 15 moves between the driven magnets 6A to 6D and the braking plate 9 made of a non-magnetic metal member. Since the electromagnetic brake (eddy current brake) acts on the movable table, the movable table can be prevented from suddenly moving, and can move smoothly in a predetermined direction in a stable state.
- the electromagnetic brake eddy current brake
- this braking plate 9 ' is mounted on each of the coil sides 7a, 7b, 7c, 7d of the annular driving coil 7 in a state of facing the driven magnets 6A to 6D. It has a simple configuration and at the same time, generates electromagnetic driving force
- the driving means 4 also has a simple configuration in which the driven magnets 6A to 6D provided on the auxiliary table 5 and one annular driving coil 7 on the fixed plate 8 are correspondingly provided. For this reason, it is possible to reduce the size and weight of the entire device, and not only the portability is improved, but also the workability is improved because no special skill is required for the assembling work.
- a metal braking plate 9 made of a non-magnetic member provided on the end face of the drive coil on the side of the driven magnets 6 A to 6 D is provided with a transformer secondary circuit in relation to the drive coil 7.
- a circuit equivalent to that described above is configured, and a short-circuit is configured via the electric resistance component (causing eddy current loss) of the braking plate.
- the coil side 7a, 7b, 7c, 7d of the drive coil 7 constituting the primary circuit has the secondary circuit in the open state (when there is no braking plate).
- a relatively large current can be supplied. Therefore, the distance between the driving coil 7 and the driven magnets 6A to 6D is somewhat increased by the braking plate 9, but the energizing current also increases, and the electromagnetic driving force generated at this point is reduced. Therefore, it is possible to output a relatively large electromagnetic force to the driven magnets 6A to 6D.
- the braking plate 9 also functions as a heat radiating plate, and at this point, it is possible to effectively suppress the aging (eg, insulation breakdown due to heat) due to continuous operation of the annular drive coil 7. . Therefore, the durability of the entire apparatus can be increased, and the reliability of the entire apparatus can be enhanced. Furthermore, in the present embodiment, since one annular drive coil 7 in the electromagnetic drive means 4 and the corresponding driven magnets 6A to 6D are provided, the four coil coils of the annular drive coil 7 are provided. The sides 7a, 7b, 7c, 7d are ,
- the driven magnets 6A to 6D are always pressed in the direction perpendicular to the X axis or Y axis on the XY plane. For this reason, the electromagnetic driving force applied to the auxiliary table 5 (that is, the movable table 1) is always generated in the direction from the center point on the XY plane to the outside, regardless of the direction of the movement. Become.
- the movable table 1 can be smoothly and flatly moved (within an allowable range) without any rotation.
- the driving coil is composed of one annular driving coil 7, the structure is simplified, and the entirety including the corresponding driven magnets 6A to 6D is the size of the movable Since it is installed between the movable table section 15 and the fixed plate 8 in a state where the entire apparatus is spread, the area occupied by the space can be reduced, and in this respect, the size and weight of the entire apparatus can be reduced. It becomes possible and portability is improved. Further, since the number of parts is small, there is an advantage that productivity and maintainability can be improved.
- the driven magnets 6A to 6D are provided on the auxiliary table 5
- the driven magnets 6A to 6D are provided on the movable table 1 side.
- the annular drive coil 7 may be provided at a predetermined position on the fixed plate 8 in opposition to this.
- the movable table 1 is illustrated as having a circular shape, Shape or another shape.
- the auxiliary table 5 may have a circular shape or another shape as long as the various functions can be realized.
- the table holding mechanism 2 has been described as having a function of returning the original position to the movable table section 15, the table holding mechanism 2 is provided with a separate original position returning means for the movable table section 15.
- the original position return function may be removed.
- the link mechanism is provided with the original position return force of the movable table by using a piano wire made of a spring material as the link mechanism, but is not limited thereto. Not something. That is, the link mechanism and the original position return mechanism for returning the movable table to the original position may be separated and configured as independent mechanisms.
- the home position return mechanism applies a spring force as the home position return force as the movable table moves. It will be energy storage. Further, a sensor for detecting the current position of the movable table is provided, and a current value to be supplied to the drive coil of the electromagnetic drive means is controlled based on the position signal detected by the sensor, whereby the original position return mechanism is provided. It is necessary to generate a reaction force that opposes the spring force generated.
- the braking plate 9 is provided for each of the driven magnets 6A to 6D, the braking plate 9 is applied to two or more or all of the driven magnets 6A to 6D. These may be configured so as to face one braking plate.
- FIG. 42 shows an example in which the single braking plate is configured to face all the driven magnets 6A to 6D.
- reference numerals 92 and 93 denote spacer members for holding a single braking plate 9.
- reference numeral 9a denotes a through hole that allows the column 10 to reciprocate along the fixed plate 8.
- the periphery of the braking plate 9 is extended, and a part or the whole of the periphery of the braking plate 9 is held by the case body 3. 3 may be omitted.
- the driven magnets 6 A to 6 D and the annular driving coil 7 are replaced with each other, the annular driving coil 7 is provided on the auxiliary table 5 side, and the driven magnets 6 A to 6 D are provided on the fixed plate 8 side. May be equipped.
- the braking plate 9 is also fixedly provided on the annular drive coil 7 side to achieve its function.
- a case has been exemplified in which four driven magnets are equidistant from the origin on the orthogonal coordinates (X- ⁇ coordinates).
- each driven magnet is on a line passing through the origin (not necessarily rectangular coordinates) on the coordinate system, it is possible to use the coordinate axis even if it is not equidistant from the origin. It is not necessary that they are arranged at deviated positions or that the number is not four.
- the movable table 15 when the movable table 15 is moved and driven in a predetermined direction by one or two or more driven magnets, it is possible to surely eliminate in advance elements that generate a rotational force component.
- the control operation by the operation control system 20 can be simplified. Therefore, the movable table 15 can be quickly and smoothly transferred in the predetermined direction.
- the case where four driven magnets 6A to 6D are provided as the driven magnets is exemplified.
- the number of magnets is not limited to four, but may be three or five or more.
- the shape of the driven magnet may be another shape (for example, a columnar shape).
- the operation control system 20 is convenient in the movement direction instructed from the outside (for example, it is located at a position that functions efficiently in the transfer direction). It is preferable that a plurality of driven magnets are selected and energized and driven, and the movable table portion 15 is transported in the movement direction indicated from the outside with the resultant force.
- each of the driven magnets 6A to 6D has the same energizing direction as that of the control mode A1, and only the energizing direction of the annular driving coil 7 is set to the opposite direction. If so, another drive control method may be adopted.
- FIGS. 43 (A) to (D) show other examples of the configuration of one annular drive coil 7 arranged on the XY plane.
- FIG. 43 (A) shows a case where the annular drive coil is formed in a regular triangular shape.
- This equilateral triangular annular drive coil 71 has a corner formed in an arc shape, and is fixed and held to a fixed plate (not shown) on the stator side.
- Driven magnets 6A to 6C made of electromagnets are individually arranged corresponding to the respective coil sides 7Aa, 7Ab, 7Ac of the triangular annular driving coil 71. ing.
- Each of the driven magnets 6A to 6C is It is fixedly mounted on the movable table (not shown) side.
- Each of the driven magnets 6 A, 68 or 6 mm is, when in operation, individually driven by a corresponding one of the coil sides 71 a, 71 b, or 71 c of the annular driving coil 71.
- the coil Upon receiving the electromagnetic force, the coil is repulsively driven in a direction orthogonal to each of the coil sides 71a, 71b, or 71c.
- each of the driven magnets 6 A, 68 or 6 ⁇ is arranged so that an extension of the center line in the driven direction passes through the origin on the XY plane of the annular driving coil 71. It is arranged corresponding to side 71a, 71b, or 71c.
- the operation control system When the entire apparatus is operated, the operation control system is activated and a predetermined energization control mode is selected from a plurality of energization control modes specified in advance, as in the case of the tenth embodiment. Accordingly, the energization of the annular driving coil 71 and each of the driven magnets 6A, 6B or 6C is controlled individually. Other configurations are almost the same as those of the tenth embodiment shown in FIGS. 32 to 41.
- the movable table section is controlled by the energization control (including zero) by the operation control system individually performed for the annular driving coil 71 and each of the driven magnets 6A, 6B or 6C. It can be transported in any direction on the XY plane, and almost the same operation and effect as in the tenth embodiment can be obtained.
- FIG. 43 (B) shows a case where the annular drive coil is formed in a circular shape.
- This circular drive coil 72 is fixed and held on a fixed plate (not shown) on the stator side.
- the X-axis on the X-Y plane of this circular annular driving coil 72 is Y Driven magnets 6 A, 6 B, 6 B, 6 B, 6 B, 6 B 6 C and 6 D are individually arranged.
- Each of the driven magnets 6A to 6D is fixedly mounted on a movable table (not shown) which is a movable element side.
- Each of the driven magnets 6 A, 6 B, 6 C, or 6 D when in operation, has a corresponding coil side portion 72 a, 72 b, 72 c, or 72 d force.
- the ring-shaped drive coil 7B is repulsively driven in a direction orthogonal to a tangent of the corresponding portion of the annular drive coil 7B by receiving an electromagnetic force individually.
- each driven magnet 6A, 6B, 6C, or 6D is positioned such that an extension of the center line in the driven direction passes through the original point on the XY plane of the annular driving coil 72.
- the coil side portions 72a, 72b, 72c, or 72d are arranged corresponding to the coil side portions 72a, 72b, 72c or 72d.
- the operation control system When the entire apparatus is operated, the operation control system is activated and a predetermined energization control mode is selected from a plurality of energization control modes specified in advance, as in the case of the tenth embodiment. Accordingly, the annular drive coil 72 and each of the driven magnets 6A, 6B, 6C, or 6D are individually energized and controlled. Other configurations are almost the same as those of the tenth embodiment shown in FIGS. 32 to 41.
- the energization control (including zero) by the operation control system individually performed for the annular drive coil 72 and each driven magnet 6A, 6B, 6C, or 6D is performed.
- the movable table section can be moved in any direction on the XY plane, and substantially the same operation and effect as in the tenth embodiment can be obtained.
- FIG. 43 (C) shows a case where the annular drive coil is formed in a regular hexagonal shape.
- the regular hexagonal annular driving coil 73 is fixedly held by a fixed plate (not shown) on the stator side.
- an electromagnet is formed corresponding to each of the six coil sides 73a, 73b, 73c, 73d, 73e, 73f of the regular hexagonal annular drive coil 73.
- Six driven magnets 6A, 6B, 6C, 6D, 6E, and 6F are individually arranged. Each of the driven magnets 6A to 6F is fixedly mounted on a movable table (not shown) which is a movable element side.
- each of the driven magnets 6A to 6F receives an electromagnetic force from the corresponding coil side 73a to 73f, and receives a corresponding electromagnetic force from the corresponding coil side 73a to 73f. It is repelled in the direction perpendicular to f.
- each of the driven magnets 6A to 6F is arranged so that an extension of the center line in the driven direction passes through the origin on the XY plane of the annular driving coil 73, Arranged corresponding to 73a to 73f.
- the operation control system When the entire apparatus is operated, the operation control system is activated and a predetermined energization control mode is selected from a plurality of energization control modes specified in advance, as in the case of the tenth embodiment. Accordingly, the energization of the annular driving coil 73 and the driven magnets 6A to 6F is individually controlled. Other configurations are almost the same as those of the tenth embodiment shown in FIGS. 32 to 41.
- the energization control (including zero) by the operation control system individually performed on the regular hexagonal annular driving coil 73 and each of the driven magnets 6A to 6F provides
- the movable table section can be moved in any direction on the XY plane, whereby substantially the same operation and effect as in the tenth embodiment can be obtained. (Octagonal annular drive coil)
- FIG. 43 (D) shows a case where the annular drive coil is formed in a regular octagon.
- the regular octagonal annular driving coil 74 is fixed and held on a stationary plate (not shown) on the stator side.
- eight driven magnets 6 A, 6 B, 6 C, 6 D, 6 E, 6 F,, '6 G, 6 ⁇ ⁇ composed of electromagnets are individually arranged.
- Each of the driven magnets 6A to 6H is fixedly mounted on a movable table (not shown) which is a movable element side.
- Each of the driven magnets 6A to 6H receives an electromagnetic force individually from the corresponding coil side 74a to 74h in the operating state, and receives a corresponding electromagnetic force from the corresponding coil side 74a to 74h. Are repulsively driven individually in the direction perpendicular to.
- each of the driven magnets 6A to 6H is arranged such that the extension line of the center line in the driven direction passes through the origin on the XY plane of the annular driving coil 74.
- the side portions 74a to 73h are individually arranged correspondingly.
- the operation control system When the entire apparatus is operated, the operation control system is activated and a predetermined energization control mode is selected from a plurality of energization control modes specified in advance, as in the case of the tenth embodiment. Accordingly, the annular drive coil 74 and the driven magnets 6A to 6H are individually energized. Other configurations are almost the same as those of the tenth embodiment shown in FIGS. 32 to 41.
- the movable table section is controlled by the energization control (including zero) by the operation control system individually performed for the annular drive coil 74 and each of the driven magnets 6A to 6H. — Transfer in any direction on the Y plane whereby, substantially the same operational effects as in the case of the tenth embodiment can be obtained.
- FIG. 44 to 48 Next, a first embodiment will be described with reference to FIGS. 44 to 48.
- the electromagnetic driving means 4 in the tenth embodiment is provided with a single annular driving coil 7 as a driving coil, whereas the electromagnetic driving means 4 is formed in the shape of a sun. It is characterized in that it has electromagnetic drive means 142 equipped with four drive coils. At the same time, it is characterized in that an operation control system 202 for efficiently driving the electromagnetic drive means 142 is provided instead of the operation control system 20.
- the eleventh embodiment is similar to the tenth embodiment in that the movable table part 15 for precision work is provided so as to be movable in any direction on the same surface.
- a table holding mechanism 2 that allows the movement of the movable table section 15 and holds the movable table section 15 and has a function of returning to the original position with respect to the movable table section 15;
- a case main body 3 as a main body part to be supported, and electromagnetic driving means 14 2 provided on the case main body 3 side and applying a moving power in a predetermined direction to the movable table 15 in response to an external command. It has.
- the movable table part 15 is composed of a movable table 1 for precision work and an auxiliary table 5 which is disposed parallel to the movable table 1 at a predetermined interval and on the same central axis. It consists of: As shown in FIG. 4, the table holding mechanism 2 is provided on the auxiliary table 5 side, and holds the movable table 1 via the auxiliary table 5. It is configured as follows.
- the main part of the electromagnetic drive means 142 is held on the case body 3 side, and the electromagnetic drive means 144 moves to the movable table part 15 in accordance with a command from the outside in a predetermined direction along the transfer direction of the movable table part 15. It has a function to apply force (driving force).
- the electromagnetic driving means 4 is provided between the movable table 1 and the auxiliary table 5.
- the electromagnetic drive means 14 4 includes four drive coils 7 2 1, 7 2 2, 7 2 3, 7 2 4, and a central portion of each of the drive coils 7 2 1 to 7 2 4.
- Four driven magnets 6 A, 6 B, 6 C, 6 D mounted on the trapping table 5 individually corresponding to the inner coil sides 7 2 1 a to 7 2 4 a located at A fixed plate 8 for holding the four drive coils 72 1 to 72 4 at predetermined positions.
- the four drive coils 7 2 1, 7 2 2, 7 2 3, 7 2 4 are formed by combining two mouth-shaped coils, and the inner coil side 7 2 1 a to 7 2 4a is formed.
- Each of the letter-shaped drive coils 7 2 1 to 7 2 4 of the above-mentioned day has an inner coil side 7 2 1 a to 7 2 4 a located at the center thereof at the center, and the origin at the center on the fixed plate 8.
- Each of the four driven magnets 6A to 6D is composed of an electromagnet whose energization can be controlled from the outside, and the inner coil side of the letter-shaped driving coil for each day 7 2 1a to 7 2 4a Corresponding to the X and Y axes, respectively.
- the fixed plate 8 is disposed on the movable table 1 side of the trapping table 5 and is held by the case body 3 as shown in FIG. This day
- the letter-shaped drive coils 72 1 to 72 4 and the fixed plate 8 constitute a stator portion which is a main part of the electromagnetic drive means 4.
- each of the driven magnets 6A to 6D When each of the driving coils 72 1 to 72 4 is set to the operating state, each of the driven magnets 6A to 6D is connected to the corresponding driven magnet 6A to 6D. Generates electromagnetic drive to repel in the direction perpendicular to the inner coil sides 7 2 1a to 7 2 4a. In this case, the center axis in the moving direction of each of the driven magnets 6A to 6D is set so as to pass through the center point on the XY plane.
- the movable table 15 When the movable table 15 is transferred in a direction that is not orthogonal to each inner coil side 7 21 a to 7 24 a (a direction oblique to each coil side 7 a to 7 d), as described later. At least two or more of the driven magnets 6 ⁇ / b> A to 6 ⁇ / b> D are transferred with the resultant of the electromagnetic driving force applied to the driven magnets 6 ⁇ / b> A to 6 ⁇ / b> D.
- the inner coil sides 72 1 a to 72 4 a of the drive coils 72 1 to 72 4 facing the driven magnets 6 A to 6 D are provided with a braking member made of a non-magnetic metal member.
- a plate 9 is disposed close to (almost in contact with) the pole faces of the driven magnets 6A to 6D. In the present embodiment, one braking plate 9 is used, and a part or all of its periphery is fixed to the case body 3.
- the four driven magnets 6A to 6D that constitute a part of the electromagnetic driving means 142 are, as shown in FIG.
- the surface facing each inner coil side 7 2 1a to 7 2 4a of 24 is formed by a rectangular electromagnet, and is assumed on the upper surface of the auxiliary table 5: Center on the X-Y plane It is arranged and fixed on the X axis and the Y axis at the same distance from the part.
- a predetermined operating current is applied to part or all of D, and each of the driven magnets 6A to 6D is set to an operating state.
- 7 2 4 is set to the operating state and energization is started.
- the magnitude of the magnetic force of each of the driven magnets 6A to 6D including each of the drive coils 7 2 1 to 7 24 is adjusted by energization control, whereby the movable table 15 is transferred in a predetermined direction. Is done.
- FIG. 47 and FIG. 48 do not show the rotational drive by energizing the drive coil.
- four sun-shaped drive coils 72 1 to 72 4 which constitute a main part of the electromagnetic drive means 142 have two small mouth-shaped coil portions. It is formed from a combination of Ka and Kb. Then, a coil side (inside coil side 7 2 1 a to 7 2 4 a section) is formed at a contact portion of the two small mouth-shaped coil sections Ka and K b, and the coil side (inner coil side 7 2 1 The current always flows in the same direction (a to 724 a) in the same direction (current always flows in the same direction in one and the other coil sides of the abutting part). Therefore, when the direction is changed, the energizing directions in the two small mouth-shaped coil portions Ka and Kb are changed simultaneously.
- the four Japanese character The energizing direction and energizing current (including the energizing stop control) of the inner coil sides 7 21 a to 7 24 a of the driving coils 7 2 1 to 7 2 4 are changed in the transfer direction of the movable table 1.
- the setting is controlled by the operation control system 20. This allows the driven magnet 6 A
- an electromagnetic force (reaction force) is output that presses in a predetermined direction (direction perpendicular to the inner coil sides 721a to 7224a) according to Fleming's left-hand rule. It will be.
- the resultant force of the electromagnetic driving forces generated in the four driven magnets 6A to 6D can be moved.
- the moving direction can be adjusted to the transfer direction of the table section 15, and the moving force can be applied to the movable table section 15 in any direction on the XY plane.
- each of the drive coils 72 1 to 72 4 is on the outside and inside on the same surface of each of the drive coils 72 1 to 72 4.
- a magnetic material such as a ferrite may be charged and equipped at a height of and within a range including the operating range of the driven magnets 6A to 6D.
- the operation control system 202 individually sets and maintains the magnetic poles of the driven magnets 6A to 6D provided corresponding to the character-shaped driving coils 72 1 to 72 4 for each day.
- Magnetic pole intensity setting function for individually setting the magnetic strength of each of the driven magnets 6 A to 6 D (which can be set by varying the energizing current); Set and maintain the energization direction of the inner coil side 7 2 1 a to 7 2 4 a in the V-shaped drive coil 7 2 1 to 7 2 4 in a predetermined direction (one or the other) according to an external command.
- a table operation control function for adjusting the transfer direction and the transfer force with respect to the movable table section 15 while adjusting the movement.
- this operation control system 202 performs, as shown in FIG. 46, a letter-shaped driving coil 7 2 1 to 7 2 of each day of the electromagnetic driving means 14 2 in order to execute the various functions.
- Table drive control means 2 12 for individually driving four and four driven magnets 6 A to 6 D in accordance with a predetermined control mode to move the movable table 15 in a predetermined direction.
- a plurality of control modes (8 B1 to B8 energization control modes in this embodiment) which are provided along with the table drive control means 2 12 and specify the moving direction of the movable table 1 and the amount of movement thereof.
- the table drive control means 2 12 has an operation command for instructing a predetermined control operation for the letter-shaped drive coils 7 21 to 7 24 and the four driven magnets 6 A to 6 D for each day.
- An input section 24 is provided.
- the position information during and after the movement of the movable table section 15 is detected by the position information detecting means 25, is subjected to arithmetic processing, and is sent to the table drive control means 212. I'm familiar.
- control functions of the operation control system 202 are comprehensively included in the plurality of energization control modes B1 to B8 of the program storage unit 222, and the operation command input unit 24 It operates and is executed based on any one of the control modes B1 to B8 selected by a command from the operator input through the controller.
- the table drive control means 2 12 operates based on a command from the operation command input section 24, selects a predetermined control mode from the program storage section 2 22
- the main control unit 2 12 A for controlling the energization of a predetermined DC current including zero to the driven magnets 6 A to 6 D and the four driven magnets 6 A to 6 D
- the control unit 2 1 2 A is selected and set, and according to the predetermined conduction control mode (B 1 to B 8), the character-shaped drive coils 7 2 1 to 7 24 and each of the four driven magnets 6 A to 6 are formed on each day.
- a coil selection drive control section 2 12 B for controlling the drive of D simultaneously or individually.
- the main controller 2 12 A also has a function of calculating the position of the movable table 15 based on input information from the position information detecting means 25 for detecting the table position or performing various other calculations.
- reference numeral 4G indicates that a predetermined current is applied to the respective day-shaped driving coils 7 2 1 to 7 24 of the electromagnetic driving means 14 2 and the four driven magnets 6 A to 6 D. Indicates the power supply circuit section to be energized.
- the table drive control means 2 12 is provided with a character drive coil for each day of the electromagnetic drive means 14 2 in accordance with a predetermined energization control program (predetermined control mode) stored in advance in a program storage section 22 2.
- predetermined energization control program predetermined control mode
- 7 2 1 to 7 2 4 and each of the four driven magnets 6 A to 6 D are individually driven and controlled in a predetermined relationship It is configured to
- the energization direction of each of the four driven magnets (electromagnets) 6A to 6D is individually specified, and the N pole or the S pole of the magnetic pole is specified.
- a control program for multiple magnets that individually sets the magnitude of the energizing current including energizing stop, and the energizing direction of each of these four driven magnets (electromagnets) 6A to 6D is specified, and the N pole of the magnetic pole is specified.
- the S pole (or energization stop) functions when set and the energizing direction and the magnitude of the energizing current to the four daily drive coils 7 2 1 to 7 2 4 are correspondingly changed.
- a drive coil control program to be set is stored.
- the operation timing of each of these control programs is arranged and stored in eight control modes B1 to B8 (see FIGS. 47 to 48).
- FIG. 47 shows the control modes B 1 to B 1 to transfer the movable table section 15 in the positive or negative direction of the X axis and in the positive or negative direction of the Y axis.
- An example (charted) of B4 is shown.
- each of the control modes B 1 to B 4 it is set so that the direction of the direct current to the character-shaped driving coils 72 1 to 72 4 is variably controlled individually.
- the energizing direction of each of the four driven magnets is set and controlled so that the N pole or S pole of each magnetic pole does not always change (in a fixed state) regardless of the control mode. ing.
- the magnetic poles at the end faces of the four driven magnets 6A to 6D facing the sun-shaped drive coils 72 1 and 72 2 are respectively driven magnets.
- 6A and 6B are set to the N pole
- the driven magnets 6C and 6D are set to the S pole, respectively.
- the magnetic poles of 6 A to 6 D are set and controlled in a fixed state.
- This control mode B1 is an example of a control mode for moving the movable table 1 in the positive direction of the X axis (see FIG. 47).
- the driven magnets 6B and 6D on the Y-axis are controlled to stop energization, and the end face of the driven magnet 6A on the X-axis facing the inner coil side 721a is turned off.
- the end face of the driven magnet 6C on the X-axis opposed to the coil side 723a is fixedly controlled to the N-pole and is fixedly controlled to the S-pole.
- a predetermined electromagnetic force is applied to the coil sides 72 la and 72 3 a in the directions indicated by the dotted arrows.
- Driving force is generated, and at the same time, the reaction force (generated by fixing the sun-shaped driving coils 72 1 and 72 3) causes the driven magnets 6 A and 6 C to move in the direction indicated by the solid arrow. (The right direction in the figure), thereby moving the movable table 15 in the positive direction on the X axis.
- the drive coils 72 2 and 724 are set to the power supply stop control state.
- the drive coils 7 2, 7 2 4 and the driven magnets 6 B, 6 D that are not energized are individually energized when the movable table 1 is displaced, and the displacement is detected. (This is the same in other embodiments including the tenth embodiment).
- the control mode B2 is an example of a control mode for moving the movable table 1 in the negative direction of the X axis (see FIG. 47).
- control mode B2 the energizing direction of the coil sides 7211a and 723a of the drive coils 721, 723 on the X axis is compared with that in the control mode B1.
- the reversed point is different.
- Others are the same as in the case of the control mode B1. It is the same.
- electromagnetic drive force is generated at the coiler sides 72 1 a and 72 3 a of the drive coils 72 1 and 72 3 according to the same principle as in the case of the mode B 1, and the electromagnetic force is received by the reaction force.
- the drive magnets 6A and 6C are repelled in the directions indicated by solid arrows (leftward in the figure), whereby the movable table 15 is moved in the negative direction on the X axis.
- the same correction operation as in the case of the control mode BI is performed.
- the control mode B3 is an example of a control mode for moving the movable table 1 in the positive direction of the Y axis (see FIG. 47).
- a predetermined direction is indicated in the direction indicated by the dotted arrow in each coil side 72 2 a and 724 a.
- the electromagnetic driving force is generated, and at the same time, the reaction force (generated by fixing the sun-shaped driving coils 72 2 and 724) causes the driven magnets 6 A and 6 C to be indicated by solid arrows.
- the movable table portion 15 is moved in the positive direction on the Y-axis. In this case, the drive coils 7 2 1 and 7 2 3 are set to the state of the power supply stop control.
- the drive coils 721, 723 and the driven magnets 6A, 6C which are not energized, are individually energized when the movable table 1 is displaced, and the displacement detection operation is performed. It has become to be.
- Control mode B 4 is an example of a control mode for moving the movable table 1 in the negative direction of the Y axis (see FIG. 47).
- control mode B4 the energizing direction of the coil sides 72, 2a, 724a of the drive coils 72, 72 on the Y axis is compared with that in the control mode B3.
- the reversed point is different. Others are the same as those in the control mode B3.
- Fig. 48 shows an example of each control mode B5 to B8 for moving the movable table section 15 in the direction of each of the four quadrants on the XY plane coordinates (Chart and Table). ).
- each of the control modes B5 to B8 it is set so that the direction of direct current to the character-shaped drive coils 72 1 to 72 4 is individually variably controlled.
- the N-pole or S-pole of each magnetic pole is set (controlled) so that it does not always change even if the control mode is different.
- the control mode B5 in the eleventh embodiment is an example of a control mode for moving the movable table 1 in the direction of the first quadrant on the X-Y plane coordinates (see FIG. 48). .
- control mode beta 5 In the control mode beta 5, four of the driven magnets 6 ⁇ 6 D simultaneously ⁇ And the energization direction (magnetic poles N and S) is controlled by the control modes B 1 to B
- the driven magnets 6 A and 6 B arranged in the positive direction on the X axis and the Y axis have the end faces facing the letter-shaped driving coils 72 1 and 72 2 of each day in N pole. Is set. Driven magnets arranged in the negative direction on the X-axis and Y-axis
- the transfer angle 0 (the angle X with respect to the X axis) in the first quadrant direction with respect to the X axis is the shape of the drive coil 7 2 1 to 7 2 4 of each day and each of the driven magnets 6 A to 6 D.
- Each driven magnet 6 is controlled by individually variably controlling the magnitude of the energizing current.
- This control mode B 6 shows an example of a control mode for moving the movable table 1 in the direction of the third quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 48).
- control mode B6 the four driven magnets 6A to 6D are simultaneously energized and their magnetic poles N and S are the same as in each of the control modes B5. Is set.
- the electromagnetic driving force in the same direction (left direction and downward direction in FIG. 48) as in the case of the control modes B 2 and B 4 is generated simultaneously, and the resultant force is controlled by the control shown in FIG.
- the movable table portion 15 is moved in the direction of the third quadrant on the XY plane coordinates.
- the transfer angle X in the direction of the third quadrant with respect to the X axis is the shape of the energizing current of each of the letter-shaped driving coils 7 2 1 to 7 24 and each of the driven magnets 6 A to 6 D on each day.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D is changed, so that the magnet can be variably set in any direction.
- the control mode B7 shows an example of a control mode for moving the movable table 1 in the direction of the second quadrant on the XY plane coordinates (see FIG. 48).
- the four driven magnets 6A to 6D are simultaneously energized and their magnetic poles N and S are fixed as in the case of the control mode B6.
- control mode B7 the control modes B2 and B3 are simultaneously operated in the respective coil sides 721a to 724d of the character-shaped drive coils 721 to 7224 of each day.
- the same energization control as that performed is performed.
- the transfer angle X in the direction of the second quadrant with respect to the X axis is the shape of the energizing current of each of the drive magnets 7 2 1 to 7 24 and the driven magnets 6 A to 6 D on each day.
- the electromagnetic drive force acting on each of the driven magnets 6A to 6D is changed by individually variably controlling the magnets, whereby the magnets can be variably set in any direction.
- This control mode B 8 is an example of a control mode for moving the movable table section 15 in the direction of the fourth quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 48).
- control mode B8 the conduction of the four driven magnets 6A to 6D is simultaneously controlled, and the magnetic poles N and S are fixed as in the control mode B7.
- control mode B8 the control modes B1 and B4 are simultaneously operated in the respective coil sides 721a to 724d of the character-shaped drive coils 721 to 7224 of each day.
- the same energization control as that performed is performed.
- the electromagnetic driving forces in the same direction (rightward and downward in FIG. 48) as in the case of the control modes Bl and B4 are simultaneously generated, and the resultant force is equal to the control mode B in FIG. It is oriented in the fourth quadrant as shown in column 8.
- the movable table 15 is transferred in the direction of the fourth quadrant on the XY plane coordinates.
- the transfer angle 0 in the fourth quadrant direction with respect to the X-axis is the The electromagnetic driving force acting on each of the driven magnets 6A to 6D.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D can be controlled by individually and variably controlling the magnitude of the current flowing through the moving coils 7 2 1 to 7 24 and each of the driven magnets 6A to 6D. It can be variably set in any direction.
- each of the driven magnets 6A to 6D is individually provided. Since the drive coils 7 2 1 to 7 2 4 are arranged, the drive coils 7 2 1, 7 2 2, 7 2 3 or 7 2 4 at the places where the output of the driving force is not required, or the driven magnets 6 A, 6 B , 6C or 6D, it is possible to stop and control the energization operation at the corresponding locations. Therefore, there is an advantage that energy saving of the entire apparatus during operation becomes possible.
- the electromagnetic drive means 14 2 when setting the transfer direction of the movable table section 15, the case where the electromagnetic drive means 14 2 is drive-controlled in the control modes B 1 to B 8 is exemplified.
- the control mode B2 the energizing directions of the driven magnets 6A to 6D are set in the opposite directions to those in the control mode B1, and the energizing directions of the drive coils 7 2 1 and 7 2 3 are changed.
- the electromagnetic drive means 142 may be driven and controlled by another control method as long as the function is the same, for example, the same setting as in the control mode B1.
- the installation location of the driven magnets 6A to 6D and the installation location of the sun-shaped drive coils 72 1 to 72 4 may be interchanged.
- the driven magnets 6A to 6D are provided on the stator side, and the sun-shaped drive coils 72 1 to 72 4 are provided on the mover side.
- the driven magnets 6A to 6D are Although exemplifies the case of constituting stone may Configure the driven magnet 6 A to 6 D in the permanent magnet.
- the electrical wiring around the driven magnets 6A to 6D is simplified, and productivity and maintainability can be greatly improved.
- the space area of the equipment points A to 6D can be reduced.
- the size and weight of the entire device can be reduced, and the power consumption and temperature rise of the driven magnets 6A to 6D are reduced as compared with the case where the driven magnets 6A to 6D are electromagnets.
- FIG. 49 Next, a 12th embodiment will be described with reference to FIGS. 49 to 53.
- FIG. 49 Next, a 12th embodiment will be described with reference to FIGS. 49 to 53.
- the twelfth embodiment is different from the tenth embodiment in that the electromagnetic driving means 4 provided with two large and small annular driving coils and driven magnets corresponding thereto, instead of the electromagnetic driving means 4 in the tenth embodiment.
- the feature is that it is equipped with.
- an operation control system 203 for efficiently driving the electromagnetic driving means 144 is provided instead of the operation control system 20.
- the twelfth embodiment is similar to the tenth embodiment in that the movable table part 15 for precision work is provided movably in any direction on the same surface.
- a table holding mechanism 2 that allows the movement of the movable table section 15 and holds the movable table section 15 and has a function of returning to the original position with respect to the movable table section 15;
- a case body 3 as a supporting body, and electromagnetic drive means provided on the case body 3 side and applying a moving force in a predetermined direction to the movable table 15 in response to an external command 1 4 3
- electromagnetic drive means provided on the case body 3 side and applying a moving force in a predetermined direction to the movable table 15 in response to an external command 1 4 3
- the movable table part 15 for precision work is provided movably in any direction on the same surface.
- the movable table part 15 is composed of a movable table 1 for precision work and an auxiliary table 5 which is arranged in parallel with the movable table 1 at a predetermined interval and integrally on the same central axis. It consists of. Then, as shown in FIG. 49, the table holding mechanism 2 is provided on the auxiliary table 5 side and is configured to hold the movable table 1 via the auxiliary table 5.
- the electromagnetic driving means 14 3 is provided with two large and small annular driving coils 7 3 1, 7 3 2 on the same surface instead of the annular driving coil 7 provided in the tenth embodiment as described above. ing.
- the annular driving coils 731 and 732 are held by a fixed plate 8.
- the electromagnetic driving means 14 3 corresponds to the respective coil sides 7 3 1 a to 7 3 1 d and 7 3 2 a to 7 3 2 d of the respective annular driving coils 7 3 1 and 7 3 2.
- four driven magnets 6A to 6D and 16A to 16D are provided, respectively.
- the driven magnets 6 A to 6 D and 16 A to 16 D are mounted on the auxiliary table 5.
- the two large and small annular drive coils 731 and 732 have the same X which is assumed to be the origin at the center of the coil holding surface on the fixed plate 8. — On the surface, they are arranged with the same central axis.
- the inner annular driving coil 731 located on the inner side is formed in a substantially square shape similarly to the annular driving coil 7 in the case of the tenth embodiment, and each coil side 731 a, 7
- the central portions of 31b, 7311c, and 7311d are mounted on the fixed plate 8 so as to intersect the X axis and the Y axis.
- each coil side 731 a, 731 b, 731 c, and 731 d of the inner annular driving coil 731 is close to and opposed to the center of each line segment.
- the driven magnets 6A to 6D are individually arranged, mounted on the auxiliary table 5, and held.
- outer annular drive coil 732 disposed outside the inner annular drive coil 731 is formed in an octagonal shape as shown in FIG.
- the outer annular driving coil 732 is formed of a coil side 732 a to 732 d portion adjacent to each coil side 731 a to 731 d of the inner annular driving coil 731.
- each coil of the outer annular drive coil 732 is close to and opposed to the center of each line of each of the coils 2732a, 7332b, 7332c, and 7332d.
- the driving magnets 16A to 16D are individually arranged.
- Each of the driven magnets 16A to 16D is attached to and held by the capture table 5 in a state where it is provided alongside the driven magnets 6A to 6D.
- each of the driven magnets 6A to 6D and 16A to 16D is formed of an electromagnet whose energization can be controlled from outside.
- the four driven magnets 6A to 6D according to this embodiment are electromagnets whose end faces of the magnetic poles (surfaces facing the respective coil sides of the annular drive coil 7) are square. It is used and arranged and fixed on the X-Y plane assumed on the upper surface of the auxiliary table 5 and on the X-axis and the Y-axis at positions equidistant from the center.
- Similar electromagnets are used for the other four driven magnets 16A to 16D, and are located at the same distance from the center on the XY plane assumed on the upper surface of the auxiliary table 5. Are arranged and fixed on the X-axis and Y-axis, respectively.
- the fixing plate 8 is disposed between the auxiliary table 5 and the movable table 1 as shown in FIG.
- the annular drive coils 731, 732 and the fixed plate 8 constitute a stator portion which is a main part of the electromagnetic drive means 4.
- the respective driven magnets 6A to 6D and 16A to 16D are set between the driven magnets 6A to 6D and 16A to 16D. It generates an electromagnetic driving force that repulsively drives 6 A to 6 D and 16 A to 16 D in a direction perpendicular to each coil side.
- the direction that does not intersect the coil sides 731a to 731d and 732a to 732d (the coil sides 731a to 731d, 732a to 7
- the movable table 15 is transferred in a direction oblique to 32 d)
- at least two or more driven magnets 6 A to 6 D and 16 A to 16 D The movable table 15 can be transferred with the combined force of the electromagnetic driving force.
- a braking plate 9 made of non-magnetic metal Stones 6A to 6D and 16A to 16D are arranged close to the pole faces.
- the braking plate 9 is fixed to the annular driving coils 731 and 732 (the case body 3 in this embodiment).
- the entire apparatus when the entire apparatus is set to the operating state, energization of the annular drive coils 731 and 732 is started in a preset energization direction.
- a predetermined operating current is supplied to a part or all of the driven magnets 6A to 6D and 16A to 16D, and the movable table 15
- the magnetic pole (N-pole, S-pole, or no magnetic pole) is set according to the direction of transfer.
- the magnitude of the magnetic force of each of the driven magnets 6 A to 6 D and 16 A to 16 D including the annular driving coils 731 and 732 is adjusted by energization control, whereby the movable table section 15 is transferred in a predetermined direction.
- the energization direction of the annular drive coils 731 and 732 is specified in advance by an operation control system 203 described later, and correspondingly, each of the driven magnets 6A to 6D and 16A ⁇ :
- the direction of the 16D energization is specified in accordance with the transfer direction of the movable table section 15, and during operation of the entire apparatus, the magnitude of the energization current is variably controlled by the operation control system 203 as described above ( (Including the power-off control).
- a predetermined electromagnetic force (reaction force) is applied to each of the driven magnets 6. Output according to A, 6B, 6C or 6D.
- the electromagnetic driving force output to the driven magnets 6 A to 6 D corresponding to the inner annular driving coil 731 and the driven magnets 16 A to 16 corresponding to the outer annular driving coil 7 32 The electromagnetic driving force output to D is set and controlled in advance so that the output direction always matches.
- the directions of the electromagnetic forces generated in the four driven magnets 6A to 6D and 16A to 16D of each of the annular driving coils 731 and 732 are selected in advance and combined with each other.
- the resultant force of the electromagnetic driving force generated in each of the four driven magnets 6A to 6D and 16A to 16D can be matched to the transfer direction of the movable table section 15, and the movable table section can be adjusted. It is possible to apply a moving force to 15 in any direction on the XY plane. '
- FIG. 52 and FIG. 53 do not show the rotational drive by energizing the drive coil.
- ferrite Rere it may also be a magnetic material equipped filling such bets 0
- the electromagnetic driving means 144 includes two inner and outer annular driving coils 731, 7332 and four driven magnets 6A to 6D. , 16 A to 16 D are individually driven to control the movable table 1 An operation control system 203 that regulates the movement of 5 is also provided (see Fig. 51).
- the operation control system 203 includes an energization direction setting function for setting and maintaining the energization direction to each of the annular drive coils 731 and 732 in a predetermined direction (one or the other),
- the drive coil energization control function for variably setting the magnitude of the energizing current to the coils 731 and 732, and the coil coil 731 and 732.
- the magnetic pole individual setting function for individually setting and maintaining the magnetic poles of the driving magnets 6 A to 6 D and 16 A to 16 D, and the function of each of the driven magnets 6 A to 6 D and 16 A to 16 D
- a magnetic strength setting function for individually setting the magnetic strength in accordance with an external command (which can be set by varying the energizing current), and appropriately adjusting the operation by these various functions. It has a table operation control function for adjusting the transfer direction and transfer force to the movable table section 15.
- this operation control system 203 executes two annular driving coils 731, 732 and 2 of the electromagnetic driving means 144 to execute the above-mentioned functions.
- Table drive control means 2 1 for individually driving the corresponding driven magnets 6 A to 6 D and 16 A to 16 D according to a predetermined control mode to control the movement of the movable table section 15 in a predetermined direction.
- a plurality of energization control modes (in this embodiment, C1 to C8 in the present embodiment) which are provided in parallel with the table drive control means 2 13 and specify the moving direction of the movable table 1 and the amount of movement and the like.
- a plurality of energization control programs for each control mode, and a data storage unit 23 for storing predetermined data and the like used when executing each of these control programs. I have it.
- the table drive control means 2 13 includes annular drive coils 7 3 1 and 7 3 ,,, provoke ⁇
- the various control functions of the operation control system 203 are comprehensively included in the plurality of energization control modes C1 to C8 of the program storage unit 223, and the operation command input unit 24 It operates based on any of the control modes C1 to C8 selected based on the command from the operator and is executed.
- the table drive control means 2 13 operates based on a command from the operation command input section 24, selects a predetermined energization control mode from the program storage section 23, and selects each of the annular drive coils 7.
- the main control unit 2 13 A which controls the conduction of a predetermined DC current containing zero in 31 1, 7 32 and each of the four driven magnets 6 A to 6 D and 16 A to 16 D,
- the main control section 2 13 A is selected and set, and according to a predetermined energization control mode (C'1 to C8), the annular driving coils 731 and 732 and each of the four driven magnets 6A to 6D, And a coil selection drive control section 213B for simultaneously or individually controlling the drive of 16A to 16D.
- the main control unit 2 1 3 A based on the input information from the position information detecting means 2 5 for detecting a table position to calculate the position of the movable table 1 walk simultaneously also function for other various operations Has both.
- reference numeral 4G denotes a predetermined current applied to the annular driving coils 731 and 732 of the electromagnetic driving means 4 and the four driven magnets 6A to 6D and 16A to 16D.
- This shows a power supply circuit section to be energized.
- the table drive control means 2 13 receives the information from the position information detection means 25 and performs a predetermined calculation, and based on the information, the destination of the movement set in advance by the operation command input unit 24.
- a position shift calculating function for calculating a deviation from the reference position information; and, based on the calculated position shift information, the electromagnetic driving means 4 is driven to move the movable table section 15 to a preset reference position of a movement destination.
- a table position correction function for controlling.
- the transfer control of the movable table section 15 in a predetermined direction is performed while correcting the shift.
- the movable table section 15 is quickly and accurately transferred to a preset target position.
- the correction of the positional deviation is executed by adjusting the energizing current of each of the driven magnets 6A to 6D or 16A to 16D during energizing driving.
- the table drive control means 2 13, according to a predetermined energization control program (predetermined energization control mode) stored in advance in the program storage section 22 3, controls each circular drive of the electromagnetic drive means 14 3.
- the coils 731 and 732 and the four driven magnets 6A to 6D and 16A to 16D are individually driven and controlled with a predetermined relationship.
- the program storage unit 223 stores a drive coil control program that specifies the direction of current to each of the annular drive coils 731 and 732 and variably sets the magnitude of the current.
- the energization direction to each annular drive coil 731, 732 is specified, it functions and correspondingly, each of the four driven magnets (electromagnets) 6A to 6D, 16A
- the timing of the operation of each of these control programs is organized into eight sets of control modes C1 to C8 and stored in the program storage section 223 (see FIGS. 51 and 52). ).
- each energization control mode C 1 to C for moving the movable table 15 in the positive or negative direction of the X axis and in the positive or negative direction of the Y axis is shown.
- An example (charted) of 4 is shown.
- each energization control mode C1 to C4 the direction of energization of the DC current to the inner annular driving coil 731 is set clockwise in the present embodiment as shown by the arrow A. .
- the direction in which the direct current is supplied to the outer annular driving coil 732 is set to be counterclockwise as indicated by an arrow B.
- the control mode C1 is an example of a control mode for moving the movable table 1 in the positive direction of the X axis (see FIG. 52).
- the driven magnets 6B, 6D, 16B, 16D on the Y-axis are controlled to stop the S power supply.
- the end face of the driven magnet 6A on the X axis facing the coil side 731a is set to the N pole, and the driven magnet 6C on the X axis is set to the N pole.
- the end face facing the coil side 731c is set to the S pole.
- the end face of the driven magnet 16A on the X-axis facing the coil side 732a is set to the S pole, and the driven magnet on the X-axis is set to the S pole.
- the end face facing the coil side 7 3 2 c of 16 C is N The pole is set.
- the control mode C2 is an example of a control mode for moving the movable table 1 in the negative direction of the X axis (see FIG. 52).
- control mode C2 the magnetic poles of the driven magnets 6A and 6C and 16A and 16C on the X-axis are set in reverse to the control mode C1. I do. Others are the same as those in the control mode C1.
- each annular drive coil 731, 7332 have the same principle as that of the mode C1.
- an electromagnetic driving force in the opposite direction is generated in the direction indicated by the dotted arrow, and the reaction force causes the driven magnets 6 A, 6 and 1668, 16 C to move in the directions indicated by the solid arrows (in the figure). , Left direction), whereby the movable table 15 is moved in the negative direction on the X axis.
- the control mode C3 is an example of a control mode for moving the movable table 1 in the positive direction of the Y axis (see FIG. 52).
- the end face of the driven magnet 6B on the Y axis facing the coil side 731b is set to the N pole, and the driven magnet 6D on the Y axis is set to the N pole.
- the end face facing the coil side 731d is set to the S pole.
- the end face of the driven magnet 16B on the Y axis facing the coil side 732b is set to the S pole, and the driven magnet on the Y axis is set to the S pole.
- An end face of the 16D facing the coil side 732d is set to have N poles.
- the control mode C4 is an example of a control mode for moving the movable table 1 in the negative direction of the Y axis (see FIG. 52).
- This control mode C4 is different from the control mode C3 in that the setting of the magnetic poles of the driven magnets 6B and 6D and 16B and 16D on the Y axis is reversed as compared with the control mode C3. . Others are the same as those in the control mode C3.
- the coil sides 731b, 73Id and 7332b, 7332d of the annular driving coils 731, 7332 are the same as those in the mode C3.
- the electromagnetic driving force is generated according to the same principle, and the driven force causes the driven magnets 6B, 6D and ⁇ 16B, 16D to repel in the direction indicated by the solid line arrow (downward in the figure).
- the movable table 15 is moved in the negative direction on the Y axis.
- Fig. 5 shows an example of each of the control modes C5 to C8 for moving the movable table section 15 in the direction of each of the four quadrants on the XY plane coordinates. ).
- the control mode C5 in the first embodiment shows an example of a control mode for moving the movable table 1 in the direction of the first quadrant on the XY plane coordinates (see FIG. 53). ).
- the four driven magnets 6A to 6D and 16A to 16D are simultaneously energized and their magnetic poles N and S are controlled by the inner annular driving coil 731.
- the magnetic pole at the end face of the part facing the coil sides 731a and 731b is the N pole, and also the part facing the coil sides 731c and 731d of the inner annular drive coil 731.
- the magnetic pole at the end face is set to the S pole.
- the magnetic pole at the end face of the portion facing the coil sides 732a and 732b of the outer annular drive coil 732 is the S pole, and the coil side 732 of the outer annular drive coil 732 is also the same.
- the magnetic poles at the end faces opposite to c and 732 d are set to the N pole.
- the control modes C1 and C3 are simultaneously set. It is in the same state as when it has been activated, and the resultant is the control mode shown in Fig. 53. It is oriented in the direction of the first quadrant on the X-Y coordinate as shown in the column of C5. As a result, the movable table section 15 is transferred toward the first quadrant on the XY plane coordinates.
- the transfer angle 0 in the direction of the first quadrant with respect to the X axis is determined by, for example, variably controlling the magnitude of the current supplied to each of the driven magnets 6A to 6D and 16A to 16D.
- the magnets can be variably set in any direction. .
- This control mode C 6 is an example of a control mode for moving the movable table 1 in the direction of the third quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 53).
- each of the four driven magnets 6A to 6D and 16A to 16D is simultaneously energized and controlled, and the magnetic poles N and S are respectively controlled by the control mode C5.
- the setting is reversed.
- the control modes C2 and C4 are simultaneously performed.
- the state is equivalent to that of the operation, and the resultant force is directed to the third quadrant as shown in the column of the control mode C6 in FIG. 53.
- the movable table section 15 is transferred in the direction of the third quadrant on the XY plane coordinates.
- the transfer angle 0 in the direction of the third quadrant with respect to the X axis is set, for example, by individually and variably setting the magnitude of the current supplied to each of the driven magnets 6A to 6D and 16A to 16D. Thus, it is possible to freely change the setting in any direction.
- W 200
- the control mode C7 shows an example of a control mode for moving the movable table 1 in the direction of the second quadrant on the XY plane coordinates (see FIG. 53).
- each of the four driven magnets 6A to 6D and 16A to 16D is simultaneously energized and its magnetic poles N and S are set to the inner annular drive coil 731.
- the magnetic pole at the end face of the part facing the coil sides 7 3 1 b and 7 3 1 c is the N pole, and the magnetic pole at the part facing the coil sides 7 3 1 d and 7 3 1 a of the inner annular drive coil 7 31 is also The magnetic pole at the end face is set to the S pole.
- the magnetic pole at the end face of the portion facing the coil sides 732b and 732c of the outer annular drive coil 732 is the S pole, and the coil side 732 of the outer annular drive coil 732 is also the same.
- the magnetic poles at the end faces of the portions facing d and 732a are set to the N pole.
- control modes C 2 and C 3 are simultaneously set in the coil sides 7 31 a to 73 1 d and 73 2 a to 73 2 d of the annular driving coils 7 31 and 7 32.
- the state is equivalent to that of the operation, and the resultant force is directed to the direction of the second quadrant as shown in the column of the control mode C7 in FIG.
- the movable table section 15 is moved in the direction of the second quadrant on the XY plane coordinates.
- the transfer angle 0 in the direction of the second quadrant with respect to the X axis can be controlled by variably controlling the magnitude of the current flowing through each of the driven magnets 6A to 6D and 16A to 16D.
- By changing the electromagnetic driving force acting on the driving magnets 6A to 6D and 16A to 16D it can be variably set in any direction.
- this control mode C8 the movable table 15 is moved to the first position on the X--Y plane coordinates.
- each of the four driven magnets 6A to 6D and 16A to 16D is simultaneously controlled, and its magnetic poles N and S are respectively controlled by the control mode C.
- the setting is the reverse of the case of 7.
- the transfer angle in the direction of the fourth quadrant with respect to the X-axis can be arbitrarily set by individually and variably setting the magnitude of the current supplied to each of the driven magnets 6A to 6D and 16A to 16D. It can be variably set in any direction.
- the 12th embodiment Since the 12th embodiment is configured as described above, it has the same function and the same operation and effect as those of the 10th embodiment, and furthermore, the annular drive coil And the case of the driven magnet in the tenth embodiment , The output of the electromagnetic drive means can be increased, and the number of driven magnets increases. As compared with the embodiment, there is an advantage that the moving operation of the movable table unit can be executed more quickly and with higher accuracy.
- the transfer direction is actually specified. (Arithmetic processing) becomes easy, and therefore, the drive control of the driven magnet is simplified as a whole. Therefore, it is possible to quickly respond to a change in the moving direction of the movable staple portion, and at the same time, control the transfer of the movable table portion (for example, when the switching control of the direction or the displacement occurs). This has the advantage that this can be dealt with promptly.
- FIG. 54 Next, a thirteenth embodiment will be described with reference to FIGS. 54 to 58.
- FIG. 54
- the thirteenth embodiment is different from the eleventh embodiment in that another electromagnetic driving means 144 having four square driving coils is provided in place of the electromagnetic driving means 144 in the first embodiment. Has features. At the same time, it is characterized in that an operation control system 204 for efficiently driving the electromagnetic driving means 144 is provided in place of the operation control system 202.
- a movable table part 15 for precision work which is arranged so as to be movable in an arbitrary direction on the same surface.
- the movable table 15 is allowed to move.
- a table holding mechanism 2 that holds the movable table 15 and has a function of returning to the original position with respect to the movable table 15;
- a case body 3 as a main body that supports the table holding mechanism 2;
- An electromagnetic drive means 144 is provided on the case body 3 side and applies a moving force in a predetermined direction to the movable table section 15 in response to an external command.
- the movable table section 15 is composed of a movable table 1 for precision work, and an auxiliary table 5 which is arranged in parallel with the movable table 1 at a predetermined interval and integrally on the same central axis. It consists of.
- the table holding mechanism 2 is provided on the auxiliary table 5 side, and is configured to hold the movable table 1 via the auxiliary table 5.
- the main part of the electromagnetic driving means 144 is held on the case body 3 side, and a predetermined moving force (driving force) is applied along the transfer direction of the movable table part 15 according to a command from the outside. It has the function to do.
- the electromagnetic driving means 144 is provided between the movable table 1 and the auxiliary table 5.
- the electromagnetic driving means 144 includes, specifically, four square driving coils 741, 742, 743, 744 formed in a square shape, and each of the square driving coils 741 to 744.
- Each of the rectangular drive coils 741 to 744 has two opposing sides.
- a total of eight driven magnets 6 A to 6 D and 16 A to 16 D are constituted by electromagnets that can be individually energized and controlled from the outside.
- the fixed plate 8 is disposed on the movable table 1 side of the auxiliary table 5 and is held by the case body 3 as shown in FIG.
- the rectangular driving coils 74 1 to 744 and the fixed plate 8 constitute a stator portion which is a main part of the electromagnetic driving means 144.
- each of the driving coils 74 1 to 744 When each of the driving coils 74 1 to 744 is set to the operating state, the respective driven magnets 6 A are connected between the respective driven magnets 6 A to 6 D and 16 A to 16 D. 6D and 16A to 16D generate an electromagnetic driving force for repulsively driving the coil sides 741a to 744a and 744lb to 744b in directions orthogonal to the respective coil sides.
- the center axis in the moving direction of each of the driven magnets 6A to 6D and 16A to 16D is set to pass through the center point on the XY plane.
- the transfer of the movable table section 15 is performed by the resultant of the driving force.
- a single braking plate 9 is used, and a part or the entire periphery thereof is fixed to the case body 3.
- the four driven magnets 6 A to 6 D and 16 A to 16 D that constitute a part of the electromagnetic driving means 144 are, as shown in FIG.
- An electromagnet with a rectangular shape is used for each drive coil 7 4 1 to 7 4 4, each coil side 7 2 1 a to 7 2 4 a, 7 2 lb to 7 2 4 b facing the auxiliary table 5.
- a predetermined operating current is applied to a part or all of the eight driven magnets 6A to 6D and 16A to 16D, and A to 6D, 16A to 16D are set to the operating state, and thereafter or simultaneously, each drive coil 741 to
- FIG. 57 and FIG. 58 do not show the rotational drive by energizing the drive coil.
- the setting is controlled by an operation control system 204 described later.
- the driven magnets 6A to 6D and 16A to 16D have a predetermined direction (each coil side 741 to 744a, 744a) according to the framing left hand rule.
- the electromagnetic force (reaction force) that presses in the direction perpendicular to the 1b to 744b portions is output.
- the directions of the electromagnetic forces generated in the eight driven magnets 6A to 6D and 16A to 16D are selected and combined in advance, so that each of the driven magnets 6A to 6D, 16A
- the resultant force of the electromagnetic driving force generated at ⁇ 16D can be adjusted to the transfer direction of the movable table section 15, and the movable table section 15 is provided with a moving force in any direction on the XY plane. can do.
- each of the drive coils 741 to 744 is on the outside and inside on the same surface of each of the drive coils 741 to 744.
- the magnetic material such as ferrite may be filled and mounted at a height within the range including the operating ranges of the driven magnets 6A to 6D and 16A to 16D.
- the operation control system 204 in the thirteenth embodiment will be described in detail.
- the rectangular drive coils 741 to 744 and the eight driven magnets 6A to 6D and 16A to 16D are individually energized and controlled.
- An operation control system 204 that regulates the moving operation of the movable table 15 is provided along with the electromagnetic driving means 144 (see FIG. 56).
- This operation control system 204 is composed of eight driven magnets 6 A to 6 D, 16 A to 16 D provided corresponding to the respective rectangular driving coils 7 41 to 7 44.
- Magnetic pole individual setting function for individually setting and maintaining magnetic poles, and magnetic strength of each of the driven magnets 6A to 6D and 16A to 16D are individually variably set.
- Magnetic force intensity setting function, and the coil sides 741 a, 7441 b, 74 of the respective rectangular drive coils 741-7444 that intersect with the X axis or the Y axis. 2a, 7 4 2b, 7 4 3a, 7 4 3b, 7 4 4 a, 7 4 4b Set the energizing direction in the specified direction (one or the other) according to an external command.
- a drive coil energization control function that variably sets the magnitude of the energization current to each of the rectangular drive coils 741 to 7444. Adjustable to the above It has a table operation control function for adjusting the transfer direction and transfer force to the moving table section 15.
- the operation control system 204 performs the above-mentioned various functions, as shown in FIG. 56, as shown in FIG. 56, each of the square driving coils 741 to 7444 of the electromagnetic driving means 144 and Table drive control means for individually driving the four driven magnets 6A to 6D and 16A to 16D in accordance with a predetermined control mode to control the movement of the movable table section 15 in a predetermined direction. 2 14 and a plurality of control modes (eight D 1 to D 8 in this embodiment) which are provided in parallel with the table drive control means 2 14 and specify the moving direction of the movable table 1 and the amount of movement thereof.
- a control program that stores multiple control programs for A program storage unit 224 and a data storage unit 23 storing predetermined data and the like used when executing these control programs.
- the table drive control means 2 14 includes a predetermined control operation for the square drive coils 74 1 to 744 and the eight driven magnets 6 A to 6 D and 16 A to 16 D.
- An operation command input unit 24 for commanding is also provided.
- the position information during and after the movement of the movable table 1 is detected by the position information detecting means 25, calculated, and sent to the table drive control means 214. I'm familiar.
- the various control functions of the operation control system 204 are comprehensively included in the plurality of control modes D1 to D8 of the program storage unit 224, and are provided via the operation command input unit 24. It operates and is executed based on any one of the control modes D1 to D8 selected by a command from the input operator.
- the table drive control means 2 14 operates based on a command from the operation command input unit 24, selects a predetermined control mode from the program storage unit 224, and selects each of the square drive coils 74 1 to
- the main control unit 2 14 A which controls the conduction of a predetermined DC current including zero to 7 4 4 and 8 driven magnets 6 A to 6 D and 16 A to 16 D, and this main control unit It is selected and set to 2 14 A, and each rectangular drive coil 7 4 1 to 744 and eight driven magnets 6 A to 6 D, 16 A to each according to the predetermined control mode (D 1 to D 8) And a coil selection drive control section 216B for simultaneously or individually driving the 16Ds.
- the main control section 214A also has a function of calculating the position of the movable table 1 based on input information from the position information detecting means 25 for detecting the table position or performing various other calculations. Have at the same time.
- Reference numeral 4G denotes a power supply circuit unit for supplying a predetermined current to each square drive coil 72 1 to 72 4 of the electromagnetic drive means 142 and each of the four driven magnets 6A to 6D. .
- the table drive control means 214 is provided with a rectangular drive coil 741-1 of the electromagnetic drive means 144 according to a predetermined control program (predetermined control mode) stored in advance in a program storage unit 224.
- the configuration is such that each of the 7444 and 8 driven magnets 6A to 6D and 16A to 16D has a predetermined relationship and is individually driven and controlled.
- the conduction directions of the eight driven magnets (electromagnets) 6A to 6D and 16A to 16D are stored.
- a control program for a plurality of magnets that individually specifies the N and S poles of the magnetic poles and individually variably sets the magnitude of the energizing current including the energization stop, and the eight driven magnets (electromagnets) 6
- the energizing direction of A to 6D and 16A to 16D is specified, and the N or S pole (or energization stop) of the magnetic pole functions when it is set, and four square drive units corresponding to this function
- a driving coil control program for variably setting the direction of current supply to the coils 741 to 7444 and the magnitude of the current supplied thereto is stored.
- the operation timing of each of these control programs is organized and stored in eight sets of control modes D1 to D8 (see FIGS. 57 and 58).
- Fig. 57 shows the control modes D1 to D1 to transfer the movable table section 15 in the positive or negative direction of the X-axis and in the positive or negative direction of the Y-axis, respectively.
- An example (charted) of D4 is shown.
- each of the control modes D1 to D4 it is set so as to individually and variably control the direction in which the DC current is supplied to each of the rectangular drive coils 741 to 744.
- the energizing direction of each of the eight driven magnets (electromagnets) is set and controlled so that the N or S pole of each magnetic pole does not always change (fixed state) even if the control mode is different. ing.
- the end faces of the eight driven magnets 6 A to 6 D and 16 A to 16 D facing the rectangular drive coils 74 1 and 74 2 are formed.
- the magnetic pole is set to the N pole for the driven magnets 6A and 6B, and to the S pole for the driven magnets 6C and 6D.
- the driven magnets 16 A and 16 B are set to the S pole, and the driven magnets 16 C and 160 are set to the> pole.
- the N and S of each set magnetic pole are controlled to be fixed even if the control modes D1 to D4 are different.
- the control mode D1 in the thirteenth embodiment is an example of a control mode for moving the movable table 1 in the positive direction of the X-axis (see FIG. 57).
- the end face of the driven magnet 6A on the X-axis facing the inner coil side 741a is fixedly controlled to the N-pole, and the inner coil side 74 of the driven magnet 6C on the X-axis is fixed. 3
- the end face facing a is fixedly controlled to the S pole.
- the end face of the driven magnet 16A on the X-axis facing the outer coil side 741b is fixedly controlled to the S pole, and the driven magnet 16C on the X-axis is fixed to the outer side.
- the end face facing the side coil side 7 4 3 b is fixedly controlled to the N pole.
- the drive coils 741 and 743 are both energized and driven in a counterclockwise direction (counterclockwise).
- the dotted side arrows indicate the coil sides 741a, 741b, 743a, 743b of the drive coils 741, 743.
- a predetermined electromagnetic force is generated in the direction shown, and at the same time, the reaction force (generated due to the fixed square drive coils 741, 743) causes the driven magnets 6A, 6C, 1 6 A and 16 C are repelled in the direction indicated by the solid arrow (rightward in the figure).
- the movable table 15 is transported in the positive direction on the X axis.
- the drive coils 742 and 7444 and the driven magnets 6B, 16B and 6D and 16D are individually energized and driven when the movable table 1 is displaced. A shift correction operation is performed.
- the control mode D2 is an example of a control mode for moving the movable table 1 in the negative direction of the X axis (see FIG. 57).
- control mode D2 the energizing direction of the coil sides 741a, 741b, 743a, and 743b of the rectangular drive coils 741 and 743 on the X-axis is determined. However, it is different from the control mode D1 in that the control direction is opposite (clockwise rotation direction). Others are the same as those in the control mode D1.
- the coil sides 741 a, 741 b, 743 a, and 743 b of the drive coils 741, 743 have the same principle as that of the mode D 1.
- the electromagnetic driving force (dotted arrow) is generated in the direction, and the driven force causes the driven magnets 6, 16 and ⁇ 6 ⁇ , 16C in the directions indicated by solid arrows (in the figure,
- the movable table section 15 is moved in the negative direction on the X axis.
- the same correction operation as in the case of the control mode D1 is performed.
- the control mode D3 is an example of a control mode for moving the movable table 1 in the positive direction of the Y axis (see FIG. 57).
- the end face of the driven magnet 6B on the Y axis facing the inner coil side 742a is fixedly controlled to the N pole, and the coil side 744a of the driven magnet 6D on the Y axis is controlled. Is fixed to the S pole.
- the end face of the driven magnet 16B on the Y axis facing the inner coil side 742b is fixedly controlled to the S-pole, and the coil side of the driven magnet 16D on the Y axis is controlled to the S pole.
- the end face facing 7 4 4 b is fixedly controlled to the N pole.
- the drive coils 742 and 7444 are both energized and driven in a counterclockwise direction (counterclockwise).
- the drive coils 7 4 1, 7 4 3 and the driven magnet 6 A, 16 A, 6 C, and 16 C are configured such that, when the movable table 1 is misaligned, the movable table 1 is individually energized to perform the misalignment correction operation, (control mode D 4).
- the control mode D4 is an example of a control mode for moving the movable table 1 in the negative direction of the Y axis (see FIG. 57).
- Fig. 58 shows an example of each control mode D5 to D8 when the movable table 15 is transferred in the direction of each of the four quadrants on the XY plane coordinates. ).
- the control mode D5 is an example of a control mode for moving the movable table 1 in the direction of the first quadrant on the XY plane coordinates (see FIG. 58).
- control mode D5 the eight driven magnets 6A to 6D and 16A to 16D are set in a state in which energization control can be performed simultaneously.
- the energizing direction (setting of magnetic poles N and S) is fixed as in the case of each of the control modes D1 to D4.
- the driven magnets 6 A and 6 B arranged in the positive direction on the X axis and the Y axis have end faces facing the coil sides 741 a and 742 a of the respective rectangular drive coils.
- N-pole is set.
- the driven magnets 6 C and 6 D arranged in the negative direction on the X axis and the Y axis have end faces facing the coil sides 743 a and 7444 a of the respective rectangular drive coils. Set to S pole.
- the driven magnets 16 A and 16 B arranged in the positive direction on the X axis and the Y axis face the coil sides 7 4 1 b and 7 4 2 b of the respective rectangular drive coils.
- the end face is set to S pole.
- the driven magnets 16 C and 16 D arranged in the negative direction on the X-axis and the Y-axis have N-shaped end faces facing the rectangular drive coils 7 4 3 b and 7 4 4 b, respectively.
- the pole is set.
- the same energization control (the energization direction is counterclockwise) is performed as if the control modes D1 and D3 were simultaneously operated. Therefore, an electromagnetic driving force in the same direction (positive direction of the X-axis and positive direction of the Y-axis) as in the case of the control modes Dl and D3 is generated at the same time, and the resultant force becomes the control mode D in FIG. 5 of Orient in the first quadrant as shown in the column.
- the movable table section 15 is transported in the direction of the first quadrant on the XY plane coordinates. .
- the transfer angle 0 (transfer direction) in the direction of the first quadrant with respect to the X axis is determined by the drive coils 7 41 1 to 744 and the driven magnets 6 A to 6 D and 16 A to 16 D, respectively.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D can be changed, and thereby, can be variably set in any direction.
- This control mode D6 shows an example of a control mode for moving the movable table 1 in the direction of the third quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 58).
- control mode D6 the eight driven magnets 6A to 6D and 16A to 16D are set in a state in which energization control can be performed simultaneously, and the magnetic poles N and S are set in the control modes described above.
- the settings are the same as those for D1 to D5.
- each coil side 74 1 a, 74 lb, 7 42 a, 74 42 b, 74 3 a, 74 3 b, 744 a, and 744 b part of each square drive coil 74 1 to 744
- the same power control as that in which the control modes D2 and D4 are operated simultaneously (all the power supply directions are clockwise) is performed. Therefore, a reaction force (electromagnetic driving force) in the same direction (leftward and downward in FIG. 58) as in the case of the control modes D2 and D4 is simultaneously generated, and the resultant force is 58th. It is oriented in the third quadrant as shown in the control mode D6 column in the figure. As a result, the movable table 15 is transferred in the direction of the third quadrant on the XY plane coordinates.
- the transfer angle 0 (transfer direction) in the direction of the third quadrant with respect to the X axis is Shaped drive coils 7 4 1 to 7 44 and each of driven magnets 6 A to 6 D by individually and variably controlling the magnitude of the energizing current of 6 A to 6 D and 16 A to 16 D. , 16A to 16D by changing the electromagnetic driving force acting on it, and thereby can be variably set in any direction.
- the control mode D7 shows an example of a control mode for moving the movable table 1 in the direction of the second quadrant on the XY plane coordinates (see FIG. 58).
- control mode D7 the eight driven magnets 6A to 6D and 16A to 16D are simultaneously energized and controlled, and the magnetic poles N and S are controlled by the control modes D1 to! It is fixed as in the case of 36.
- the rectangular drive coils 74 1 to 744 on the X-axis are clockwise in the same manner as in the case of the control mode D2 (see FIG. 58).
- the rectangular drive coils 742 and 744 on the Y axis pass counterclockwise (counterclockwise in Fig. 58) in the same manner as in control mode D3. It is designed to be driven.
- each coil side 741a, 741b, 742a, 742b, 743a, 743b of each square drive coil 741-1744. , 7444a and 724b the same energization control as when the control modes D2 and D3 are simultaneously operated is performed. Therefore, an electromagnetic driving force in the same direction as the control modes D2 and D3 (leftward and upward in FIG. 58) is simultaneously generated, and the resultant force is equal to the control mode D in FIG. Orient in the second quadrant as shown in column 7. Thereby, the movable table section 15 is transferred in the direction of the second quadrant on the XY plane coordinates.
- the transfer angle ⁇ (transfer direction) in the direction of the second quadrant with respect to the X axis is determined by the shape of each of the driving coils 741 to 7444 and each of the driven magnets 6A to 6D, 16A to 16D.
- the electromagnetic drive force acting on each of the driven magnets 6A to 6D and 16A to 16D is changed by individually and variably controlling the magnitude of the current flowing through the magnets, thereby changing the transfer direction. It can be set in any direction.
- This control mode D8 is an example of a control mode for moving the movable table section 15 in the direction of the fourth quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). (See Figure 58).
- control mode D8 the four driven magnets 6A to 6D and 16A to 16D are simultaneously energized, and their magnetic poles N and S are controlled by the control modes D1 to D7. It is fixed as in the case.
- the respective ways shaped drive coil 7 4 1-7 4 4, c the current driving direction from that of the control mode D 8 are all set in the opposite direction, that is, towards the X-axis shape
- the drive coils 741 and 743 are energized and driven counterclockwise (counterclockwise in Fig. 58) in the same manner as in the case of the control mode D1, and the rectangular drive coils 742, As in the case of the control mode D 4, the power is driven in the clockwise direction (clockwise in FIG. 58).
- each coil side 741a, 741b, 742a, 742b, 743 of each of the rectangular drive coils 741-1744 In the a, 743b, 7444a, 7444b portions, the same energization control as when the control modes D1 and D4 are simultaneously operated is performed, and in the case of the control modes D1, D4. Electromagnetic driving force in the same direction as in Fig. 58 (rightward and downward in Fig. 58) is generated at the same time, and the resultant force is applied in the direction of the fourth quadrant as shown in the column of control mode D8 in Fig. 58. Pointed. Thereby, the movable table 1 5 is transferred in the direction of the fourth quadrant on the XY plane coordinates.
- the transfer angle ⁇ (transfer direction) in the fourth quadrant direction with respect to the X axis is determined by the drive coils 741 to 744 and the driven magnets 6A to 6D and 16A to 16D for each shape.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D and 16A to 16D is changed by individually and variably controlling the magnitude of the conduction current, so that it can be freely moved in any direction. Can be set variably.
- the configuration of the square drive coils 741 to 7444 is the same as that of the second embodiment.
- the driving coils 7 21 1 to 7 24 are greatly simplified as compared with the driving coils 7 2 1 to 7 2 4, and the wiring of the driving coils 7 4 1 to 7 4 4 is simplified. It is possible to improve the productivity and durability as compared with the case of the first embodiment, and it is also said that the responsiveness is improved because the control of the energization of the drive coils 74 1 to 744 is simplified. There are advantages.
- each of the driven magnets 6 A to 6 D and 16 A to 16 D is twice as large as that in the first embodiment, the output of the electromagnetic driving force can be strengthened. There is also an advantage that the moving table 1 can be moved quickly.
- the electromagnetic drive means 144 when setting the transfer direction of the movable table section 15, the case where the electromagnetic drive means 144 is driven and controlled in the control modes D 1 to D 8 is exemplified.
- the energization directions of the driven magnets 6A to 6D and 16A to 16D are set in the opposite directions to those in the control mode D1, and the drive coil 7 4 If the function is the same, such as setting the energizing direction of 1, 7 4 3 to the same as the control mode D 1 ,... "
- the electromagnetic drive means 144 may be driven and controlled by the control method described above.
- the driven magnets 6A to 6D and 16A to 16D are mounted and the places where the rectangular drive coils 741 to 7444 are mounted are interchanged.
- the driven magnets 6A to 6D and 16A to 16D are provided on the stator side, and the square drive coils 741 to 7444 are provided on the mover side. .
- the driven magnets 6A to 6D and 16A to 16D are constituted by electromagnets is exemplified, but this may be constituted by permanent magnets.
- this may be constituted by permanent magnets.
- the running cost of the entire device can be greatly reduced, and the drive control of the electromagnetic drive means 4 can be performed only by controlling the switching of the energizing direction of the plurality of rectangular drive coils 741 to 7444.
- the movable table 1 can be moved and driven in any direction. Therefore, a quick response can be achieved when the moving direction of the movable table 1 is switched, and there is no occurrence of disconnection accidents of the driven magnets 6A to 6D.
- the advantage is that it can be greatly improved.
- another electromagnetic driving means 144 is provided in place of the electromagnetic driving means 142 in the first embodiment, and at the same time, the electromagnetic driving means 144 is efficiently used.
- the feature is that an operation control system 205 for good driving is provided in place of the operation control system 202.
- the electromagnetic driving means 144 in the present embodiment is the same as the four day-shaped driving coils 7 2 1, 7 2 2, 7 2 provided in the electromagnetic driving means 14 2 in the first embodiment. 3 and 7 2 4 were mounted on the fixed plate 8 in a state of being rotated 90 °, respectively, and these were designated as day-shaped drive coils 75 1, 75 2, 75 3 and 75 4.
- a feature is that a rotation control function (control modes 9 and 10) is newly added to the control contents of the operation control system 205.
- the eleventh embodiment is provided with a new drive means for rotating the movable table 1 within a limited range, which was impossible in the first embodiment. It was possible without.
- the fifteenth embodiment has a movable table 15 for precision work, which is provided so as to be movable in any direction on the same surface.
- a table holding mechanism 2 that permits the movement of the movable table section 15 and holds the movable table section 15 and has a function of returning the movable table section 15 to its original position;
- a case body 3 as a main body for supporting the table, and electromagnetic driving means 14 provided on the case body 3 and applying a moving force in a predetermined direction to the movable table 15 in response to an external command.
- electromagnetic driving means 14 provided on the case body 3 and applying a moving force in a predetermined direction to the movable table 15 in response to an external command.
- the movable table section 15 is, as in the above-described embodiments, a movable table 1 for precision work, and is parallel to the movable table 1 at a predetermined interval and on the same central axis. And an auxiliary table 5 arranged integrally. Then, as shown in FIG. 5, the table holding mechanism 2 is provided on the auxiliary table 5 side, and is configured to hold the movable table 1 via the auxiliary table 5.
- the main part of the electromagnetic driving means 144 is held on the case body 3 side, and a predetermined moving force (driving force) is applied along the transfer direction of the movable table part 15 in response to a command from the outside. It has the function to do.
- the electromagnetic driving means 145 is disposed between the movable table 1 and the auxiliary table 5.
- the electromagnetic driving means 144 includes four driving coils 751, 752, 753, 754 formed in the shape of a sun, and each driving coil 755.
- the above-mentioned letter-shaped drive coils 751-754 for each day are assumed to have the inner coil sides 751a-754a at the center and the center on the fixed plate 8 as the origin. In the state of being superimposed along each axis on the X-Y plane, they are individually arranged on the X axis and the Y axis.
- the electromagnetic driving force is output in a direction orthogonal to each of the inner coil sides 751a to 754a (that is, the X axis or the Y axis).
- the movable table 1 is rotationally driven within a predetermined range by variably controlling the direction of the current supplied to each of the inner coil sides 751 a to 754 a in accordance with the purpose.
- the four driven magnets 6A to 6D are configured by electromagnets that can be controlled from the outside. Corresponding to the coil sides 751a to 754a, they are individually arranged on the X-axis and on the Y-axis.
- the fixed plate 8 is disposed on the movable table 1 side of the auxiliary table 5 and is held by the case body 3.
- Each of the letter-shaped drive coils 75 1 to 75 4 and the fixed plate 8 constitute a stator portion, which is a main part of the electromagnetic drive means 4.
- the character-shaped driving coils 75 1 to 75 4 for each day are respectively connected to the driven magnets 6 A to 6 D with the driven magnets 6 A to 6 D.
- An electromagnetic driving force is generated to repel D in a direction perpendicular to each of the inner coil sides 751a to 754a (ie, a direction perpendicular to the corresponding X axis or Y axis).
- the transfer of the movable table portion 15 is performed with the resultant force of the electromagnetic driving force on at least two or more of the driven magnets 6A to 6D.
- non-magnetic metal parts are provided on the inner coil sides 751a to 754a facing the driven magnets 6A to 6D of the character-shaped drive coils 751 to 754 for each day.
- a braking plate 9 made of is disposed near (almost in contact with) the magnetic pole surfaces of the driven magnets 6A to 6D. This braking plate 9 ⁇
- one sheet is used, and a part or all of its periphery is fixed to the case main body 3.
- the four driven magnets 6A to 6D constituting a part of the electromagnetic driving means 145 are, as shown in FIG. 60, end faces of the magnetic poles (the driving coils 75 1 to 7).
- An electromagnet with a rectangular shape on the side facing each inner coil side 7 5 1 a to 7 5 4 a) is used from the center on the X-Y plane assumed on the upper surface of the auxiliary table 5. They are arranged and fixed on the X-axis and Y-axis at equidistant positions, respectively.
- a predetermined operating current is applied to a part or all of the four driven magnets 6A to 6D, and each of the driven magnets 6A to 6D is brought into an operating state.
- the respective drive coils 751 to 754 are set to the operating state according to the predetermined control mode, and the energization is started.
- the magnitude of the magnetic force of each of the driven magnets 6A to 6D including each of the driving coils 751 to 754 is adjusted by energization control, whereby the movable table 15 is moved to a predetermined position. Transported in the direction.
- four square-shaped drive coils 751 which form the main part of the electromagnetic drive means 144, are composed of two rectangular small coil parts. It is composed of a combination of K a and K b, and is configured in the shape of the sun as a whole.
- the direction of the current (one side) is always applied to the coil side (the inner coil side 751a to 7554a) where the two rectangular small coil parts Ka and Kb abut each other.
- the current flowing in the coil side of the contacting part of the other rectangular small coil part Direction) is controlled to be the same direction. For this reason, when the direction is changed, the energization directions in the two small rectangular coil portions Ka and Kb change simultaneously.
- the energizing direction of each of the four driven magnets 6A to 6D made of electromagnets is specified in advance as described later, so that each of the four Each of the inner coil sides of the V-shaped drive coils 7 5 1 to 7 5 4
- the energizing direction and energizing current of the portions 7 51 a to 7 54 a (including energizing stop control) Force
- the movable table 1 The setting is controlled by the operation control system 205 corresponding to the transfer direction of No. 5.
- the driven magnets 6A to 6D are pressed in a predetermined direction (directions orthogonal to the inner coil sides 751a to 754a, respectively) according to Fleming's left-hand rule.
- An electromagnetic force reaction force
- the resultant force of the electromagnetic driving forces generated in the four driven magnets 6A to 6D can be moved.
- the moving direction can be adjusted to the transfer direction of the table section 15, and the moving force can be applied to the movable table section 15 in any direction on the XY plane.
- each of the drive coils 751 to 754 is on the outside and inside on the same surface of each of the drive coils 751 to 754.
- a magnetic material such as a ferrite may be charged and equipped at a height of and within a range including the operating range of the driven magnets 6A to 6D.
- the movable table unit 1 is controlled by individually controlling the energization of the letter-shaped drive coils 75 1 to 75 4 and the four driven magnets 6 A to 6 D.
- An operation control system 205 that regulates the moving operation of 5 is provided along with the electromagnetic driving means 144 (see FIG. 61).
- the operation control system 205 individually sets and maintains the magnetic poles of the driven magnets 6A to 6D provided corresponding to the character-shaped driving coils 751 to 754 of the respective days.
- It has a table operation control function that adjusts the transfer direction and transfer force to the movable table section 15 while adjusting. .
- the operation control system 205 performs the various functions, as shown in FIG. 61, as shown in FIG. Table drive control means 2 15 for individually driving the four and four driven magnets 6 A to 6 D according to a predetermined control mode to control the movement of the movable table part 15 in a predetermined direction;
- Table drive control means 2 15 for individually driving the four and four driven magnets 6 A to 6 D according to a predetermined control mode to control the movement of the movable table part 15 in a predetermined direction;
- a plurality of energization control modes provided along with the table drive control means 2 15 and specifying the moving direction, the rotating direction, the amount of movement, and the like of the movable table 1 (10 1 in E 1 to E 10 in this embodiment)
- Control programs for each of the three control modes are stored. It has a program storage section 225 and a data storage section 23 storing predetermined data and the like used for executing each of these control programs.
- the table drive control means 2 15 has an operation command input unit 2 for commanding a predetermined control operation for the letter-shaped drive coils 75 1 to 75 4 and the four driven magnets 6 A to 6 D for each day. 4 are attached.
- the table drive control means 2 15 receives the position information after the movable table 1 is moved during the movement. The position information is detected by the position information detection means 25, subjected to arithmetic processing, and sent. ing.
- the various control functions of the operation control system 205 are comprehensively included in the plurality of control modes E1 to E10 of the program storage unit 225, and the operation command input unit 24 It operates and is executed based on any of the control modes E1 to E10 selected by a command from the operator input through the controller.
- the table drive control means 2 15 operates based on a command from the operation command input section 24, selects a predetermined control mode from the program storage section 2 25, and selects the character drive coil for each day. 7 5:! ⁇ 7 5 4 and the four main magnets 6 A ⁇ 6 D, which control the energization of a predetermined DC current, including the opening, to the driven magnets 6 A ⁇ 6 D. 5A is selected and set to 5 A, and each day's drive coil 7 51 to 7 54 and each of the four driven magnets 6 A to 6 D are simultaneously or according to a predetermined control mode (E 1 to E 10) And a coil selection drive control unit 215B for individually controlling the drive.
- the main controller 2 15 A also has a function of calculating the position of the movable table 1 based on input information from the position information detecting means 25 for detecting the table position or performing various other calculations. Have at the same time.
- No. 4G is a power supply circuit for supplying a predetermined current to the letter-shaped driving coils 75 1 to 75 4 and the four driven magnets 6 A to 6 D of each day of the electromagnetic driving means 14 5. The road section is shown.
- the table drive control means 215 is provided with a character drive coil 7 for each day of the electromagnetic drive means 145 in accordance with a predetermined control program (predetermined control mode) stored in advance in a program storage unit 225.
- a predetermined control program predetermined control mode
- the configuration is such that the driven magnets 5A to 754 and the four driven magnets 6A to 6D are individually controlled with a predetermined relationship.
- the energizing directions of the four driven magnets (electromagnets) 6A to 6D are individually specified, and the N pole or the S pole of the magnetic pole is specified.
- a control program for multiple magnets that individually and variably sets the magnitude of the energizing current including energizing stop, the energizing direction of each of these four driven magnets (electromagnets) 6A to 6D is specified, and the N pole of the magnetic pole is specified.
- the S pole (or energization stop) functions when set and the energizing direction of the four daily drive coils 7 51 1 to 7 54 corresponding to this is the magnitude of the energizing current.
- An energization control program for the drive coil for variably setting is stored. At the same time, the operation timings of these energization control programs are organized and stored in ten sets of control modes E1 to E10 (see FIGS. 62 to 64).
- each control mode E 1 for moving the movable table section 15 in the positive or negative direction of the X axis and in the positive or negative direction of the Y axis is shown.
- E4 shown as a chart.
- the direction of the direct current to the character-shaped driving coils 751 to 754 for each day is individually variably controlled.
- the energizing direction of each of the four driven magnets (electromagnets) is set and controlled so that the N or S pole of each magnetic pole does not always change (fixed state) even if the energization control mode is different. I have.
- the magnetic poles at the end faces of the four driven magnets 6A to 6D opposed to the sun-shaped drive coils 751, 752 are driven magnets.
- 6A and 6B are set to the N pole
- the driven magnets 6C and 6D are set to the S pole, respectively.
- the control modes E1 to E4 are different, each of the driven magnets 6A to 6
- the magnetic pole of D is set and controlled to be fixed.
- the control mode E1 in the fifteenth embodiment is an example of an energization control mode for moving the movable table 1 in the positive direction of the X axis (see FIG. 62).
- the energizing direction of the sun-shaped drive coils 752 and 754 on the Y-axis is Y from the positive direction of the Y-axis at the inner coil side 752a of the sun-shaped drive coil 752. It is set and controlled in the direction toward the origin 0 along the axis. Similarly, at the inner coil side 7 5 4a of the sun-shaped drive coil 7 54, the direction from the negative direction of the Y axis toward the origin along the Y axis Settings are controlled.
- the end face of the driven magnet 6B on the Y-axis facing the inner coil side 752a is fixedly controlled to the N-pole, and the same applies to the Y-axis.
- the end face of the driven magnet 6D facing the inner coil side 754a is fixedly controlled to the S pole.
- the coil sides 752a and 754a of the drive coils 752 and 754 are within the coil sides 752a and 754a (the left direction in the figure: the dotted line). (Shown by arrows) A predetermined electromagnetic force is generated, and at the same time, the reaction force (generated by fixing the sun-shaped drive coils 752 and 754) causes the driven magnets 6B and 6D to move.
- the movable table portion 15 is repelled in the direction indicated by the solid arrow (rightward in the figure), and the movable table 15 moves on the X-axis based on the balance of the electromagnetic driving force generated by the two driven magnets 6B and 6D. Transported in the positive direction.
- the transfer direction is shifted, the magnitude of the current supplied to the two driven magnets 6B and 6D or the driving coils 752 and 754 is adjusted. , 6D, the balance of the electromagnetic driving force generated is maintained, and the shift in the transfer direction is corrected.
- This control mode E2 is an example of a control mode for moving the movable table 1 in the negative direction of the X axis (see FIG. 62).
- control mode E2 the energization direction of the coil sides 752a and 754a of the drive coils 752 and 754 on the X axis is reversed compared to the control mode E1. Is different. Others are the same as those in the control mode E1.
- the coil sides 7 21 a and 7 24 a of the drive coils 75 2 and 75 4 have the same principle as that of the control mode E 1 in the opposite direction to that of the control mode E 1.
- An electromagnetic force is generated, and the reaction force causes the driven magnets 6A and 6C to be repelled in the directions indicated by solid arrows (leftward in the figure), respectively.
- the movable table 15 is transferred in the negative direction on the X axis.
- the control mode E3 is an example of an energization control mode for moving the movable table 1 in the positive direction of the Y axis (see FIG. 62).
- the sun-shaped drive coils 751, 753 on the X-axis and the correspondingly driven magnets 6A, 6C mounted thereon are energized and controlled in the Y-axis.
- the energization stop control is performed for the upper-shaped letter-shaped drive coils 752, 754, and the correspondingly mounted driven magnets 6B, 6D.
- the energizing direction of the sun-shaped driving coils 751, 753 on the X-axis is based on the origin along the X-axis at the inner coil side 751a of the sun-shaped driving coil 751, The setting is controlled in the direction from 0 direction to the positive direction.
- the sun-shaped drive coil 753 a part of the inner coil side 753 a section is set along the X axis to the direction from the origin 0 direction to the negative direction. Is done.
- the end face of the driven magnet 6A on the X-axis facing the inner coil side 751a is fixed to the N-pole, and the driven magnet on the X-axis is also controlled.
- the end face of the magnet 6C facing the inner coil side 753a is fixedly controlled to the S pole.
- a predetermined electromagnetic force is generated in the coil sides 75la and 753a.
- the reaction force (which occurs because the sun-shaped drive coils 751, 753 are fixed) causes the driven magnets 6A, 6C to move in the direction indicated by the solid arrows (upward in the figure).
- the movable table portion 15 is moved in the positive direction on the Y axis under the balance of the electromagnetic driving force generated in the two driven magnets 6A and 6C.
- the control mode E4 is an example of a power supply control mode for moving the movable table 1 in the negative direction of the Y axis (see FIG. 62).
- control mode E4 the energizing direction of the coil sides 751a and 753a of the drive coils 751 and 753 on the X axis is reversed compared to the case of the control mode E3. Is different. Others are the same as those in the control mode E3.
- the coil sides 751a and 753a of the drive coils 751 and 753a have the same principle as that of the control mode E3 in the opposite direction to that of the control mode E3.
- the driven magnets 6 A and 6 C are repulsively driven in the directions indicated by solid arrows (downward in the figure), respectively, by the reaction force, and the two driven magnets 6 A and 6 C
- the movable table 15 is moved in the negative direction on the Y-axis based on the balance of the electromagnetic driving force generated at the time. When the movable table 1 is displaced, the same correction operation as in the case of the control mode B3 is performed.
- Fig. 63 shows an example of each control mode E5 to E8 when the movable table 15 is transferred in the direction of each of the four quadrants on the XY plane coordinates. ).
- the setting is made such that the direction of the direct current to the letter-shaped driving coils 75; Regarding the energization direction of each of the four driven magnets (electromagnets), the N pole or S pole of each magnetic pole is set and controlled so that it does not always change even if the control mode is different (fixed state).
- Control mode E 5 is an example of an energization control mode for moving the movable table 1 in the direction of the first quadrant on the XY plane coordinates (the sixth mode). See figure).
- the four driven magnets 6A to 6D are simultaneously energized, and their energization directions (magnetic poles N and S) are the same as in the control modes E1 to E4.
- Fixed That is, the driven magnets 6 A and 6 B arranged in the positive direction on the X axis and the Y axis have N-pole end faces facing the letter-shaped drive coils 75 1 and 75 2 for each day. Is set to The driven magnets 6C and 6D arranged in the negative direction on the X-axis and Y-axis have the S-pole at the end face facing the letter-shaped driving coils 753 and 754 for each day. Is set.
- the four day-shaped drive coils 751-754 are simultaneously energized.
- the control modes E1 and E3 were simultaneously activated on the respective inner coil sides 751a to 754a of the letter-shaped drive coils 751 to 754 on each day.
- the same energization control as described above is performed. Therefore, an electromagnetic driving force in the same direction (rightward and upward in FIG. 63) as that in the control modes El and E3 is simultaneously generated, and the resultant force is equal to the control mode in FIG. It is oriented in the first quadrant as shown in column E5.
- the movable table section 15 is transferred in the direction of the first quadrant on the XY plane coordinates.
- the transfer angle ⁇ in the first quadrant direction with respect to the X-axis (the angle 0 with respect to the X-axis) is the letter-shaped drive coil 75 1 to 75 4 of each day and each driven magnet 6 A to 6 D
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D is changed, whereby the magnet can be variably set in any direction.
- Control mode E 6 is an example of an energization control mode for moving the movable table 1 in the direction of the third quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). This is shown in Figure 63.
- the energization control equivalent to the simultaneous operation of the control modes E2 and E4 is also performed on the letter-shaped drive coils 751 to 754 of each day.
- the electromagnetic driving force in the same direction (leftward and downward in FIG. 63) as in the control modes E2 and E4 is applied.
- the resultant force is directed in the direction of the third quadrant as shown in the column of the control mode E6 in FIG.
- the movable table 15 is transferred in the direction of the third quadrant on the XY plane coordinates.
- the transfer angle 0 in the direction of the third quadrant with respect to the X-axis is determined by the magnitude of the current flowing through each of the letter-shaped driving coils 75 1 to 7 54 and each of the driven magnets 6 A to 6 D on each day.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D is changed by variably controlling the driven magnets 6A to 6D.
- the control mode E7 is an example of an energization control mode for moving the movable table 1 in the direction of the second quadrant on the XY plane coordinates (see FIG. 63).
- control mode E7 the four respective day-shaped drive coils 751-7554 are simultaneously energized and driven. More specifically, the control modes E2 and E3 are simultaneously activated on the respective coil sides 751a to 754a of the letter-shaped drive coils 751 to 754 of each day. The same energization control as that performed is performed.
- the transfer angle 0 in the direction of the second quadrant with respect to the X-axis is determined by the magnitude of the current flowing through each of the letter-shaped driving coils 75 1 to 7 54 and each of the driven magnets 6 A to 6 D on each day.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D is changed by variably controlling the driven magnets 6A to 6D, so that the magnets can be variably set in any direction.
- This control mode E8 is an example of a control mode for moving the movable table section 15 in the direction of the fourth quadrant on the XY plane coordinates (the direction opposite to the direction of the first quadrant). This is shown in Figure 63.
- control mode E8 the control modes E1 and E4 are simultaneously performed in the respective coil sides 751a to 754a of the character-shaped drive coils 751 to 754 of each day.
- the same energization control as when it was activated is performed.
- the same orientation (rightward and downward in FIG. 63) as in the case of the control modes El and E4 is used.
- An electromagnetic driving force is generated at the same time, and the resultant force is directed to the direction of the fourth quadrant as shown in the column of the control mode E 8 in FIG.
- the movable table 15 is transferred in the direction of the fourth quadrant on the XY plane coordinates.
- the transfer angle 0 in the direction of the fourth quadrant with respect to the X-axis is determined by the magnitude of the current flowing through the letter-shaped driving coils 75 1 to 75 4 and the driven magnets 6 A to 6 D on each day.
- the electromagnetic driving force acting on each of the driven magnets 6A to 6D is changed, so that the magnet can be variably set in any direction.
- the control mode E 9 enables the movable table 1 to be rotated counterclockwise (counterclockwise) at a predetermined angle on the XY plane, and shows an example of an energization control mode for that purpose. (See Figure 64).
- the magnetic poles N and S of the driven magnets 6A to 6D are set to be the same as those of E1 to E8.
- the sun-shaped drive coils 751 to 754 are centered on the origin (point 0) on the XY plane with respect to the corresponding four driven magnets 6A to 6D. Energization is controlled so that predetermined moments of the same level (rotational driving force in the direction orthogonal to the X-axis or Y-axis) are generated in the counterclockwise direction, respectively (see Fig. 64). .
- the energizing direction is set from the origin 0 direction on the X axis to the positive direction on the inner coil side 7 51 a of the drive coil ⁇ ⁇ 51 on the X axis. 7 5 3 Inner coil side 7 5 3 A part has negative direction on X axis
- the direction of energization is set and controlled from 0 to the origin 0 direction.
- the energizing direction is set from the origin 0 direction on the Y-axis toward the positive direction on the inner coil side 752 a of the drive coil 752 on the Y-axis.
- the energization direction is set and controlled from the negative direction on the Y axis to the origin 0 direction on the inner coil side 7554a.
- the magnitudes of the flowing currents are set to be the same so that the same electromagnetic force can be output to the driven magnets 6A to 6A. ing.
- each driven magnet 6 A to 6 D is repelled in the direction indicated by the solid arrow (counterclockwise in the figure), and balances the electromagnetic driving forces (predetermined rotational moments at the same level) generated by these four driven magnets 6A to 6D.
- the movable table part 15 is driven to rotate counterclockwise on the XY plane (within a predetermined range).
- This control mode E10 enables the movable table section 15 to be driven to rotate at a predetermined angle in the clockwise direction (clockwise) on the XY plane.
- An example of the control mode for that purpose is as follows. (See Figure 64).
- the four driven magnets 6A to 6D are simultaneously energized.
- the magnetic poles N and S of the driven magnets 6A to 6D are set to be the same as those of E1 to E9.
- the sun-shaped drive coils 751-754 are centered on the origin (point 0) on the XY plane with respect to the corresponding four driven magnets 6A-6D. Energized in the opposite direction to the control mode E9 so that the specified moment (rotational driving force in the direction orthogonal to the X axis or Y axis) at the same level is generated in the clockwise direction (clockwise), respectively. It is being controlled.
- a predetermined electromagnetic wave indicated by a dotted arrow is included in the coil side 751a to 754a.
- a driving force is generated, and at the same time, the reaction force (generated by fixing the sun-shaped driving coils 75 1 to 75 4 to the fixed plate 8) causes each driven magnet 6 A to 6 D to be driven.
- the movable table section 15 is driven to rotate clockwise (within a predetermined range) on the XY plane under the balance of the above.
- each electromagnetic driving force output by the moving means can be output in a direction orthogonal to the X axis or the Y axis and in a rotating direction
- the movable table section can be provided without separately providing a new rotating driving means. This has the advantage that it can be driven to rotate within a predetermined angle with respect to, and its general use can be further enhanced.
- the electromagnetic drive means 1 45 when setting the transfer direction of the movable table section 15, the case where the electromagnetic drive means 1 45 is drive-controlled separately in the control modes of E 1 to E 10.
- the energizing directions of the driven magnets 6A to 6D are set in the opposite directions to those in the control mode E1, and the drive coils 751, 753
- the electromagnetic drive means 145 may be driven and controlled by another control method as long as the function is the same, for example, by setting the energizing direction of the same as that in the control mode E 1.
- the installation location of the driven magnets 6A to 6D and the installation location of the sun-shaped drive coils 751 to 754 may be interchanged.
- the driven magnets 6A to 6D are provided on the stator side, and the sun-shaped drive coils 751 to 754 are provided on the mover side.
Abstract
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2004524309A JPWO2004012260A1 (ja) | 2002-07-30 | 2003-07-30 | 精密加工用ステージ装置 |
US10/512,866 US6992407B2 (en) | 2002-07-30 | 2003-07-30 | Precision machining stage equipment |
EP03771421A EP1548819A4 (en) | 2002-07-30 | 2003-07-30 | APPARATUS WITH PRECISION MACHINING STEPS |
AU2003252723A AU2003252723A1 (en) | 2002-07-30 | 2003-07-30 | Prcision machining stage equipment |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002-221545 | 2002-07-30 | ||
JP2002221545 | 2002-07-30 |
Publications (1)
Publication Number | Publication Date |
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WO2004012260A1 true WO2004012260A1 (ja) | 2004-02-05 |
Family
ID=31184864
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/009641 WO2004012260A1 (ja) | 2002-07-30 | 2003-07-30 | 精密加工用ステージ装置 |
Country Status (6)
Country | Link |
---|---|
US (1) | US6992407B2 (ja) |
EP (1) | EP1548819A4 (ja) |
JP (1) | JPWO2004012260A1 (ja) |
CN (1) | CN1311537C (ja) |
AU (1) | AU2003252723A1 (ja) |
WO (1) | WO2004012260A1 (ja) |
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CN103196409A (zh) * | 2013-03-08 | 2013-07-10 | 成都成保发展股份有限公司 | 汽车悬架转向系间隙检查台 |
CN104723121A (zh) * | 2015-04-07 | 2015-06-24 | 天津市裕泰机械有限责任公司 | 一种可旋转夹具 |
JP2020534776A (ja) * | 2017-09-20 | 2020-11-26 | メインスプリング エナジー, インコーポレイテッド | 電磁マシン用の自動制動 |
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WO2021226652A1 (en) * | 2020-05-15 | 2021-11-18 | Australian National University | Electromagnet |
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CN116540503B (zh) * | 2023-07-03 | 2023-10-24 | 之江实验室 | 一种激光直写样品的固定装置及工作方法 |
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CN103196409A (zh) * | 2013-03-08 | 2013-07-10 | 成都成保发展股份有限公司 | 汽车悬架转向系间隙检查台 |
CN104723121A (zh) * | 2015-04-07 | 2015-06-24 | 天津市裕泰机械有限责任公司 | 一种可旋转夹具 |
TWI721247B (zh) * | 2017-03-10 | 2021-03-11 | 日商Hoya股份有限公司 | 顯示裝置製造用光罩、及顯示裝置之製造方法 |
TWI777402B (zh) * | 2017-03-10 | 2022-09-11 | 日商Hoya股份有限公司 | 顯示裝置製造用光罩、及顯示裝置之製造方法 |
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Also Published As
Publication number | Publication date |
---|---|
CN1672254A (zh) | 2005-09-21 |
JPWO2004012260A1 (ja) | 2005-11-24 |
AU2003252723A1 (en) | 2004-02-16 |
CN1311537C (zh) | 2007-04-18 |
AU2003252723A8 (en) | 2004-02-16 |
EP1548819A1 (en) | 2005-06-29 |
US20050219025A1 (en) | 2005-10-06 |
US6992407B2 (en) | 2006-01-31 |
EP1548819A4 (en) | 2007-05-02 |
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