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Position control device of worktable

A positioning control and workbench technology, applied in position/direction control, control using feedback, digital control, etc., can solve problems such as difficult proportion, synchronous control, control limitations, difficult positioning, etc., and achieve high-precision positioning and smooth The effect of position control and control method simplification

Inactive Publication Date: 2008-10-29
IWASAKI SYST
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

When the method based on the above-mentioned 3-axis XYθ control is applied to such a large-scale mobile table, there is a problem with the positioning accuracy of the mobile table. Deterioration in the Y direction, especially at positions away from the drive shaft
[0005] However, in the control method described above, the four linear drive units are simultaneously driven in proportion to the moving speeds of the four support units in proportion to the axis movement target value, so that the movement start time and end time of the four support units coincide, Therefore, the ratio of the amount of movement between the four axes must be exactly the same as the calculated value and the amount of movement in the actual machine. For this reason, complex control is required.
In addition, for the speed control of one pulse or less in the linear drive unit (pulse control motor), there is a problem that it is difficult to accurately perform proportional and synchronous control between the axes.
In addition, due to calculation errors, mechanical errors, resolution errors, etc., conflicts between the axes are prone to occur, and in the case of high-speed movement, there are restrictions in control due to the speed-up of control calculations, high resolution, etc.
That is, in the case of the 4-axis XYθ control method of Patent Document 2, although a certain degree of mechanical rigidity can be compensated, it is difficult to perform high-precision positioning with high-speed operation

Method used

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  • Position control device of worktable
  • Position control device of worktable
  • Position control device of worktable

Examples

Experimental program
Comparison scheme
Effect test

Embodiment approach 1

[0024] figure 1 It is a partially broken plan view showing the structure of the positioning control device of the table in Embodiment 1 of this invention. In the first embodiment, an example in which XYθ control is performed on a movable table using four axes will be described.

[0025] The mobile workbench 10 has a uniform plane reference surface, which is supported by four support units 30 arranged on the workbench pedestal 20 at the support points A, B, C, and D at four positions, so that the reference surface is always horizontal . The support unit 30 has a rotating member 38 that rotates around a shaft 37, and rotatably supports the mobile table 10 by inserting the outer edge of the rotating member 38 into the hole 11 provided on the mobile table 10. The four support units 30 Drive control is performed by the respective motors M1 to M4.

[0026] figure 2 Although the detailed structure of the support unit 30 is shown, the support unit 30 has basically the same struct...

Embodiment approach 2

[0064] Figure 10 It is a partially broken plan view showing the structure of the positioning control device of the table in Embodiment 2 of this invention. This example shows the case where the rectangular movable table 10 is supported using the support points A to F of the six support units 30, and six axes are controlled by the motors M21 to M26. In this control method, for example, when the first positioning control is performed using three motors M21, M25, M26, during this period, other motors M22, M23, M24 perform torque control, and the motors M21, M25, M26 Use other motors M22, M23, M24 to perform positioning control before or just after the positioning control is completed. The operations of the motors M22 , M23 , and M24 during positioning control also start at the same time, and are performed asynchronously with each other.

[0065] in addition, Figure 11 Another example in which a vehicle is supported by six support points and controlled by six axes is shown. ...

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Abstract

When the positioning of a movable table is performed in four-axis control using four supporting means, asynchronous positioning control using three of the four axes is performed first with the other axis used for torque control. Immediately before or after the completion of the positioning using the three axes, the other axis is switched for positioning control and the final positioning to the target position is performed.

Description

technical field [0001] The invention relates to a positioning control device for a workbench based on multi-axis control, which is suitable for processing and assembling devices of high-precision electronic components, and performs precise positioning of the workbench. Background technique [0002] When assembling or forming electronic components on a high-definition circuit board, or processing a high-definition electronic component formed in a plate shape, or performing their measurement, it is necessary to set the position of the circuit board or plate-shaped component in advance. . The positioning for this purpose is performed by placing the circuit board or the plate-shaped electronic component on a horizontal movable table and controlling the drive of the table. Conventionally, Patent Document 1 discloses, for example, a positioning method of this table. This method uses three support units having axes for linear drive, supports a square movable table at three places...

Claims

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Application Information

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IPC IPC(8): B23Q1/44G05D3/00G05D3/12G12B5/00
CPCG12B5/00G05B19/19B23Q1/44G05D3/00G05D3/12
Inventor 山崎保
Owner IWASAKI SYST