JP2001158522A - Control device of vibration trough for supplying powder - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of a powder supply vibration trough that can convey powder having large adhesion with a small excitation force and spray the powder broadly with the small excitation force. SOLUTION: The amplifier 103a outputs current i13a corresponding to the value of an asymmetric waveform current command v12 outputted from an asymmetric waveform generator 102 to a shaker 104. The shaker 104, when receives the current i13, moves a vibration member 105 longitudinally with a force proportional to the value of the inputted current i13a. The force applied to the vibration member 105 is transmitted to a trough 106, and the trough 106 moves longitudinally. A sine wave generator 101a outputs a sine wave voltage v11a to an amplifier 103b. When the amplifier 103b receives the sine wave voltage v11a, the amplifier amplifies it to a sine wave voltage v13b and outputs it to a vibration device 110a. When the vibration device 110a receives the sine wave voltage v13b, it vibrates the trough 106 vertically.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control apparatus for a vibration trough for supplying powder, which vibrates a trough at an asymmetric acceleration in a longitudinal direction thereof and moves powder in the trough by vibration.

[0002]

2. Description of the Related Art FIG. 8 is a block diagram showing a configuration of a control device for a vibration trough for supplying powder. In this figure, reference numeral 802 denotes an asymmetric waveform generator that outputs a voltage signal (hereinafter, an asymmetric waveform current command) _v82 having an asymmetric waveform.
Here, the voltage signal whose waveform is asymmetric is a voltage signal whose voltage waveform is asymmetric with respect to a predetermined reference voltage value,
For example, the voltage signal shown in FIG. In FIG. 8, reference numeral 803a denotes an amplifier that outputs a current corresponding to the value of the input asymmetric waveform current command. Code 80
Reference numeral 4 denotes a vibrator for moving the vibration member 805 in the longitudinal direction with a force proportional to the current value.

[0003] The vibration member 805 is joined to the side surface of the trough 806, and applies a force applied to the vibrator 804 to the trough 806.
Tell The trough 806 is a trough joined to the vibration member 805, and has a U-shaped cross section as shown in FIG. FIG. 9 shows the trough 806 shown in FIG.
And the hopper 807 viewed from the side. In FIG. 8, a hopper 807 is a device for dropping a given amount of powder into a trough 806 by a fixed amount. Reference numeral 808 denotes the vibrator 8
It is a mount supporting 04.

[0004] The conventional powder supply vibrator configured as described above.
The operation of the control device for the moving trough is described below. Asymmetric waveform emission
The generator 802 has an asymmetric waveform current command v having the waveform shown in FIG.
₈₂Is output to the amplifier 803a.
Input asymmetric waveform current command v ₈₂Current corresponding to the value of
i_83aIs output to the vibrator 804. The shaker 804 is
Current i_83aIs input, the current i_83aForce proportional to the value of
Then, the vibration member 805 is moved in the longitudinal direction. Vibration member 80
5 is transmitted to the trough 806,
806 moves longitudinally. At this time, the trough 806 is added.
The speed a and the speed v are as shown in FIG.

[0005] At time T1 in FIG.
Is empowered to the right and moves to the right. At this time, trough 8
Since the size of the 06 acceleration a are as follows mu _s g, not slip in the powder occurs (the reason will be described later). Next, at time T2, the trough is forced to the left and moves to the left. At this time, since the magnitude of the acceleration a of the trough 806 exceeds μ _sg , the powder slips (the reason will be described later), and the powder moves to the right with respect to the trough 806. This moving distance corresponds to the area of the hatched portion in the figure, and is obtained as an integral value of the difference between the speed of the trough 806 and the speed of the powder.

Here, the force acting on the powder 800 (mass m) shown in FIG. 12 will be described. Powder 800 of FIG.
Is one of the powders on the trough 806, and all the powders on the trough 806 exert the same force as the powder 800. As shown in FIG. 12, the powder 800 has gravity, adhesion force (due to electrostatic force, intermolecular force, etc.), frictional force generated at the contact point between the upper surface of the trough 806 and the powder 800, and inertial force due to the movement of the trough 806. Works. In general, the coefficient of static friction μ _s is different from the coefficient of kinetic friction μ _k (generally, μ _s >
μ _k ), the movement of the powder is as follows depending on the magnitude of the inertial force. Here, the acceleration of the trough 806 is a, the gravitational acceleration is g, and the adhesive force generated on the powder 800 is C.
And

1) The inertia force (ma) is (maximum static friction force (μ
_(s mg) + adhesive force (C)) or less Inertia force and (static friction force + adhesive force) are balanced, the powder 800 rests on the trough 806, and does not move relative to the trough 806. Therefore, the powder 800 moves at the same speed and acceleration as the trough 806. Time T1 in FIG.
And T3 correspond to this case.

2) When the inertia force (ma) is (maximum static friction force (μ
_(s mg) + adhesive force (C)) Slip occurs between the powder 800 and the trough 806. Absolutely exercise force acts in mu _k mg + C to the powder 800, so that acceleration is μ _k g + C / m. Trough 806 and powder 80
Slip continues until the relative speed with zero becomes zero. FIG.
The section between time T2 and time T4 in this case corresponds to this case.

Therefore, at time T2 and T4, slip occurs between the powder 800 and the trough 806, and the powder 80
0 is trough 8 by a distance corresponding to the integral value of the speed difference.
06 on the right. The transfer of the powder is performed in this manner.

[0010]

Sliding of the powder [SUMMARY OF THE INVENTION] The maximum acceleration a _max of the trough 806 is generated when exceeding μ _s g + C / m. That is, if a _max ≦ μ _s g + C / m,
There is no slip between the powder and the trough 806, and the powder cannot be transported. Accordingly, when the coefficient of static friction μ _s is large, one method of generating a slip sufficient to counteract this is to set the maximum acceleration a _max of the trough 806 large. However, the particle size is small (10
(μm or less) The adhesive force generated on the powder becomes 10 times or more the gravity. Therefore, when this method is used, the maximum acceleration a _max of the trough 806 needs to be 10 times or more the gravitational acceleration g, and a large excitation force is required.

As another method, there is a method of reducing the coefficient of static friction. However, in order to reduce the coefficient of static friction, a material having a low friction is used for the trough 806, or a process for finishing the surface smoothly is performed. Need to increase the cost.

Further, the position of the powder that has slipped down on the trough is limited to a position immediately below the tip of the trough and in the vicinity thereof. Thus, for example, as shown in FIG.
When the control device of the powder supply vibrating trough shown in FIG. 8 is used to sprinkle the food on the belt conveyor with the seasoning (powder), the sprinkling position of the seasoning is biased. As a countermeasure, there is a method of increasing the acceleration given to the trough 806 and applying a large acceleration to the powder to expand the range of falling. In this case, the asymmetric waveform generator 802 is used.
Therefore, it is necessary to increase the capacity of the actuator, which leads to an increase in power consumption. The present invention has been made in view of the above, and an object of the present invention is to provide a powder capable of transporting a powder having a large adhesive force with a small vibrating force and also capable of dispersing the powder over a wide range. An object of the present invention is to provide a control device for a supply vibration trough.

[0013]

In order to achieve the above object, the present invention provides first vibrating means for vibrating a trough at an asymmetric acceleration in a longitudinal direction thereof, and vibrates powder in the trough. In the control device of the vibration trough for supplying powder which is moved by the
And a vibrating trough for powder supply.

The present invention is characterized in that, in the control apparatus of the vibration trough for supplying powder, a plurality of the second vibrating means are provided.

According to the present invention, in the control device for a vibration trough for supplying powder, the second vibrating means moves the trough up and down at a frequency corresponding to the frequency of the signal when a signal is input. And a periodic signal generating means for outputting a periodic signal to the vibrating device.

According to the present invention, in the control device for a vibration trough for supplying powder, the periodic signal generating means is a sine wave generator for outputting a signal having a sine wave to the vibrating device. I do.

According to the present invention, in the control device for a powder supply trough, the device further comprises a corrector for giving a predetermined phase difference to a signal input from the periodic signal generating means and outputting the signal to the vibration device. And

According to the present invention, there is provided a control device for a powder supply vibrating trough, comprising: first vibrating means for vibrating a trough at an asymmetric acceleration in a longitudinal direction thereof; and moving powder in the trough by vibration. And a third vibrating means for vibrating the trough in the longitudinal direction with vibration having a frequency lower than that of the vibration by the first vibrating means. is there.

According to the present invention, in the control apparatus for a vibration trough for supplying powder, the frequency of the vibration by the third vibrating means is approximately 1/10 of the frequency of the first vibrating means.
It is characterized by being.

According to the present invention, in the control device for a powder supply vibration trough, the first vibration means and the third vibration means move the trough in the longitudinal direction at an acceleration according to an input waveform. A vibrator, a trough displacement correction signal generating means for generating a low-frequency signal, an asymmetric waveform generator for generating an asymmetric waveform signal, and adding the low-frequency signal and the asymmetric waveform signal, And an adder for outputting to the shaker.

According to the present invention, in the above-mentioned powder supply vibration trough control device, the trough displacement correction signal generation means comprises:
It is a sine wave generator that outputs a signal whose waveform is a sine wave.

According to the present invention, in the control apparatus for a vibration trough for supplying powder, the trough displacement correction signal generating means includes:
A displacement detector that detects displacement of the trough, converts the result into a signal, and outputs the signal; a subtractor that subtracts a signal output by the displacement detector from a signal output by the sine wave generator; A compensator that calculates a shift in the center position of the displacement of the trough from a signal output from the compensator, and outputs a signal for statically and dynamically reducing the shift.

[0023]

FIG. 1 is a block diagram showing a configuration of a control device of a vibration trough for supplying powder according to a first embodiment of the present invention. In this figure, reference numeral 102 denotes an asymmetric waveform generator, reference numeral 103a denotes an amplifier, reference numeral 104 denotes a vibrator, reference numeral 105 denotes a vibrating member, reference numeral 106 denotes a trough, reference numeral 107 denotes a hopper, and reference numeral 108 denotes a gantry. Is the same as that of FIG.

The control device of the vibration trough for supplying powder shown in FIG. 1 is different from the control device of the vibration trough for supplying powder shown in FIG. 8 in that a sine wave generator 101a, an amplifier 103b,
The point is that the vibration device 110a is added. Sine wave generator 101a, the voltage waveform is a sine wave (hereinafter, sinusoidal voltage) to the v _{11 a} to the amplifier 103b. Amplifier 10
3b, when a sine wave voltage v _11a is input, a sine wave voltage v _13b amplifies it, and outputs the vibration device 110a.

When a voltage is input, the vibration device 110a applies a vertical force to the trough 106 according to the input voltage. In the case of the present embodiment, since the input voltage is a sine wave, the vibration device 110a vibrates the trough 106 continuously up and down. The frequency of the vibration is sufficiently larger than the frequency of the asymmetric waveform current command v ₁₂ an asymmetric waveform generator 102 outputs, and frequency or its a natural frequency of vibration in the vertical direction of the trough 106 It is a frequency near. Also, the upward force f _{1 applied} to the trough 106 by the vibrating device 110 a is slightly larger than the downward force D (electrostatic force, intermolecular force, etc.) acting on the powder other than gravity (FIG. 3). See).

The vibration device 110a uses, for example, a piezoelectric element. The piezoelectric element is an element such as a crystal, a Rochelle salt, or a crystal of barium titanate. When a force is applied to these piezoelectric elements, electric polarization occurs in proportion to the stress, and a voltage is generated (piezoelectric effect). When a voltage is applied to these crystals, they are distorted due to distortion (inverse piezoelectric effect) ). The vibration device 110a converts electric power into kinetic energy by utilizing such properties of the piezoelectric element. Further, the position where the vibration device 110a is installed is, for example, a position that becomes an antinode of the vibration wave when the trough 106 vibrates at a natural frequency.

Next, the operation of the control device for the vibration trough for supplying powder having the above configuration will be described. First, the asymmetric waveform generator 102, an amplifier 1 asymmetric waveform current command v ₁₂
03a. Amplifier 103a is a current i _13a corresponding to the input value of the asymmetric waveform current command v _12, and outputs to the vibrator 104. When the current i _13a is input, the vibrator 104 applies a force proportional to the current i _13a to the vibrating member 10.
5 is moved longitudinally. The force applied to the vibration member 105 is transmitted to the trough 106, and the trough 106 moves in the longitudinal direction.

On the other hand, the sine wave generator 101a outputs a sine wave voltage _v11a to the amplifier 103b. Amplifier 103b
Receives the sine wave voltage _v11a , amplifies it and outputs it to the oscillating device 110a as a sine wave voltage _v13b .
When the sine wave voltage _v13b is input, the vibration device 110a vibrates the trough 106 up and down.

FIG. 3 is a diagram showing the force acting on the powder on the trough 106 at this time. Magnitude of normal force acting on the powder as shown in this figure, a mg + D-f _1.
Therefore, the powder has an inertia force ma of ma> μ _s (mg + D−
f ₁ ) Slip occurs when ≒ μ _s mg. Therefore, FIG.
The control device of the powder supply vibration trough described in (1) can transfer the powder with a smaller excitation force than in the related art even when the powder has an adhesive force.

FIG. 2 is a block diagram showing a configuration of a control device for a vibration trough for supplying powder according to a second embodiment of the present invention. In this figure, reference numeral 101a denotes a sine wave generator, reference numeral 102 denotes an asymmetric waveform generator, reference numerals 103a and 103b denote amplifiers, reference numeral 104 denotes a vibrator, reference numeral 10
Reference numeral 5 denotes a vibration member, reference numeral 106 denotes a trough, reference numeral 107 denotes a hopper, reference numeral 108 denotes a gantry, reference numeral 110a denotes a vibration device, and these components are the same as those in FIG.

The control device for the vibration trough for supplying powder shown in FIG. 2 is different from the control device for the vibration trough for supplying powder shown in FIG. 1 in that the amplifier 103c, the vibration device 110b, and the phase / gain corrector 111 are different. It is an added point. The amplifier 103c amplifies and outputs the voltage input from the phase / gain corrector 111.

When a voltage is input, the vibration device 110b applies a vertical force to the trough 106 according to the input voltage. The configuration of the vibration device 110b is the same as that of the vibration device 11b.
Same as 0a. Further, as described later, in the case of the present embodiment, since the signal input to the vibration device 110b is also a sine wave, the vibration device 110b also vibrates the trough 106 continuously up and down. The frequency of the vibration is sufficiently larger than the frequency of the asymmetric waveform current command v ₁₂ an asymmetric waveform generator 102 outputs, and the frequency of the frequency or near the vertical vibration is the natural vibration of the trough 106.

Further, the upward force f _{1 applied} to the trough 106 by the vibration device 110a and the vibration device 110b
The sum of the upward force f ₂ applied to the 6, downward force D (electrostatic, intermolecular force and the like) working the powder other than the gravity of about a size. Furthermore, the position where the vibration device 110b is installed is, for example, a position where the vibration phase differs by 180 ° from the installation position of the vibration device 110a when the trough 106 vibrates at a natural frequency, when the trough 106 is antinode.

The phase / gain corrector 111 is a part of the vibration device 1
The phase and the gain of the sine wave given to 10b are corrected, and an appropriate phase difference and a gain difference are provided between the vibration devices 110a and 110b. The amounts of phase and gain correction are determined according to the positional relationship between the vibration devices 110a and 110b, the rigidity of the trough 106, and the vibration mode.

Next, the operation of the control device for the powder supply vibrating trough having the above configuration will be described. First, the asymmetric waveform generator 102, an amplifier 1 asymmetric waveform current command v ₁₂
03a. Amplifier 103a is a current i _13a corresponding to the input value of the asymmetric waveform current command v _12, and outputs to the vibrator 104. When the current i _13a is input, the exciter 104 moves the vibration member 105 in the longitudinal direction with a force proportional to the difference between the predetermined reference current value i ₁₀ and the value of the input current i _13a . The force applied to the vibration member 105 is
And the trough 106 moves longitudinally.

On the other hand, the sine wave generator 101a converts the sine wave voltage _v11a into an amplifier 103b and a phase / gain corrector _11a.
Output to 1. When the sine wave voltage v _11a is input, the amplifier 103b amplifies the sine wave voltage v _11a to obtain a sine wave voltage v _13b ,
Output to the vibration device 110a. When the sine wave voltage _v13b is input, the vibration device 110a vibrates the trough 106 up and down.

The phase gain corrector 111 corrects the phase and gain of the input sine wave voltage v _11a, outputs a sine wave voltage v ₂₁ to the amplifier 103c. In the case of the present embodiment, since the vibration phase differs by 180 ° between the installation positions, the phase of the sine wave voltage v ₂₁ is obtained by shifting the phase of the sine wave voltage v _11a by 180 ° by the phase / gain corrector 111. . Amplifier 103c, when a sine wave voltage v ₂₁ is input, a sine wave voltage v _13c amplifies it, exciter 1
Output to 10b. The vibration device 110b has a sinusoidal wave voltage v
_{When 13c} is input, the trough 106 is vibrated up and down.

At this time, the magnitude of the normal force acting on the powder is as follows:
mg + D− (f ₁ + f ₂ ), the powder has an inertial force m
Slip occurs when a is ma> μ _s (mg + D− (f ₁ + f ₂ )) ≒ μ _s mg. Therefore, the control device of the powder supply vibration trough shown in FIG. 2 can transfer the powder with a smaller excitation force than the conventional one even when the powder has an adhesive force. In the present embodiment, the number of the vibration devices is two, but may be three or more. In that case, the number of phase / gain correctors is one less than the number of vibrators,
The number of amplifiers that amplify the output of the sine wave generator and the phase / gain corrector is equal to the number of vibrators. In addition, by setting the phase and gain properly by the phase / gain corrector or setting the setting position of the vibration device properly, the vertical vibration waveform of the trough 106 is formed as a traveling wave or a standing wave over the entire trough. Stable vibration can be given.

In the first embodiment and the second embodiment, the frequency is sufficiently larger than the asymmetric waveform (for example, 10 times) in order to apparently reduce the friction coefficient generated between the powder and the trough 106. A symmetrical waveform whose amplitude is sufficiently smaller than the asymmetrical waveform (for example, 1/100) may be added to the asymmetrical waveform serving as the thrust of the trough 106, or the frequency may be asymmetrical in order to increase the displacement of the trough 106. A symmetrical wave that is sufficiently smaller (for example, 1/10) may be added to the asymmetrical waveform that is the thrust of the trough 106,
In order to spread the powder over a wide range without increasing the supplied energy, a hole for dropping the powder may be provided in the trough.

FIG. 4 is a block diagram showing a configuration of a control device for a vibration trough for supplying powder according to a third embodiment of the present invention. In this figure, reference numeral 102 denotes an asymmetric waveform generator, reference numeral 103a denotes an amplifier, reference numeral 104 denotes a vibrator, reference numeral 105 denotes a vibrating member, reference numeral 106 denotes a trough, reference numeral 107 denotes a hopper, and reference numeral 108 denotes a gantry. Figure 8
Is the same as

The control device of the vibration trough for supplying powder shown in FIG. 4 differs from the control device of the vibration trough for supplying powder shown in FIG. 8 in that a sine wave generator 101b and an adder 109 are added. It is.

The sine wave generator 101 b outputs a voltage signal (hereinafter, a sine wave current command) v _{11 b} having a sine wave to the adder 109. The frequency of the sinusoidal current command v _11b is sufficiently lower than the frequency of the asymmetric waveform current command v ₁₂ (e.g., 1/10 of the frequency of the asymmetric waveform current command v ₁₂
In addition, the magnitude of the amplitude of the sinusoidal wave current command v _11b is set to the vibrator 104 by a trough 106 necessary for dispersing the powder.
Is the magnitude that causes the displacement of Note that, instead of the sine wave generator 101b, a device that generates a voltage signal having substantially the same frequency may be used. The adder 109 is a sine wave generator 1
Which is the output of 01b adds the sine-wave current command v _11b and asymmetric waveform current command v ₁₂ is the output of the asymmetric waveform generator 102.

Next, the operation of the control device for the powder supply vibration trough having the above configuration will be described. First, the sine wave generator 101b outputs a sine wave current command v _11b having a waveform shown in FIG. On the other hand, the asymmetric waveform generator 102 outputs the asymmetric waveform current command v ₁₂ shown in FIG. 5 (A) to the adder 109. Adder 109
Adds the input sine wave current command v _11b and the asymmetric waveform current command v ₁₂ and outputs a current command v ₁₉ to the amplifier 103a.

The amplifier 103a receives the input current command v
_The current i _13a corresponding to the value of ₁₉ is output to the vibrator 104. Here, the current amplifier 103a outputs, to the current frequency is lower by a sine wave by a sinusoidal current command v _11b, asymmetric waveform current becomes superimposed by asymmetric waveform current command v _12. Vibrator 104, a current i _13a is input, moving the vibrating member 105 with a force proportional to the current i _13a in the longitudinal direction. The force applied to the vibration member 105 is transmitted to the trough 106, and the trough 106 moves in the longitudinal direction.

[0045] At this time, focusing on the fine portion of the displacement of the trough, the asymmetric waveform current command v _12, is displaced in an asymmetric waveform, at each instant powder is sprayed in a range corresponding to the displacement range. On the other hand, looking globally at trough displacement,
According to the sine wave current command v _11b , the range required for dispersing the powder is displaced by a sine wave (large amplitude) at a low frequency (compared to an asymmetric waveform). Therefore, the center position of the trough is determined by the displacement by the sine wave current command. Therefore, the range in which the powder is scattered by the asymmetric waveform itself displaces the range required for scatter of the powder by the sine wave. Therefore, the control device of the vibration trough for powder supply shown in FIG. 4 can spray the powder over a wide range.

When attention is paid to the thrust generated by the actuator (the thrust fr of the actuator is represented by fr = m when the displacement is x, in the case of a sine wave of angular velocity w, or in the case of an asymmetric wave of angular velocity w of the fundamental wave, fr = m × w ² × x. Even if the displacement is the same, the thrust decreases as the frequency decreases.) Compared to the case where the amplitude of the asymmetric waveform is merely increased, the large-amplitude displacement of the low frequency and the high-frequency Since it is the sum of the small amplitude displacements, the thrust can be reduced.

FIG. 6 is a block diagram showing a configuration of a control device for a vibration trough for supplying powder according to a fourth embodiment of the present invention. In this figure, reference numeral 102 denotes an asymmetric waveform generator, reference numeral 103a denotes an amplifier, reference numeral 104 denotes a vibrator, reference numeral 105 denotes a vibrating member, reference numeral 106 denotes a trough, reference numeral 107 denotes a hopper, reference numeral 108 denotes a gantry, and reference numeral 108 denotes an adder 109. , And their configurations are the same as those in FIG.

The control device for the powder supply vibration trough shown in FIG. 6 differs from the control device for the powder supply vibration trough shown in FIG. 4 in that a subtractor 112, a compensator 113, and a displacement detector 114 are added. In that the subtractor 112 and the compensator 113 are provided between the sine wave generator 101b and the adder 109.

The subtractor 112 calculates a displacement detector 114 from the sine wave displacement command v _11b output from the sine wave generator 101b.
It subtracts the trough displacement signal v ₂₄ is the output, and outputs the result to the compensator 113. Note that the frequency component of the sine wave obtained by subtracting the signal output by the sine wave generator from the displacement of the trough 106 detected by the displacement detector 114 corresponds to the displacement (positional deviation) of the center position of the displacement of the trough 106. I do.

The compensator 113 comprises a low-pass filter, PI
It consists D compensator such, when the subtraction result v ₂₂ is input to block the components of the asymmetric waveform is a high-frequency component of the subtraction result v ₂₂ by the low-pass filter, extracts a positional deviation and further, by the PID compensator The position deviation is amplified and output. The displacement detector 114 optically detects the displacement of the trough 106, converts the detected displacement of the trough 106 into a voltage signal, and outputs the voltage signal. In the present embodiment, the displacement detector 1
14 emits light toward a target provided on the side surface of the trough 106, and the reflected wave
However, the method is not limited to this method. For example, the displacement of the trough 106 may be detected by attaching a magnetic piece to a target and measuring a magnetic flux or the like generated by the magnetic piece. Alternatively, the position where the target is provided may be the side surface of the vibration member 105.

Next, the operation of the control device for the vibration trough for supplying powder having the above configuration will be described. First, the sine wave generator 101b outputs a sine wave displacement command v shown in FIG.
_11b is generated and output to the subtractor 112. On the other hand, when detecting the displacement of the trough 106, the displacement detector 114 outputs a trough displacement signal v ₂₄ to the subtractor 112. Subtractor 112 subtracts the trough displacement signal v ₂₄ from the sine wave displacement command v _11b, compensator 11 and the subtraction result v ₂₂
Output to 3. Compensator 113, the subtraction result v ₂₂ is input, blocking the asymmetric waveform component which is a high-frequency component from the subtraction result v _22, it extracts the positional deviation, further position deviation amplified by the PID compensator, the current command v to output _23.

On the other hand, the asymmetric waveform generator 102
And outputs the asymmetric waveform current command v ₁₂ shown in (A) to the adder 109. The adder 109 adds the current command v ₂₃ is input and an asymmetrical waveform current command v _12, and outputs a current command v ₁₉ to the amplifier 103a.

The amplifier 103a receives the input current command v
_The current i _13a corresponding to the value of ₁₉ is output to the vibrator 104. Vibrator 104, a current i _13a is input, moving the vibrating member 105 with a force proportional to the current i _13a in the longitudinal direction. The force applied to the vibration member 105 is transmitted to the trough 106, and the trough 106 moves in the longitudinal direction.

[0054] At this time, when the frequency is high portion of the displacement of the trough (basic asymmetric waveform component or higher) to note, by the asymmetric waveform current command v _12, is displaced in an asymmetric waveform, at each instant to the displacement width The powder is sprayed to the corresponding area. On the other hand, a low frequency portion of the displacement of the trough (hereinafter the fundamental wave component of the asymmetric waveform) is the feedback effect of the current command v _23, to follow the sinusoidal displacement command, at a low frequency (as compared to the asymmetric waveform), Displace the area required for dusting with a sine wave (large amplitude). Therefore, the range in which the powder is scattered by the asymmetric waveform itself displaces the range required for scatter of the powder by the sine wave. Therefore, the control device for the powder supply vibration trough shown in FIG. 6 can spray the powder over a wide range.

As with the third embodiment, the thrust generated by the actuator is the sum of the low-frequency large amplitude displacement and the high-frequency small amplitude displacement as compared to the case where the amplitude of the asymmetrical waveform is merely increased. Therefore, the thrust can be reduced. Further, even when the mass of the trough fluctuates due to the increase or decrease of the powder on the trough, the displacement of the low-frequency large-amplitude sine wave can be realized without fluctuation due to the feedback effect.

In the third and fourth embodiments, the frequency is sufficiently larger than the asymmetric waveform (for example, 10 times) in order to apparently reduce the friction coefficient generated between the powder and the trough 106. In addition, a symmetrical waveform whose amplitude is sufficiently smaller than the asymmetrical waveform (for example, 1/100) may be added to the asymmetrical waveform serving as the thrust of the trough 106, or the adhesive force generated between the powder and the trough 106 may be reduced. Alternatively, the trough 106 may be subjected to vertical vibration, or a hole for dropping the powder may be provided in the trough in order to spread the powder over a wide range without increasing the supplied energy.

The embodiments of the present invention have been described in detail with reference to the drawings. However, the present invention includes not only the above-described embodiments but also designs and modifications that do not depart from the gist of the present invention. included.

[0058]

As described above, according to the present invention,
A first vibrating means for vibrating the trough with an asymmetric acceleration in a longitudinal direction thereof, and a control device for a powder supply vibrating trough for moving the powder in the trough by vibration; Since the two vibrating means are provided, it is possible to obtain an effect that a powder having a large adhesive force can be conveyed with a small vibrating force. Further, according to the present invention, in a control device of a powder supply vibration trough for providing a first vibration means for vibrating a trough with an asymmetric acceleration in a longitudinal direction thereof and moving a powder in the trough by vibration, Since the third vibrating means for vibrating the trough with a vibration having a frequency higher than that of the vibration by the first vibrating means is provided, an effect is obtained that the powder can be spread over a wide area with a small vibrating force. Can be

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of a control device for a powder supply vibration trough according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a control device for a vibration trough for supplying powder according to a second embodiment of the present invention.

FIG. 3 is an explanatory diagram showing a force acting on a powder.

FIG. 4 is a block diagram showing a configuration of a control device for a powder supply vibration trough according to a third embodiment of the present invention.

FIG. 5 is a diagram showing waveforms output by a sine wave generator 101b and an asymmetric waveform generator 102.

FIG. 6 is a block diagram illustrating a configuration of a control device for a vibration trough for supplying powder according to a fourth embodiment of the present invention.

FIG. 7 is a diagram showing waveforms output by a sine wave generator 101b and an asymmetric waveform generator 102.

FIG. 8 is a block diagram showing a configuration of a conventional control device for a powder supply vibration trough.

FIG. 9 is a side view showing the appearance of a hopper 807 and a trough 806.

FIG. 10 is a diagram showing a waveform output by an asymmetric waveform generator 802.

FIG. 11 is a diagram showing acceleration and speed of a trough 806.

FIG. 12 is an explanatory diagram showing a force acting on a powder.

FIG. 13 is an explanatory diagram for explaining a drop position of a powder.

[Explanation of symbols]

 101a, 101b Sine wave generator 102 Asymmetric waveform generator 103a, 103b, 103c Amplifier 104 Exciter 105 Vibration member 106 Trough 107 Hopper 108 Mount 109 Adder 110a, 110b Vibration device 111 Phase / gain corrector 112 Subtractor 113 Compensation Instrument 114 Displacement detector

 ────────────────────────────────────────────────── ─── Continued on the front page (72) Nobuhiro Saito, No. 100 Takegahana-cho, Ise-shi, Mie Prefecture Shinko Electric Co., Ltd. F-term (reference) 3F037 AA08 BA03 CA11 CA14 CA18 CB03 CB06 CC01 CC05

Claims (10)

[Claims] A first vibration means for vibrating a trough with an asymmetrical acceleration in a longitudinal direction thereof, wherein the trough is provided with a vibrating means for moving powder in the trough; A vibrating trough for powder supply, comprising a second vibrating means for vibrating the powder in a vertical direction. 2. The control apparatus according to claim 1, wherein a plurality of said second vibrating means are provided. 3. The vibrating device according to claim 2, wherein the second vibrating means is a vibrating device that, when a signal is input, vibrates the trough up and down at a frequency corresponding to the frequency of the signal. The control apparatus for a powder supply vibration trough according to claim 1 or 2, further comprising a periodic signal generating means for outputting a signal having the vibration signal. 4. The vibration trough for powder supply according to claim 3, wherein said periodic signal generating means is a sine wave generator for outputting a signal having a sine wave to the vibrating device. Control device. 5. The powder supply according to claim 3, further comprising a compensator for giving a predetermined phase difference to the signal input from the periodic signal generating means and outputting the signal to the vibration device. Vibration trough control device. 6. A control device for a powder supply vibrating trough for providing a first vibrating means for vibrating a trough at an asymmetric acceleration in a longitudinal direction thereof and moving a powder in the trough by vibration, wherein: 3. A vibrating trough control device for powder supply, comprising: third vibrating means for vibrating the trough in the longitudinal direction with vibration having a frequency smaller than that of the vibration by the vibrating means. 7. The vibration for powder supply according to claim 6, wherein the frequency of the vibration by the third vibrating means is approximately 1/10 of the frequency by the first vibrating means. Trough control device. 8. The vibrator for moving the trough in the longitudinal direction with an acceleration according to an input waveform, wherein the first vibrating means and the third vibrating means are trough displacements for generating a low-frequency signal. Correction signal generating means, an asymmetric waveform generator that generates an asymmetric waveform signal, and an adder that adds the low-frequency signal and the asymmetric waveform signal and outputs the sum to the vibrator. The control apparatus for a vibration trough for supplying powder according to claim 6 or 7, wherein: 9. The control apparatus according to claim 8, wherein the trough displacement correction signal generating means is a sine wave generator that outputs a signal having a sine wave. . 10. A trough displacement correction signal generating means for detecting a displacement of a trough, converting the result into a signal and outputting the signal, and detecting the displacement from a signal output by the sine wave generator. A subtracter for subtracting the signal output by the subtractor; calculating a deviation of the center position of the displacement of the trough from the signal output by the subtractor, and outputting a signal for statically and dynamically reducing the deviation. The control device for a vibration trough for supplying powder according to claim 9, further comprising: