JP2012229118A - Article sorting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an article sorting device configured to sort a plurality of articles and move them in different directions on a movable body.SOLUTION: The article sorting device 1 configured to sort the plurality of articles 9 using the vibration of the movable body 6 includes: a vertical excitation means 73 for imparting a vertical periodic excitation force to the movable body 6; a first horizontal excitation means 71 for imparting a horizontal periodic excitation force; a second horizontal excitation means 72 for imparting a periodic excitation force perpendicular to it; and a vibration control means 31 for making the periodic excitation forces have phase differences and generating the forces at the same frequencies. By setting the phase differences of the first horizontal excitation means 71 and the second horizontal excitation means 72 with reference to the vertical excitation means 73 based on the magnitude relation of the frictional coefficient of each of the articles 9 with reference to the standard frictional coefficient by taking a predetermined reference frictional coefficient as a boundary so that the respective articles 9 may be moved in different directions, the plurality of articles 9 placed on the movable body 6 can be simultaneously sorted.

Description

  The present invention relates to an article sorting apparatus capable of sorting a plurality of articles by vibration.

  Conventionally, many article conveyance devices such as linear feeders using vibration have been known, and an article sorting device as disclosed in Patent Document 1 in which such technology is developed is disclosed.

  This product generates elliptical vibrations by applying vibrations at the same frequency in the vertical and horizontal directions to a movable body having a track for conveying goods, and sets the phase difference between the vibrations in each direction according to the friction coefficient. By doing so, it is possible to change the transport direction. By using this, two kinds of articles with different friction coefficients are placed on the upper surface at the same time, and vibrations having a predetermined phase difference according to the friction coefficient are applied, so that each is conveyed in the opposite direction. Is possible.

JP 2005-255351 A

  However, in the article sorting apparatus according to the above-described prior art, vibration of an elliptical orbit is generated by synthesizing vibration components in two directions, vertical and horizontal, and the article is sorted and moved using this. However, the direction of separation and movement of the article is mainly determined by the direction of horizontal vibration. Therefore, the degree of freedom in the moving direction of the articles to be sorted is low, and it is difficult to sort three or more kinds of articles and move them in different directions.

  An object of the present invention is to effectively solve such a problem. Specifically, three or more kinds of articles can be sorted at the same time, and the moving direction of each sorted article is finely changed. It is an object of the present invention to provide an article sorting apparatus that can perform such a process.

  In order to achieve this object, the present invention takes the following measures.

  That is, the article sorting apparatus of the present invention includes a movable table provided on a base via elastic support means, and separates a plurality of articles placed on the movable table by vibrating the movable table. The vertical excitation means for applying a vertical periodic excitation force to the movable table, and the first horizontal excitation for applying a horizontal periodic excitation force to the movable table. Means, and a second horizontal excitation means for applying a periodic excitation force in a direction that is horizontal to the movable table and intersects with a periodic excitation force by the first horizontal excitation means, Vibration control means for controlling each of the excitation means so that a periodic excitation force by each of the excitation means is generated simultaneously at the same frequency with a phase difference and a three-dimensional vibration locus is generated on the movable table; A periodic excitation force by the first horizontal excitation means and the vertical excitation means The phase difference between the periodic vibration force and the phase difference between the periodic vibration force generated by the second horizontal vibration means and the periodic vibration force generated by the vertical vibration means is determined by a predetermined reference friction coefficient. A plurality of articles placed on the movable table are separated at the same time by setting each article to move in a different direction on the basis of the magnitude relationship of the friction coefficient of each article with respect to the reference friction coefficient with reference to It is characterized by that.

  If comprised in this way, the vibration which has the locus | trajectory of the ellipse in the plane which was inclined with respect to the vertical plane called the three-dimensional vibration locus | trajectory in this invention and a horizontal surface, or a three-dimensional locus | trajectory outside a plane will be produced with respect to a movable stand. The size and direction of the three-dimensional vibration trajectory can be freely changed in three dimensions. And by setting the phase difference of the periodic excitation force in each direction according to the friction coefficient of the article to be sorted and forming an appropriate vibration trajectory, without using special equipment such as image processing using a camera It is possible to automatically sort three or more kinds of articles having different friction coefficients and move them in different directions. In addition, by adjusting the phase of vibration in each direction, it can easily correspond to articles of various friction coefficients, and the upper surface of the movable base can be configured in a plane, so that from small to large, Applicable to articles of various sizes and shapes.

  Further, in order to be able to easily set a reference for separating articles, the phase difference between the periodic excitation force by the first horizontal excitation means and the periodic excitation force by the vertical excitation means And a phase difference for setting the phase difference between the periodic excitation force by the second horizontal excitation means and the periodic excitation force by the vertical excitation means in accordance with the friction coefficient of the article to be sorted, respectively. It is preferable to comprise so that an input part may be provided.

  According to the present invention described above, while having a simple configuration, it is possible to sort three or more kinds of articles at the same time, and to move each article in an arbitrary direction, as well as articles of various sizes and shapes. It is possible to provide an article sorting device that can also cope with the above.

1 is a system configuration diagram of an article sorting device according to an embodiment of the present invention. The perspective view of the mechanical apparatus part of the goods separation apparatus. The front view of the mechanical apparatus part of the goods separation apparatus. Sectional view on the AA line of FIG. 3 which shows the cross section of the 1st spring member of the goods separation apparatus. The front view which shows the operation | movement to the horizontal direction of the machine part of the goods separation apparatus. The front view which shows the operation | movement to the orthogonal | vertical direction of the mechanical apparatus part of the goods separation apparatus. The conceptual diagram which shows the vibration direction of the goods separation apparatus. The figure which shows the relationship between the phase difference between the periodic exciting forces to each direction in the goods separation apparatus, and the moving speed of goods. The figure which shows the relationship between the amplitude of the periodic excitation force to the horizontal direction in the same goods separation apparatus, and the moving speed of goods. The top view which showed the movement area | region at the time of moving the some articles | goods from which a friction coefficient differs using the same goods separation apparatus. The table | surface which shows each movement area | region of several articles | goods from which a friction coefficient differs when changing the phase difference of a X, Y direction using the same article | item classification device. The table | surface which shows each movement area | region of several articles | goods from which a friction coefficient differs when changing the phase difference of a X, Y direction using the same article | item classification device. The top view which shows the movement direction of the articles | goods on the conditions shown to Fig.11 (a), (b). The perspective view which shows the example which attached the insertion port of the articles | goods, and the conveyance port to the same article | item sorting apparatus. The system block diagram of the goods separation apparatus which concerns on embodiment different from FIG. The system block diagram of the goods separation apparatus which concerns on embodiment different from FIG. 1 and FIG.

  Embodiments of the present invention will be described below with reference to the drawings.

  As shown in FIG. 1, the article sorting apparatus 1 of this embodiment is mainly composed of a mechanical device unit 2 and a control system unit 3. As will be described later, the control system unit 3 controls the piezoelectric elements 71, 72, and 73 incorporated in the mechanical device unit 2 to periodically add the mechanical device unit 2 in the X, Y, and Z directions. It is configured to generate vibration by applying a vibration force.

  Note that the directions of X, Y, and Z are defined as indicated by the coordinate axes shown at the lower left in the figure, and the description will be made along these coordinate axes in the following.

  As shown in FIGS. 2 and 3, the mechanical device unit 2 is largely composed of a base 4 fixed to the floor surface, a movable base 6 that moves the article 9 placed thereon by vibrating with respect to the base 4, The movable base 6 is composed of elastic support means 5 that elastically supports the base 4. The base body 4 has a rectangular flat plate shape with the long side facing in the X direction, and two rectangular parallelepiped mounting blocks 41 with the long side facing in the Y direction are parallel to the upper surface 4a with an interval in the X direction. Is fixed. If an elastic body having a small spring constant such as an anti-vibration rubber (not shown) is attached below the base body 4, it is preferable because the reaction force against the floor to be installed can be reduced.

  The elastic support means 5 includes a first spring member 52 that is four rod-shaped springs connected to the base body 4, and an intermediate platform 51 that is elastically supported in the horizontal direction with respect to the base body 4 by the first spring member. The second spring member 53 is a plate spring that is connected to the intermediate base 51 and elastically supports the movable base 6 in the vertical direction.

  A pair of first spring members 52 arranged in parallel to the Y direction are connected to the outer side surface 41a among the side surfaces orthogonal to the X axis of the mounting block 41 at the lower end portion 52b configured in a flat plate shape, respectively. The lower end 52b extends vertically upward (Z direction). An upper block in which a total of four first spring members 52 are arranged so as to stand up slightly from the inside of the four corners of the rectangle forming the outer edge of the base 4 and constitute a part of the intermediate table 51 by the upper end 52a. It connects so that 51a may be supported from a side surface. An intermediate portion 52c between the upper end portion 52a and the lower end portion 52b of the first spring member 52 is configured to have a square cross section, and each side surface is a plane orthogonal to the X axis and the Y axis. I have to. Thus, by supporting by the four first spring members 52, the intermediate stage 51 is elastically supported in the horizontal direction, and can maintain a substantially horizontal state even when displacement occurs in the X and Y directions. .

The intermediate stand 51 is configured to form a rectangular frame in which four flat side plates 51d are assembled vertically and horizontally, and is fixed in such a manner as to be suspended by a pair of upper blocks 51a arranged in the X direction. ing. As described above, since the upper block 51a is supported by the four first spring members 52, the intermediate platform 51 is elastically supported in the horizontal direction in the air as a whole. Furthermore, on the inner side of the side plate 51d, two second spring members 53, which are plate springs, are arranged in series in the X direction and parallel to the horizontal plane as a pair, and these are arranged in two vertical directions. It is installed as a step.
Since the side plate 51d has sufficient strength with respect to the second spring member 53, the first spring member 52 is equally deformed while suppressing deformation in the twisting direction of the second spring member 53 as a strength member. It functions to constrain the deformation direction. Each of the four second spring members 53 is fixed so that one end side is sandwiched vertically between the upper block 51a and the intermediate block 51b or the intermediate block 51b and the lower block 51c. The other end side is fixed so as to be sandwiched vertically between the support block upper part 62a and the support block intermediate part 62b provided at the lower part of the movable base 6, or the support block intermediate part 62b and the support block lower part 62c. With this configuration, the movable table 6 is elastically supported in the vertical direction with respect to the intermediate table 51, and can maintain a horizontal state even when displacement occurs in the Z direction.

  The movable base 6 includes a support block upper part 62a, a support block intermediate part 62b, and a support block lower part 62c as described above, and operates as a unit. And the upper surface 61 is comprised by the planar shape, and the article | item 9 can be loaded. As described above, the intermediate platform 51 is elastically supported in the horizontal direction by being connected to the base body 4 by the same four first spring members 52, and the movable platform 6 is further supported by the intermediate platform 51. By being connected by the second spring member 53, it is elastically supported in the vertical direction. As a result, the movable base 6 is configured to be elastically supported in each of the X, Y, and Z directions with respect to the base body 4, and even when displacement occurs in each of the X, Y, and Z directions. The upper surface of the movable table 6 can be maintained in a substantially horizontal state.

  And the piezoelectric element 71, 72, 73 is provided as follows as a drive part for vibrating this movable stand 6 to each direction of X, Y, Z.

  First, as a first horizontal excitation means for applying vibrations in the X direction, a rectangular parallelepiped first piezoelectric element is formed on a side surface of the intermediate portion 52c of the first spring member 52 that is not longer than the center in the longitudinal direction and orthogonal to the X axis. 71 is pasted. In addition, as a second horizontal excitation means for applying vibration in the Y direction, a rectangular parallelepiped second piezoelectric element is formed on a side surface of the intermediate portion 52c of the first spring member 52 that is not longer than the center in the longitudinal direction and is perpendicular to the Y axis. Element 72 is pasted. Since these piezoelectric elements 71 and 72 can be stretched over their entire length by applying a voltage, the first spring member 52 to which the piezoelectric elements 71 and 72 are attached is attached as shown in FIG. It is possible to deflect the movable base 6 in the horizontal direction.

  In the present embodiment, as shown in FIG. 4A, a pair of first piezoelectric elements 71a and 71b and second piezoelectric elements 72a and 72b are opposed to each first spring member 52, respectively. It was configured as a provided bimorph type. When the deflection of the spring member is to be generated using the extension of the piezoelectric element as in this embodiment, when one of the piezoelectric elements provided on the opposing surface is set to the extension side, the other needs to be set to the contraction side. Therefore, when one side is set as the expansion side, the voltage application and the attaching direction are set so that the other side becomes the contraction side. Hereinafter, the voltage applied to the piezoelectric element will be described simply as the X-direction control voltage and the Y-direction control voltage, and applying a positive control voltage in the X-direction and the Y-direction means that the movable base 6 This means that a voltage is applied to expand and contract the first piezoelectric element 71 and the second piezoelectric element 72 so that the first spring member 52 is bent in the direction in which the first spring member 52 is moved in the positive direction of X and Y. .

  The first spring members 52 provided at the four locations are attached to the first piezoelectric element 71 and the second piezoelectric element 72 in the same manner and the deflection is controlled at the same time, so that the same amount of deformation is always performed in the same direction. . Therefore, the intermediate stage 51 that supports the four corners by these is adapted to translate in the X direction and the Y direction while maintaining the level.

  Further, when the first spring member 52 is deformed, as shown in FIG. 5, the extending side and the contracting side are reversed up and down within one plane with the middle in the longitudinal direction of the intermediate portion 52c as a boundary. Therefore, sticking the first piezoelectric element 71 and the second piezoelectric element 72 over a wide range beyond the vicinity of the center in the longitudinal direction is undesirable because it hinders deformation. For this reason, it is efficient to attach it to a position closer to one end side than the vicinity of the center in the longitudinal direction as in this embodiment.

  Next, as shown in FIG. 3, as the vertical vibration means for applying the vibration in the Z direction, the third piezoelectric element 73 is placed on the back and front of the second spring member 53, which is a plate-like spring, outside the center in the longitudinal direction. Is pasted. In the drawing, the third piezoelectric element 73 is attached only to the upper two of the four second spring members 53. Instead, the third piezoelectric element 73 is attached to the lower second spring member 53. The element 73 may be attached, or the third piezoelectric element 73 may be attached to both. However, as with the first piezoelectric element 71 and the second piezoelectric element 72 that are attached to the first spring member 52, it is inappropriate to apply the adhesive over the vicinity of the center of the second spring member 53 in the longitudinal direction. It is. By applying a voltage to the piezoelectric element 73, it is possible to cause expansion and contraction, bend the second spring member 53, and move the movable base 6 in the vertical direction.

  The deformation of the second spring member 53 occurs in a form as shown in FIG. 6, and the third piezoelectric elements 73, 73 attached to the front and back are reversed in extension and contraction, respectively. Therefore, the voltage for driving this is not specifically distinguished from the voltage applied to the front and back sides, and the control voltage for simply moving the movable base 6 in the positive direction of the Z-axis is the same as the control voltage in the X and Y directions. It will be expressed as a voltage.

  Since the second spring member 53 and the third piezoelectric element 73 are provided symmetrically with respect to the movable table 6, the movable table 6 moves in the vertical direction while keeping the upper surface 61 horizontal.

  The control system unit 3 applies a sinusoidal control voltage to each of the first piezoelectric element 71, the second piezoelectric element 72, and the third piezoelectric element 73 with respect to the mechanical device unit 2 configured in this manner. A periodic excitation force for generating vibrations in the directions Y, Y, and Z is generated.

  Therefore, as shown in FIG. 1, the control system unit 3 includes an oscillator 34 that generates a sine voltage. The sine voltage is amplified by an amplifier 35 and then output to each piezoelectric element 71, 72, 73. To do. Further, the control system unit 3 has vibration control means 31 for adjusting the control voltages in the X, Y, and Z directions in detail. The frequency of the vibration generated by the oscillator 34 is set to a frequency that resonates with any vibration system in the X, Y, and Z directions, thereby amplifying the vibration and saving power. In order to avoid interference of vibrations in the vibration system in all directions, the natural frequencies in each direction may be separated. At this time, the natural frequency in each direction is separated by, for example, about −10% to + 10%.

  The vibration control means 31 mainly includes an amplitude adjustment circuit 31a that adjusts the amplitude of the control voltage in each of the X, Y, and Z directions, and a phase adjustment circuit 31b that adjusts each phase difference. In the present embodiment, the amplitude adjustment circuit 31a corresponding to each of the X, Y, and Z control voltages is provided, and the control voltage of the control voltage is set so as to have a predetermined phase difference with respect to the phase of the control voltage in the Z direction. A phase adjustment circuit 31b for adjusting the phase is provided for each of the X and Y control voltages.

  And the control system part 3 has the phase difference input part 32 which inputs the phase difference set as mentioned above as a reference | standard which sorts the some articles | goods 9. As shown in FIG. The phase difference input unit 32 inputs the respective phase differences in the X direction and the Y direction with reference to the phase of the control voltage in the Z direction, and each phase adjustment circuit corresponding to the X and Y directions is set to the phase difference. An instruction is issued to 31b.

  Specifically, the article sorting apparatus 1 configured as described above sorts articles according to the following principle.

  Here, as shown in the schematic diagram of FIG. 7, the movable base 6 is elastically supported by the elastic bodies 54, 55, and 56 in the X, Y, and Z directions with respect to the base body 4. The case where the direction vibration means 74, 75, and 76 are provided is assumed. With this configuration, the movable base 6 can be moved in three directions by the vibration means 74, 75, and 76 provided in the three directions X, Y, and Z. The elastic bodies 54 and 55 in the schematic diagram of FIG. 7 correspond to the first spring member 52 in FIG. 2, and the elastic body 56 corresponds to the second spring member 53. Further, the vibration means 74, 75, 76 in the schematic diagram of FIG. 7 correspond to the first horizontal vibration means 71, the second horizontal vibration means 72, and the vertical vibration means 73, respectively.

A periodic vibration displacement represented by Z = Z ₀ × sin ωt is applied to the movable table 6 of the model shown in FIG. 7 in the Z direction. Here, Z ₀ represents the amplitude in the Z direction, ω represents the angular frequency, and t represents time. Further, vibrations having the same frequency as that in the Z direction are also given in the X and Y directions as indicated by the equations X = X ₀ × sin (wt + φx) and Y = Y ₀ × sin (wt + φy), respectively. Here, X ₀ and Y ₀ are the amplitudes in the X direction and Y, respectively, and φx and φy are the phase differences of the vibrations in the X direction and the Z direction, respectively, with respect to the vibration in the Z direction.

  Thus, by applying a sinusoidal periodic vibration displacement in each of the X, Y, and Z directions, it is possible to generate a three-dimensional vibration in which the movable base 6 is synthesized. For example, as shown in FIG. 7, when vibrations in the X and Y directions are generated by giving a phase difference of φx and φy to the vibration component in the Z direction, the right side on the XZ plane is two-dimensionally. A vibration having an elliptical trajectory is generated, and a vibration having an elliptical trajectory with the right side down on the YZ plane is generated. Further, by combining these two, an elliptical orbit in a three-dimensional space is generated as shown in the lower right in the figure.

  By changing the amplitude and phase of the vibration displacement in each direction, the size and orientation of the two-dimensional elliptical orbit in the XZ plane and YZ plane can be changed. The size and orientation can be changed freely. In addition, in order to provide the periodic vibration displacement in each direction as described above, the control is performed by applying a periodic excitation force in each direction.

  As described above, when the movable table 6 vibrates while drawing an elliptical orbit, the article 9 placed on the movable table 6 moves. Of these movements, the moving speed component in the X direction can be controlled by the elliptical orbit in the XZ plane, and the moving speed component in the Y direction can be controlled by the elliptical orbit in the YZ plane. That is, by changing the amplitude and phase difference of the vibrations in the X direction and the Y direction on the basis of the vibration component in the Z direction, the moving speed component in the X and Y directions is changed, and the article 9 is moved in an arbitrary direction. It becomes possible to move.

  Specifically, the movement speed is changed as follows.

  According to the knowledge of the inventors, the movement speed Vx (Yy) of the article 9 draws a curve similar to a sine wave due to the phase difference φx (φy) when described with reference to FIG. It changes with the coefficient of friction between the article 9 and the movable table 6 as well. That is, when the friction coefficients between the three types of articles W1, W2, W3 and the movable table 6 are μ1, μ2, and μ3, respectively, and there is a relationship of μ1 <μ2 <μ3, the moving speed graph at W2 is The curve of the moving speed at the time of W1 is shifted in a direction in which the phase difference is positive, and the graph of the moving speed at the time of W3 is further shifted in a direction where the phase difference is positive. Therefore, when an article 9 having a different friction coefficient is placed on the movable table 6 that performs elliptical vibration, the moving speed and the moving direction are different.

  Specifically, when the phase difference φ1 shown in FIG. 8 is set, W1 advances in the positive direction and W2 and W3 advance in the same negative direction, but W3 has a higher moving speed than W2. . When the phase difference φ2 is further set, W1 advances in the positive direction, W2 advances in the positive direction at a speed smaller than W1, and W3 advances in the negative direction. When the phase difference is set to φ3, W1 advances in the negative direction, W2 advances in the positive direction, and W3 advances in the positive direction at a speed greater than W2. When the phase difference is set to φ4, W1 proceeds in the negative direction, W2 proceeds in the negative direction at a speed smaller than W1, and W3 proceeds in the positive direction. Phases other than φ1 to φ4 can be arbitrarily set, and all of W1 to W3 can be moved in the forward direction or the reverse direction, and the order of the moving speed can be changed.

Further, according to the findings of the inventors, it will be described with reference to FIG. 9 with reference to FIG. 7, the relationship of the phase difference φx and ([phi] y) and the moving speed Vx of the article 9 (Yy), the amplitude X ₀ ( It is also changed by changing Y ₀ ). That is, a sine wave-like curve that is the moving speed Vx (Yy) of the article 9 with respect to the phase difference φx (φy) changes approximately in proportion to the amplitude X ₀ (Y ₀ ) of the vibration displacement. From this, when it is desired to double the moving speed Vx (Yy) of the article 9, the amplitude of the vibration displacement in the X (Y) direction may be approximately doubled. For that purpose, the amplitude of the control voltage may be changed in order to give a corresponding excitation force.

  By simultaneously applying such vibration control in one direction in the orthogonal X and Y directions, a plurality of types of articles 9 can be separated on the movable stage 6 and moved in different directions.

  Hereinafter, as shown in FIG. 10, the description will be made assuming that three kinds of articles W1, W2, and W3 are placed on the movable table. It is assumed that the respective friction coefficients are μ1, μ2, and μ3, and there is a relationship of μ1 <μ2 <μ3 between them.

  The speed at which such an article is moved on the movable stage 6 can be considered by being decomposed into an X-direction moving speed component Vx and a Y-direction moving speed component Vx. As described above, Vx and Vy are respectively in the XZ plane. It can be controlled by an elliptical orbit and an elliptical orbit in the YZ plane, and each has the relationship shown in FIG.

  Here, as directions in which the articles W1, W2, and W3 having different friction coefficients are moved, the regions are divided into upper, lower, left, and right as shown in FIG. 10, and are defined as regions A, B, C, and D, respectively. By changing the phase differences φx and φy of the X and Y vibration components with respect to the Z direction vibration component, the moving direction can be set to any one of these regions.

  For example, when φx and φy are respectively set to φ1 and φ2 shown in FIG. 8, as shown in the table of FIG. 11A, the X-direction moving velocity components Vx of W1, W2, and W3 are positive ( +), Negative (-), and negative (-) values, and the Y-direction moving speed component Vy has positive (+), positive (+), and negative (-) values, respectively. That is, in the area shown in FIG. 10, W1 tries to move to the D area, W2 moves to the C area, and W3 moves to the A area. As a result, as shown in FIG. Move while being sorted into each area.

  Similarly, as shown in the table of FIG. 11B, when φx = φ1 and φy = φ4, W1, W2, and W3 are directed to the B, A, and C regions, respectively, and as a result, FIG. As shown in FIG. 4, W1 to W3 move while being sorted into respective areas.

  Further, as shown in FIGS. 11C and 11D and FIGS. 12E to 12H, when φx = φ2 and φy = φ1, W1, W2, and W3 are in the D, B, and A regions, respectively. When φx = φ2 and φy = φ3, W1, W2, and W3 are in the B, D, and C regions, respectively, and when φx = φ3 and φy = φ2, W1, W2, and W3 are in the C, D, and B regions, respectively. When φx = φ3 and φy = φ4, W1, W2, and W3 are in the A, B, and D regions, respectively, and when φx = φ4 and φy = φ1, W1, W2, and W3 are in the C, A, and B regions, respectively. When φx = φ4 and φy = φ3, W1, W2, and W3 move while being sorted into the A, C, and D regions, respectively.

  As described above, the articles 9 having different friction coefficients can be moved in different directions, and each can be changed to an arbitrary moving direction.

  Using the principle as described above, specifically, the article 9 is sorted using the article sorting apparatus 1 as follows. Hereinafter, description will be made with reference to FIGS. 1 and 8.

  First, the respective phase differences φx and φy of the vibration component in the X direction and the Y direction with respect to the vibration component in the Z direction are input from the phase difference input unit 32. According to this input value, the phase difference input unit 32 commands the corresponding phase adjustment circuits 31b and 31b to shift the phase of vibration in the X and Y directions by φx or φy, respectively. Then, the phase adjustment circuit 31b shifts the phase by φx or φy from the original signal of the oscillator 34 and applies it as a control voltage to the first piezoelectric element 71 and the second piezoelectric element 72, thereby making a phase difference from the vibration component in the Z direction. give. Thus, for example, if the phase difference input unit 32 inputs φx = φ3 and φx = φ2, the article 9 having the properties of W1, W2, and W3 described above is the case shown in FIG. In the same manner, it can be classified into the C, D, and B regions of FIG.

  Further, if the phase difference as shown in FIGS. 11 and 12 is set from the phase difference input unit 32, the articles 9 can be sorted as described in the respective tables.

  Here, in the present invention, the friction coefficient at which the moving speed becomes 0 when the phase difference for performing the classification is set is defined as the reference friction coefficient. That is, the reference friction coefficient corresponding to the phase differences φ1 and φ3 in FIG. 8 is μa, and the reference friction coefficient corresponding to φ2 and φ4 is μb. That is, setting the phase difference to φ3 means that the reference friction coefficient is set to μa as a boundary for separation, and the article 9 having a larger friction coefficient is in a positive direction and the article 9 having a smaller friction coefficient is negative. It is synonymous with setting to advance in the direction. Similarly, when the phase difference is set to φ2, the reference friction coefficient is set to μb as a boundary for separation, and an article 9 having a larger friction coefficient is set in a negative direction and an article 9 having a smaller friction coefficient is set to be positive. It is synonymous with setting to advance in the direction of.

  Therefore, the phase difference input unit 32 does not input the phase difference itself as a reference for sorting in the X and Y directions, but the reference friction coefficient for the X and Y directions and the friction for the reference friction coefficient. Based on this information, the phase difference is automatically set on the basis of the graph of FIG. 8 that is stored internally, assuming that either the positive or negative direction in which the article proceeds is input according to the magnitude of the coefficient. It is also possible to configure so as to output the output.

  Using the action of separating the plurality of articles 9 as described above and moving the articles 9 in different directions, the present article sorting apparatus 1 is used as a base point to sort a plurality of types of mixed articles and direct them to different lines. It is also possible to move it. For that purpose, as shown as an example in FIG. 14, an input port 91 for supplying an article 9 mixed near the center of the movable table 6 is provided, and a conveyance port 92 is provided radially from here. The articles 9 automatically sorted can be conveyed toward the respective lines divided in four directions. As described above, it is also possible to change the conveyance destination of each article by changing the setting of the phase difference.

  Furthermore, as can be seen from FIG. 8, by changing the vibration phase difference with respect to the vibration in the Z direction, it is possible to change the moving direction of the article 9 having a different friction coefficient and at the same time to provide a speed difference. Therefore, the present article sorting apparatus 1 not only sorts into areas corresponding to the four corners of the movable table 6, but also performs more detailed area setting such as the middle of these areas and sorts into four or more types. It is also possible.

  Further, by controlling the articles 9 having different friction coefficients as described above, strictly speaking, even if the friction coefficients are the same, the surface shapes are different, so that the apparent friction coefficients are different. You can also sort out what you see. For example, even if it is the front surface and back surface of the same member, the case where the unevenness | corrugation of a surface differs and the contact area with the movable stand 6 differs greatly corresponds.

  As described above, the article sorting apparatus 1 according to the present embodiment includes the movable table 6 provided on the base via the elastic support means 5, and is placed on the movable table 6 when the movable table 6 vibrates. A plurality of articles 9 that are separated, and a vertical vibration means 73 that applies a periodic vibration force in the vertical direction to the movable table 6, and a horizontal period to the movable table 6. First horizontal excitation means 71 for applying a dynamic excitation force, and periodic excitation in a direction that is horizontal to the movable base 6 and intersects the periodic excitation force by the first horizontal excitation means. A second horizontal vibration means 72 for applying a vibration force and a periodic vibration force generated by the vibration means 71, 72, and 73 are simultaneously generated at the same frequency while having a phase difference. Vibration control for controlling each of the excitation means 71, 72, 73 so as to generate a three-dimensional vibration locus. Means 31, a phase difference between the periodic excitation force by the first horizontal excitation means 71 and the periodic excitation force by the vertical excitation means 73, and by the second horizontal excitation means 72. The phase difference between the periodic excitation force and the periodic excitation force by the vertical excitation means 73 is related to the magnitude relation of the friction coefficient of each article 9 with respect to the reference friction coefficient with a predetermined reference friction coefficient as a boundary. The plurality of articles 9 placed on the movable base 6 are separated at the same time by setting the articles 9 to move in different directions based on the above.

  Since it is configured in this manner, by changing the three-dimensional vibration trajectory generated on the movable table 6 to an arbitrary shape and size, a plurality of types of articles 9 having different friction coefficients can be separated at the same time in different directions. In addition to being able to move, their moving direction can be changed to any direction. In addition, since the separation is automatically performed based on the difference in friction coefficient, it can be realized with a simple configuration without requiring an inspection device such as a camera or an image processor or a special device for separation. In addition, since the upper surface 61 of the movable base 6 can be configured as a flat surface, it can accommodate articles of a wide range of sizes and shapes from large to small.

  Further, the phase difference between the periodic excitation force by the first horizontal excitation means 71 and the periodic excitation force by the vertical excitation means 73 and the periodic excitation by the second horizontal excitation means 72. Since it is configured to include a phase difference input unit 32 for setting the phase difference between the force and the periodic excitation force by the vertical excitation means 73 according to the friction coefficient of the article 9 to be sorted, respectively. A reference for sorting the articles 9 can be easily set.

  The specific configuration of each unit is not limited to the above-described embodiment.

  For example, in the above-described embodiment, the excitation means 71, 72, 73 in each direction are configured to apply the excitation force in the directions orthogonal to each other of X, Y, Z. As long as the originally synthesized vibration trajectory can be generated and changed, it is not always necessary to make them orthogonal, and the directions may simply intersect. Further, it is not necessary to set the vibration means 71, 72, 73 strictly in the vertical and horizontal directions, and various utilization modes such as tilting the base body 4 are possible.

  In the above-described embodiment, the first piezoelectric element 71 and the second piezoelectric element 72 that are attached to the side surface of the first spring member 52 are a bimorph type in which two pieces attached to the front and back are set as one set. As shown in FIG. 4 (b), it is also possible to adopt a unimorph type in which each is one.

  In the present embodiment, as shown in FIGS. 2 and 3, the first piezoelectric element 71 and the second piezoelectric element 72 are attached to the lower half of the first spring member 52. It is also possible to adopt a configuration in which it is affixed to each other, or to be provided in each of the upper half and the lower half. Similarly, the third piezoelectric element 73 can be provided not on the outer half of the second spring member 53 but on the inner half, or on both the inner and outer sides.

  Further, in the present embodiment, a total of four second spring members 53 are provided, and a pair of second spring members 53 arranged in series is provided as two upper and lower stages, but two pieces arranged in series are provided. It is also possible to form a total of two plates by forming them as one continuous plate-like spring and arranging them in the upper and lower stages. When the four-sheet configuration is used as in the present embodiment, there is an advantage that assembly is easy and accuracy is improved, and when the two-sheet configuration is used, the number of parts can be reduced and management is easy. There is.

  In the above-described embodiment, the control circuit adjusts the phase of the periodic excitation force in the X direction and the periodical excitation force in the Y direction based on the phase of the periodic excitation force in the Z direction. As long as the phase difference between the periodic excitation force in the Z direction and each of the periodic excitation forces in the X direction and the Y direction can be a predetermined value, the phase of the periodic excitation force in any direction You may comprise so that it may change. For example, as shown in FIG. 15, with reference to the phase of the periodic excitation force in the X direction, the phase of each of the periodic excitation forces in the Z direction and the Y direction so that the phase difference with respect to the phase becomes a predetermined value. The control system unit 3 may be configured to change the above.

  In the above-described embodiment, the piezoelectric elements 71, 72, 73 attached to the plate-like spring members 52, 53 are used as the vibration means, but the X, Y, Z directions with respect to the movable table 6 are used. It is not essential to adopt this form as long as independent vibrations can be generated. For example, an electromagnet that applies an attractive force in the X, Y, and Z directions to the movable base 3 may be provided, and control may be performed while providing a phase difference by applying a sine voltage similar to the above. The same effects as described above can be obtained.

  Further, as described above, it is also preferable to set the excitation frequency close to the resonance frequency of the movable table 6. However, since the resonance frequency may be shifted in a state where the article 9 to be sorted is placed, the actual excitation table It is also preferable to correct the excitation frequency while detecting the amplitude of vibration 6. For this purpose, as shown in FIG. 16, in order to detect the amplitude in the X, Y, and Z directions of the support block lower part 62c protruding from the lower part of the movable base 6, displacement sensors 81, 82, 83 corresponding to the respective directions are provided. Each is fixed on the base 4 via the brackets 81a, 82a, 83a and the displacement sensor base 42, and the frequency signal from the oscillator 37 is converted to the resonance point tracking control circuit 31e or the constant based on the detection data obtained from these. Stable vibration can be obtained by controlling the frequency and amplitude to be appropriately converted using the amplitude control circuit 31c.

  Furthermore, in the above-described embodiment, the configuration is such that the articles 9 are classified based on the friction coefficient while paying attention to the friction coefficients of the individual articles 9. Even if the friction coefficient is the same, there may be no problem even if the friction coefficient is apparently different. Further, when the surface shape of the article 9 is greatly changed, the article 9 rolls or swings on the movable table 6 and may not be able to effectively transmit thrust due to friction. Furthermore, the geometrical shape change resulting from the relationship between the surface hardness of the movable table 6 and the weight and hardness of the article 9 also affects the thrust applied to the article 9. Therefore, in addition to the friction coefficient in the normal sense, the surface shape and surface roughness of the article 9 and the movable base 6, and the influence of the shape change due to weight and hardness, etc. It is also possible to consider the thrust acting in the horizontal direction as a frictional force in a broad sense, and to control the vibration component in each direction based on the frictional force in the broad sense and to sort the article 9 It is. As long as such an idea is adopted, it is possible to incorporate the idea of the frictional force in the above-mentioned broad meaning into the friction coefficient used as a reference for sorting the articles 9. That is, the coefficient obtained by dividing the friction force in the broad sense by the vertical drag of the movable table 6 against the article 9 is used as a friction coefficient in a broad sense, and this is replaced with a general friction coefficient to be used as a reference. 9 can be classified, and the intention in the present invention includes such contents. Further, in the above-described embodiment, the control is performed based on the friction coefficient to change the thrust for each article 9, and the articles 9 are separated. However, as described above, the frictional force in a broad sense is changed. As long as it is possible to change the thrust force, it can be configured as an article separation device that produces the same effect even if different parameters are used as a reference instead of the friction coefficient. It is included in the equivalent scope of the invention.

  Other configurations can be variously modified without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 4 ... Base | substrate 5 ... Elastic support means 6 ... Movable stand 9 ... Goods 31 ... Vibration control means 32 ... Phase difference input part 51 ... Intermediate stand 52 ... 1st spring member 53 ... 2nd spring member 71 ... 1st piezoelectric element (1st) 1 horizontal excitation means)
72 ... Second piezoelectric element (second horizontal excitation means)
73. Third piezoelectric element (vertical vibration means)

Claims (2)

An article separation apparatus comprising a movable table provided on a base via an elastic support means, wherein the movable table vibrates to separate a plurality of articles placed on the movable table. A vertical vibration means for applying a vertical periodic vibration force to the vertical direction, a first horizontal vibration means for applying a horizontal periodic vibration force to the movable base, and the movable base Second horizontal excitation means for applying a periodic excitation force in a horizontal direction and in a direction intersecting with the periodic excitation force by the first horizontal excitation means, and the periodic excitation by each of the excitation means. Vibration control means for controlling each excitation means so as to generate a vibration force at the same frequency at the same time while having a phase difference to generate a three-dimensional vibration locus on the movable base, and the first horizontal Phase of periodic excitation force by the excitation means and periodic excitation force by the vertical excitation means , And the phase difference between the periodic excitation force by the second horizontal excitation means and the periodic excitation force by the vertical excitation means, and the friction coefficient of each article with a predetermined reference friction coefficient as a boundary. An article sorting apparatus that sorts a plurality of articles placed on the movable table at the same time by setting each article to move in a different direction based on a magnitude relationship with respect to the reference friction coefficient. The phase difference between the periodic excitation force by the first horizontal excitation means and the periodic excitation force by the vertical excitation means, and the periodic excitation force by the second horizontal excitation means and the vertical excitation force. The article sorting apparatus according to claim 1, further comprising a phase difference input unit configured to set a phase difference from the periodic excitation force by the vibration unit according to a friction coefficient of each article to be sorted.

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