JP2020158256A - Work-piece carrier - Google Patents

Abstract

To provide a work-piece carrier capable of stably carrying a work-piece by effectively reducing jumping of the work-piece.SOLUTION: A work-piece carrier comprises a vibration body 3A that has a carrying surface 331 for carrying a work-piece in a rested state, and a vibration generating unit that generates a vibration depicting an elliptic path in a side view at one point on the carrying surface 331 by deflecting the carrying surface 331 in a normal direction through generating a compressional wave including compression and tension displacements in a direction along a transport direction of the work-piece at least in two modes on the vibration body 3A.SELECTED DRAWING: Figure 7

Description

The present invention relates to a work transfer device that conveys a work by generating a traveling wave on the transfer surface.

As a conventional work transfer device, for example, there is one described in Patent Document 1. The work transfer device described in Patent Document 1 includes a track-shaped transport surface on which a work is placed and a traveling wave generating means for generating a traveling wave orbiting the transport surface, and the traveling wave generating means is generated. It is configured to convey the work on the conveying surface by the traveling wave.

In such a work transfer device, the traveling wave becomes a bending traveling wave due to the occurrence of bending on the conveying surface. When a bending traveling wave is generated, an elliptical motion in the side view based on the transport direction is generated at each position on the transport surface, and the work placed on the transport surface is a traveling wave due to the horizontal velocity component in this elliptical motion. Is transported in the direction opposite to the traveling direction of.

Patent Document 1 also proposes a configuration in which a plurality of slits extending in the width direction are formed on the transport surface in the circumferential direction (FIGS. 11 and 12 of Patent Document 1). By forming the slit on the transport surface in this way, the horizontal velocity component of the elliptical motion generated on the transport surface due to the bending traveling wave can be increased.

As described above, in the work transfer device using the conventional bending traveling wave, the work jumps due to the vertical vibration of the elliptical motion on the transfer surface. In order to suppress the jumping of the work, it is desirable to increase the horizontal amplitude with respect to the vertical amplitude in the elliptical movement (that is, to generate a horizontally elongated elliptical movement). The configuration in which the slit is formed on the transport surface as described above is also one means for generating the horizontally elongated elliptical motion. However, even with the configuration in which such a slit is formed, the jump suppression is not sufficient. Moreover, in this configuration, as shown in FIG. 10, if the work 103 is not so large with respect to the slit 102, the work 103 is conveyed by being caught in the slit 102, that is, the recess provided in the conveying surface 101. It did not move smoothly along the surface 101, and in that state, the work 103 sometimes jumped due to the vertical vibration of the elliptical motion.

JP-A-2017-34331

Therefore, an object of the present invention is to provide a work transfer device capable of stably conveying a work by effectively reducing the jump of the work.

The present invention has at least two modes of a vibrating body having a transport surface for transporting the work in a mounted state, and a sparse and dense wave containing the compressive displacement and the tensile displacement in the direction along the transport direction of the work on the vibrating body. By bending the transport surface in the normal direction, a vibration generating portion that generates vibration in which one point on the transport surface draws an elliptical orbit in a lateral view is provided. It is a work transfer device.

According to this configuration, in a vibrating body in which a sparse and dense wave is generated, a point on the transport surface generates a vibration that draws an elliptical orbit in a lateral view. Therefore, an elliptical motion having a large elliptical axis ratio (ratio of horizontal amplitude to vertical amplitude) and an extremely long lateral motion locus shape (lateral view shape) can be generated on the transport surface.

Then, the vibration generating portion has a plurality of displacement generating portions that give the compressive displacement and the tensile displacement to the vibrating body, and the plurality of displacement generating portions are divided into a number group corresponding to the number of the modes. A control unit is provided which applies a sine wave having a frequency corresponding to the specific mode in which the sparse and dense wave is generated to the plurality of displacement generation units in different phases in each of the above groups. it can.

According to this configuration, vibration can be generated on the transport surface by applying a sine wave to the displacement generating unit by the control unit.

According to the present invention, an elliptical motion having a large elliptical axis ratio and an extremely long shape of the motion locus can be generated on the transport surface. Therefore, by effectively reducing the jumping of the work, the work can be stably conveyed.

It is a perspective view which shows schematic structure of the work transfer apparatus which concerns on one Embodiment of this invention. It is a perspective view which shows typically the vibrating body in said work transfer apparatus. It is a schematic diagram which shows the structure for vibrating the vibrating body in the work transfer apparatus. It is explanatory drawing of the perspective which exaggerates the standing wave of 0 ° mode generated in the vibrating body. It is explanatory drawing of the perspective which exaggerates the standing wave of 90 ° mode generated in the vibrating body. It is an explanatory diagram showing the temporal change of the standing wave of the longitudinal wave (Internet homepage of Keirinkan Co., Ltd. (URL: http://www.keirinkan.com/kori/kori_physics/kori_physics_1_kaitei/contents/ph-) 1 / 4-bu / t4-3.htm) is partially quoted and processed for the need of explanation). It is explanatory drawing of the side view which exaggerates the occurrence of the oblong elliptical motion in the vibrating body by the length of one wavelength. It is explanatory drawing which shows the movement of the work on the transport surface of the vibrating body. It is a perspective view which shows typically the structure of the work transfer apparatus which concerns on other embodiment of this invention. It is a schematic diagram which shows the state which the work was caught in the slit provided in the transport surface in the conventional work transport apparatus.

The present invention will be described below with reference to one embodiment. The vertical direction in the following description is the vertical direction in the state shown in FIG.

As shown in FIG. 1, which is a schematic view, the work transfer device (parts feeder) 1 according to the present embodiment extends on the base portion 2 in the tangential direction of the disk-shaped bowl feeder 3 and the bowl feeder 3. It includes a connected linear feeder 4. The bowl feeder 3 and the linear feeder 4 convey each of a plurality of workpieces (not shown) in a predetermined direction.

The bowl feeder 3 includes a bowl feeder side transport portion 31 which is a disk-shaped member. The bowl feeder side transport portion 31 is fixed to the base portion 2 by a fixing portion 32 located at the center. As shown in the figure, the upper surface of the bowl feeder side transport portion 31 once descends from the central side and then rises toward the peripheral side. The plurality of works to be transported are thrown into the recessed portion in the bowl feeder side transport unit 31 and temporarily stored. Then, they are sequentially transported one by one from the stored portion. The work is, for example, a minute IC chip, but may be various objects. In the bowl feeder 3, a spiral track 33, which is a spiral groove (conveyance groove) on the upper surface of the bowl feeder side transport portion 31, is provided at the inner peripheral position of the bowl feeder side transport portion 31 as a transport truck for transporting the work. It is formed from the outer peripheral position. The spiral track 33 has a transport surface 331 which is a bottom surface that comes into contact with the work when the work is placed and is a surface along the extending direction of the spiral track 33. The work is conveyed by deforming the traveling surface 331 so as to undulate by the traveling wave generating means 5 (see FIG. 3). The plurality of works can be transported in a state of being aligned adjacent to each other on the transport surface 331, or can be transported at intervals. The outer peripheral end portion 332 of the spiral track 33 is formed at a position where the work can be supplied to the main track 43 of the linear feeder 4. During the operation of the bowl feeder 3, the work moves up the spiral track 33 and is supplied to the main track 43.

The linear feeder 4 includes a linear feeder side transport unit 41 that has an oval shape in a plan view. The linear feeder side transport portion 41 is fixed to the base portion 2 by a fixing portion 42 located at the center in the width direction. The transport truck in the linear feeder 4 is composed of a main truck 43 and a return truck 44. The main track 43 has a linear groove extending in the longitudinal direction on the upper surface of the linear feeder side transport portion 41. The return track 44 has an oval groove located inside the main track 43 in the width direction on the upper surface of the linear feeder side transport section 41. The main track 43 and the return track 44 have transport surfaces 431 and 441, which are bottom surfaces with which the workpieces come into contact. The work is transported by deforming the transport surfaces 431 and 441 so as to undulate by the traveling wave generating means 5.

In the present embodiment, the main track 43 and a part of the return track 44 are formed in parallel, and the work excluded from the main track 43 is returned from the main track 43 by a moving means (air nozzle or the like) (not shown). Moved to truck 44.

Since the mechanism for transporting the work is common between the bowl feeder 3 and the linear feeder 4, the bowl feeder 3 will be described below.

The bowl feeder 3 mainly includes a vibrating body 3A and a vibration generating unit 34. The vibrating body 3A is a part of the bowl feeder side transport portion 31, and includes an annular vibrating body 3A as shown in FIG. In FIG. 2, the spiral track 33 is shown as an endless perfect circle for the purpose of simplifying the explanation. The vibrating body 3A of the present embodiment is made of metal and is solid. That is, the vibrating body 3A is an elastic body and is made of a material that serves as a medium for transmitting waves. The vibrating body 3A has a transport surface 331 for transporting the work in a mounted state. The transport surface 331 is a flat surface, and does not have a recess such as a slit as in the conventional case in which a workpiece during transport is caught.

The vibration generating unit 34 generates a sparse and dense wave in the vibrating body 3A. This compressional wave is a wave including compressive displacement and tensile displacement in the direction (circumferential direction) along the transport direction of the work in the vibrating body 3A, and is a transverse wave in terms of the relationship between the amplitude direction of the wave and the moving direction of the medium. Not a longitudinal wave. The vibration generating unit 34 generates the sparse and dense wave in at least two modes. In this embodiment, there are two modes, 0 ° mode and 90 ° mode. As a result, vibration is generated by bending the transport surface 331 in the normal direction (vertical direction or vertical direction in this embodiment). Since the compressional wave is a longitudinal wave, the deflection of the transport surface 331 is not directly generated like a transverse wave, but is generated by the Poisson effect described later. The generated vibration is a vibration in which one point on the transport surface 331 draws an elliptical orbit (see FIGS. 7 and 8) in a lateral view with respect to the transport direction.

As shown in FIGS. 4 and 5, the vibrating body 3A has a plurality of standing wave modes (proprietary modes) of longitudinal waves, which are compressional waves, in which tensile displacement and compressive displacement occur alternately in the circumferential direction. In the present embodiment, the standing wave in the 0 ° mode and the standing wave in the 90 ° mode are combined in a certain direction (specifically, clockwise in the state shown in FIGS. 4 and 5). It becomes a traveling wave that progresses. The "standing wave" is a wave (longitudinal wave) generated at a fixed position in the circumferential direction of the vibrating body 3A. Of the plurality of standing wave modes, there are two standing wave modes in which the natural frequencies are substantially equal and the spatial phases are shifted by 90 °. The 0 ° mode shown in FIG. 4 and the 90 ° mode shown in FIG.

Here, the standing wave of the longitudinal wave will be described with reference to FIGS. 6 (a) to 6 (d) which substantially show the movement of the medium. FIG. 6A shows a state in which a standing wave has not been generated, and the position of the material (wave medium) constituting the vibrating body 3A in the circumferential direction (horizontal direction in the drawing) is constant. FIG. 6B shows a state in which 1/4 of the time (t / 4) has elapsed based on one vibration cycle. At this point, a tensile displacement in the circumferential direction is generated at the position A in the vibrating body 3A, and a compressive displacement in the circumferential direction is generated at the position B.

Positions A and B are the "nodes" of longitudinal waves, at which the medium does not move in the circumferential direction. As can be understood from the spacing of the side-by-side circles shown in the figure, the medium around position A is "sparse" due to the tensile displacement, and the medium around position B has compressive displacement. Due to the occurrence, the medium is "dense". At the "node" position, the extension position (position A) and the contraction position (position B) appear alternately in the circumferential direction at half wavelength (λ / 2) intervals. That is, the amplitude phases are opposite at position A and position B. On the other hand, the position C and the position D are the positions of the "antinode" of the longitudinal wave, and the medium moves the most at this position.

As the vibrating body 3A expands and contracts in the circumferential direction, it expands and contracts in the vertical direction by an amount of change according to the Poisson's ratio. From the definition of Poisson's ratio, the displacement in the vertical direction is inversely related to the displacement in the circumferential direction. That is, the vibrating body 3A is compressed in the vertical direction at the position A which is the extension position, and expands in the vertical direction at the position B which is the contraction position. Correspondingly, the transport surface 331 is recessed downward at position A and protrudes upward at position B (see FIGS. 7 and 8).

FIG. 6C shows a state in which 1/2 time (t / 2) has elapsed based on one vibration cycle. At this point, the positions A and B in the vibrating body 3A are in the same state as in FIG. 6A. FIG. 6D shows a state in which a 3/4 time (3t / 4) has elapsed based on one vibration cycle. At this point, contrary to the state of FIG. 6B, a compressive displacement in the circumferential direction occurs at the position A in the vibrating body 3A, and a tensile displacement in the circumferential direction occurs at the position B.

As shown in FIG. 3, the vibration generating unit 34 has a plurality of displacement generating units 341 ... 341 that give the compressive displacement and the tensile displacement to the vibrating body 3A. In the present embodiment, a plurality of displacement generating portions (piezoelectric elements) 341 constituting the vibration generating portion 34 are attached to the lower surface (or the back surface) of the vibrating body 3A. Each piezoelectric element 341 is arranged as schematically shown in FIG. Each piezoelectric element 341 is a standing wave of a longitudinal wave, and is provided at the position of the "node" shown in FIGS. 6 (a) to 6 (d). As shown in FIG. 3, the plurality of piezoelectric elements 341 are arranged so that the polarization directions (“+” and “−” in the figure) are switched at a pitch of 1/2 (λ / 2) of the wavelength of the standing wave mode. The first group (first piezoelectric element group) 341A and the first group 341A are arranged at positions deviated from each other in the frequency division direction of 1/4 wavelength (λ / 4), and are standing like the first group 341A. It is composed of a second group (second piezoelectric element group) 341B arranged so that the polarization directions are switched at a pitch of 1/2 of the wavelength of the wave mode. That is, the plurality of displacement generation units 341 ... 341 are divided into groups 341A and 341B of numbers corresponding to the number of modes (two in this embodiment).

The parts feeder 1 of the present embodiment includes a control unit 6 that applies a sine wave having a frequency corresponding to a unique mode in which a sparse and dense wave is generated to the displacement generation unit 341. The control unit 6 is connected to the vibration generating unit 34. The control unit 6 inputs sine waves having different phases to the displacement generation unit 341 at 341A and 341B, respectively, of the plurality of groups. Specifically, as shown in FIG. 3, the sine wave related to the AC voltage is divided into two systems, and one system is shifted in time by a phase shifter. Although not shown, the control unit 6 can adjust the frequency of the sine wave to increase or decrease. The original sine wave and the phase-shifted sine wave are amplified by an amplifier and then applied to the piezoelectric elements 341 belonging to the groups 341A and 341B, respectively. In the present embodiment, for the piezoelectric elements 341 belonging to each group 341A and 341B, the standing waves in the 0 ° mode and the 90 ° mode have a time that is substantially the same as the natural frequency in the 0 ° mode and the 90 ° mode. A sine wave having a temporal phase difference is applied so that the phase is shifted by 90 °.

Due to the sine wave applied from the control unit 6 to the vibration generating unit 34, the piezoelectric element 341 belonging to the first group 341A has the nodal position in the 0 ° mode (the material (wave medium) constituting the vibrating body 3A is in the circumferential direction. The immovable position) is vibrated. Then, the piezoelectric element 341 belonging to the second group 341B vibrates the node position in the 90 ° mode.

Here, the arrangement itself of the piezoelectric element 341 is the same as the arrangement of the piezoelectric element for generating the bending traveling wave in the conventional work transfer device. However, in the present embodiment, by driving the piezoelectric element 341 in correspondence with the vertical wave standing wave mode, the vibrating body 3A generates a longitudinal wave standing wave instead of a transverse wave (in the case of a bending traveling wave). be able to. Then, as shown in FIGS. 4 and 5, by generating a standing wave in a plurality of (two in this embodiment) standing wave modes that are spatially out of phase, the vibrating body 3A is rotated in the circumferential direction. A traveling wave (clockwise in FIGS. 4 and 5) can be generated.

Due to the longitudinal wave generated in the circumferential direction, the vibrating body 3A can be expanded and compressed in the vertical direction by a displacement amount corresponding to the Poisson's ratio peculiar to the material constituting the vibrating body 3A. Along with this, waviness corresponding to the expansion and compression is generated on the transport surface 331, and as shown in FIG. 8, the frictional force F acting between the work W placed on the transport surface 331 and the transport surface 331. As a result, the work W can be conveyed by generating a force in the circumferential direction with respect to the work W (details will be described later). As described above, the work transfer device (parts feeder) 1 of the present embodiment transfers the work by undulating the transfer surface 331 that is output corresponding to the Poisson's ratio with respect to the longitudinal wave input to the vibrating body 3A. I am using it for.

That is, the work transfer device (parts feeder) 1 of the present embodiment is the work transfer device of the present embodiment using the transverse wave (in the case of the traveling traveling wave), which has been proposed by the applicant of the present application in various ways. The work transfer device 1 has an essentially different mechanism as described above. Due to this difference in the mechanism, the work transfer device 1 of the present embodiment can dramatically and easily improve the problem (specifically, the jump of the work) that has been limited in improvement by the conventional work transfer device.

In the vibrating body 3A configured as described above, a standing wave in 0 ° mode (see FIG. 4), which is a standing wave of a longitudinal wave, and a standing wave in 90 ° mode are fixed by vibration caused by driving the piezoelectric element 341. A standing wave (see FIG. 5) is generated inside the vibrating body 3A with a 90 ° phase shift in time. As a result, a traveling wave of a longitudinal wave (longitudinal wave traveling wave) traveling in the circumferential direction of the vibrating body 3A is generated. That is, this traveling wave is a state in which a longitudinal wave, which is a compressional wave, is traveling in one direction in the longitudinal direction of the transport surface 331. Depending on the Poisson's ratio peculiar to the material constituting the vibrating body 3A, the transport surface 331 is wavy as a deflection due to the compressive displacement and the tensile displacement of the vibrating body 3A included in the sparse and dense waves in each mode. The waving becomes a traveling wave traveling in one direction in the longitudinal direction of the transport surface 331.

Due to the generation of the longitudinal wave traveling wave, horizontal vibration that expands and contracts is generated in the circumferential direction of the vibrating body 3A. When longitudinal strain is generated, the Poisson effect that lateral strain is also generated along with the longitudinal strain, so that the vibrating body 3A vibrates so as to be repeatedly expanded and contracted even in the thickness direction (vertical direction). Since this vibration is due to a traveling wave, unlike a standing wave, it has no nodes and is generated over the entire circumference of the vibrating body 3A.

One point of the transport surface 331 on which the traveling wave is generated makes an elliptical motion counterclockwise when viewed from the out-of-diameter direction of the vibrating body 3A, as shown in the rotation locus R shown in FIG. On the center side of the illustrated range, tensile displacement in the circumferential direction occurs and the vibrating body 3A becomes smaller in the vertical direction, and on both the left and right sides of the same range, compressive displacement occurs in the circumferential direction and the vibrating body 3A It is getting bigger in the vertical direction.

FIG. 8 exaggerates the state of the transport surface 331 at the moment when the vibrating body 3A expands in the vertical direction in response to the compressive displacement in the circumferential direction. The contact point 331p with respect to the work W on the transport surface 331 moves so as to draw a counterclockwise rotation locus R as described above. Due to the movement of the contact point 331p, a frictional force F facing left in the drawing is generated on the work W placed on the transport surface 331. As a result, the work W is conveyed in the direction Wm to the left in the drawing, which is the same as the traveling direction M of the traveling wave (and the moving direction of the upper half in the rotating locus R). When a traveling wave is generated, an air flow may occur in the same direction as the traveling wave. In the conventional work transfer device, the air flow is opposite to the transfer direction of the work, so that it can be a force that hinders the transfer. On the other hand, in the present embodiment, since the air flow and the transport direction of the work W are the same, the transport of the work W is not hindered by the generated air flow.

Here, the vibration state in the traveling wave of longitudinal wave is expressed by the following formula.

Equation 1 shows an equation showing the displacement state of the traveling wave. In the equation, x is the circumferential position of the vibrating body 3A, t is the time, and u (x, t) is the circumferential displacement of the mass point at the position x in the vibrating body 3A at the time t. In addition, A indicates the circumferential amplitude (horizontal amplitude), f indicates the frequency, and λ indicates the wavelength.
In Equation 1 below, a traveling wave traveling in one direction in the x direction is represented.

The strain ε (x, t) in the circumferential direction of the vibrating body 3A at this time is expressed by the following equation 2.

Assuming that the Poisson's ratio of the vibrating body 3A is ν and the thickness (vertical dimension) is t _h , the vertical displacement w (x, t) of the transport surface 331 at the position x is expressed by the following equation 3 due to the Poisson effect. ..

From the above equation, it can be seen that the circumferential amplitude of the transport surface 331 is A, and the vertical amplitude of the transport surface 331 is πνt _h A / λ. Therefore, in the longitudinal wave traveling wave, the elliptical axis ratio, which is the ratio of the circumferential amplitude (horizontal amplitude) to the vertical amplitude, is expressed by the following equation 4.

In general, the wavelength λ is a very large value as compared with the plate thickness t _h , so the elliptical axis ratio represented by the equation 4 is also a large value. As described above, the work transfer device 1 of the present embodiment has a large elliptical axis ratio as compared with the conventional work transfer device that generates a bending traveling wave, and the shape of the motion locus (shape in the radial direction) is an extremely long elliptical motion. Can be generated on the transport surface 331. As can be seen from the fact that the denominator of Equation 4 has λ, the longer the wavelength, the larger the elliptic axis ratio.

By the way, in the conventional work transfer device, the shape of the motion locus is a vertically long elliptical motion (see FIG. 5 of Patent Document 1), and even when a slit is formed on the transfer surface, the ellipse is slightly longer than a perfect circle. It was only an exercise (see FIG. 12 of Patent Document 1). Therefore, since the work transfer device 1 of the present embodiment has a very small amplitude in the vertical direction with respect to the amplitude in the horizontal direction, the jumping force applied to the work can be significantly reduced as compared with the conventional case. Moreover, since it is not necessary to form a slit as in the conventional case, the transport surface 331 can be a surface having at least a larger unevenness than the work in the circumferential direction, so that the cause of the work being physically caught can be eliminated. , The shape of the transport surface 331 does not cause jumping. Then, the work transfer device 1 of the present embodiment can transfer the work at a high speed because the amplitude in the horizontal direction can be made very large with respect to the amplitude in the vertical direction.

Although the present invention has been described by taking up one embodiment, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the gist of the present invention.

For example, the material of the vibrating body 3A can be various materials as long as it generates a Poisson effect. Further, the shape of the vibrating body 3A is not limited to the annular shape as in the above embodiment, and may be a disk shape having the fixing portion 32 integrally in the center. Further, the outer shape of the vibrating body 3A is not limited to the perfect circular shape (bowl feeder 3) and the oval shape (linear feeder 4) as in the above embodiment. For example, the vibrating body 3A may have a linear shape or a curved shape having an end portion. In this case, the traveling wave does not go around, but moves in one direction in the longitudinal direction.

Further, as shown in FIG. 9, in the bowl feeder 3, the piezoelectric element 341 may be attached to the side surface of the bowl feeder side transport portion 31 (vibrating body 3A). As described above, the mounting position of the piezoelectric element 341 in the vibrating body 3A is not limited. Similarly, in the linear feeder 4, the piezoelectric element 442 may be attached to the side surface of the bowl feeder side transport portion 31 (vibrating body 3A). Further, although not shown, the piezoelectric element 341 may be embedded inside the vibrating body 3A.

Further, in the above-described embodiment, the piezoelectric element 341 belonging to the first group (first piezoelectric element group) 341A and the piezoelectric element 341 belonging to the second group (second piezoelectric element group) 341B are alternately arranged one by one in the circumferential direction. Although it is arranged, the arrangement mode is not limited to this. For example, the piezoelectric elements 341 belonging to the first group are collectively arranged on one side in the radial direction, and the piezoelectric elements 341 belonging to the second group are collectively arranged on the other side (the side 180 ° opposite to the one side in the circumferential direction). You may.

Further, it is sufficient that one or more displacement generation units 341 are provided in each group having a relationship of different temporal phases.

Further, in the above embodiment, the displacement generation unit 341 is a piezoelectric element. However, the present invention is not limited to this, and various means (actuators) can be used. For example, a magnetostrictive element can be used, vibration can be performed by electromagnetic force, or vibration can be performed by electrostatic force.

Further, in the above-described embodiment, the longitudinal wave has been focused on. However, the vibrating body 3A in the vibrating state may contain not only the longitudinal wave but also the transverse wave.

1 Work transfer device, parts feeder 2 Base part 3 Bowl feeder 3A Vibrator 31 Bowl feeder side transfer part 32 Bowl feeder fixed part 33 Spiral track 331 Transport surface 332 Transport surface 332 Spiral track outer peripheral end 34 Vibration generation part 341 Displacement generation part, Piezoelectric element 341A 1st group (1st piezoelectric element group)
341B 2nd group (2nd piezoelectric element group)
4 Linear feeder 41 Linear feeder side transport section 42 Linear feeder fixed section 43 Main track 431 Main track transport surface 44 Return track 441 Return track transport surface 5 Traveling wave generating means 6 Control unit

Claims (2)

A vibrating body having a transport surface for transporting the workpiece on which it is placed,
By generating a sparse and dense wave including compressive displacement and tensile displacement in the direction along the transport direction of the work on the vibrating body in at least two modes, the transport surface is bent in the normal direction, thereby transporting the work. A vibration generating part that generates vibration in which one point on the surface draws an elliptical orbit in a lateral view,
A work transfer device characterized by being provided with. The vibration generating portion has a plurality of displacement generating portions that give the compressive displacement and the tensile displacement to the vibrating body.
The plurality of displacement generators belong to a group of numbers corresponding to the number of modes.
A claim comprising a control unit for applying a sine wave having a frequency corresponding to a specific mode in which the sparse and dense wave is generated to the plurality of displacement generation units in different phases in each of the above groups. Item 1. The work transfer device according to item 1.