JP2853214B2 - Drive control method of elliptical vibration parts feeder - Google Patents

Description

The present invention relates to a drive control method for an elliptical vibration component feeder.

[Conventional technology and its problems] The elliptical vibration component feeder transfers components along the track by causing a component receiver with a spiral component transport track formed on the inner peripheral wall to perform elliptical torsional vibration. It is something to do. It has recently been widely used because the transfer speed of parts is higher than that of a part feeder that performs linear torsional vibration.

As is well known, an elliptical vibration component feeder can obtain an elliptical vibration force by synthesizing a horizontal vibration force and a vertical vibration force with a phase difference, thereby obtaining an elliptical vibration force. In order to give a phase difference, that is, to give a phase difference to the voltage supplied to the horizontal drive coil and the vertical drive coil, for example, there is a type that changes the phase difference by switching between each phase of a commercial three-phase power supply, In this case, it cannot be changed continuously, and a desired elliptical vibration may not be obtained. In addition, there is one in which the phase difference is continuously changed to change the magnitude of the major axis and minor axis of the ellipse or the vibration direction of the major axis, but a control circuit for changing this phase is very It is complicated and not only raises the cost but also makes it difficult to accurately obtain the desired vibration angle of the long axis or the ratio of the long axis to the short axis.

[Problems to be solved by the invention]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems, and is capable of precisely and inexpensively controlling the ratio of the major axis to the minor axis of the elliptical vibration and the direction of vibration of the major axis, or the optimal elliptical vibration for component transfer. To provide a drive control method for an elliptical vibration component feeder that can easily obtain the above.

[Means for solving the problem]

The above object is achieved by a component receiver having a spiral component transfer track formed on an inner peripheral wall portion, a horizontal vibration elastic means for supporting the component receiver so as to be able to vibrate in the horizontal direction, and Horizontal drive electromagnet to excite
Vertical vibration elastic means for supporting the component receiver so as to be capable of vibrating in the vertical direction, a vertical drive electromagnet for vibrating the component receiver in the vertical direction, the coil for the horizontal drive electromagnet and the vertical drive electromagnet In the drive control method for an elliptical vibration component feeder configured to cause the component receiver to perform elliptical vibration by giving each voltage supplied to the coil a phase difference, the coil for the horizontal drive electromagnet and the vertical drive electromagnet Each of the coils is connected to at least one pair of transistors as switching elements, and a first sine wave voltage is supplied to an adjustable phase shifter to produce a second sine wave voltage having a phase difference from the first sine wave voltage. Sine wave voltages are formed, and each of these sine wave voltages is subjected to pulse width modulation (PWM) to obtain a rectangular wave voltage, which is connected to the coil for the horizontal drive electromagnet. It is supplied to the control electrode of the transistor and the control electrode of the transistor connected to the coil for the vertical drive electromagnet so as to have the phase difference during conduction and non-conduction time of these transistors, and by adjusting the phase shifter This is achieved by a drive control method for an elliptical vibration component feeder, characterized in that the elliptical vibration of the component receiver is optimized.

[Action]

A rectangular wave voltage obtained by pulse width modulating the first sine wave voltage and the second sine wave voltage is supplied to at least one pair of transistors connected to the horizontal drive electromagnet coil and the vertical drive electromagnet coil, Since the conduction and non-conduction time of these transistors are controlled,
The exchange efficiency of DC power → AC power is increased, and these phase differences can be easily and precisely adjusted by adjusting the phase shifter. That is, the mode of the elliptical vibration applied to the component receiver, the ratio of the major axis to the minor axis, or the direction of the major axis vibration angle can be easily set to a desired value.

〔Example〕

Hereinafter, a drive control method of an elliptical vibration component feeder according to an embodiment of the present invention will be described with reference to the drawings.

In the figure, the elliptical vibration parts feeder is indicated by (1) as a whole and includes a known ball (2). As shown in FIG. 5, a spiral track (3) is formed on the inner wall surface of the ball (2), and a wiper (4) is provided at an appropriate position on the downstream side. Since the wiper (4) is already well known, the drawing is simplified, but the flat plate is bent as shown in the figure, and the distance between the lower end of the wiper (4) and the transfer surface of the truck (3) is adjusted to the part m (flat plate). )), But less than twice this thickness. At the discharge end of the truck (3), a posture holding means (5) is provided, through which a component having a desired posture (for example, a component m whose long side is directed in the transfer direction) is fed by a linear vibration feeder (6). Supplied to

The ball (2) is fixed to a cross-shaped upper movable frame (7) shown in FIG. 2, and the upper movable frame (7) is also a cross-shaped lower movable frame shown in FIG. (8) are connected by four sets of leaf springs (9) standing upright. That is, the upper movable frame (7)
The upper end of the leaf spring (9) is fixed to the four ends (7a) by bolts, and the lower end of the leaf spring (9) is attached to the four ends (8a) of the lower movable frame (8). It is fixed with bolts. The ends (7a) and (8a) are vertically aligned.

At the center of the fixed frame (10), a vertical drive electromagnet (11) is fixed opposite to the center of the upper movable frame (7), and opposed to the electromagnet (11). A vertical movable core (13) is fixed to the lower surface. A pair of horizontal drive electromagnets (14a) and (14b) are fixed on opposite side walls of the fixed frame (10) with the vertical drive electromagnet (11) interposed therebetween.
Coils (15a) and (15b) are wound around (14b), respectively. The lower surface of the upper movable frame (7) faces the horizontal drive electromagnets (14a) (14b) and faces the horizontal movable core (16a) (1
6b) is fixed.

Four legs (17) are formed on the fixed frame (10) as a pair with the fixed frame (10), and these legs (17)
Supported on the base via The leg portion (17) is integrally formed with a spring mounting portion (17a) extending in the lateral direction. The spring mounting portion (17a) is provided with a leaf spring (19) for vertical driving as shown in FIG. ) Are fixed with four bolts at both ends. As shown in FIG. 1, the leaf springs (19) are stacked via spacers (20), and their central portions are fixed to the lower movable frame (8) by bolts.

In the vibrating feeder (6), a driving section (21) (the structure is well known and not shown) is connected to the movable block (50) by a pair of leaf springs (24), and the whole is a base block (22). ) Is supported on the base by the vibration isolating rubber (23). An elongated trough (51) is fixed to the movable block (50). In this trough (51), a groove (26) is formed between both side walls (25a) (25b) as clearly shown in FIG. Is formed. On the upstream side of the groove (26), a component overflow detection device Q including a light emitting element (27) and a light detecting element (28) is disposed close to the groove (26). Although not shown, a small hole is formed in the groove (26) so as to face the light emitting element (27), and when no component exists above the light emitting element (27), the light detecting element (28) is moved from the light emitting element (27). Is received.

Next, details of the parts feeder driving circuit will be described with reference to FIGS.

FIG. 6 shows the present drive circuit, but the main circuit (30)
In, both terminals of the AC power supply (32) are connected to a rectifier (33) composed of a plurality of diodes, and this DC output is smoothed by a capacitor (34) to form a horizontal coil controller (35).
And supplied to the vertical coil control unit (36). The above-described horizontal drive coils (15a) (15b) and vertical drive coil (12) are connected to these coil control units (35) (36), respectively.

Next, the commutation controller (31) will be described. The output terminal of the sine wave generator (37) is connected to one input terminal of the first comparator (39), and further connected to the phase shifter (38).
The output terminal of the phase shifter (38) is connected to a second comparator (4
0) is connected to one input terminal. Each comparator (3
9) The other input terminal of (40) has a triangular wave generator (41)
Are connected respectively. The output terminals of the comparators (39) and (40) are connected to the horizontal coil controller (35) and the vertical coil controller (3) in the main circuit (30).
It is connected to the control terminal of the switching element described later in 6).

FIG. 8 shows details of the phase shifter (38) in FIG. 6, and a sine wave generator () is connected to a negative input terminal (42a) of the operational amplifier (42) via a resistor (43). The output terminal of (37) is connected by the input terminal (47). The input terminal (47) is connected to an operational amplifier (42) via a variable resistor (44).
Connected to the positive input terminal (42b). A capacitor (45) is connected between the positive input terminal (42b) and the ground, and the output terminal (48) of this operational amplifier (42) is connected to one input terminal (42a) via a resistor (46). Connected.

The output terminal of the sine wave generator (37) is connected to the phase shifter (38). The output phase of the sine wave generator (37) can be freely changed by adjusting the variable resistor (44). It has become. That is, a variable time constant circuit is formed by the resistance of the variable resistor (44) and the capacitance of the capacitor (45), and the phase is adjusted by this.

As shown in FIG. 10A, when the output Vp of the sine wave generator (37) has a relationship as shown in FIG. 10 with respect to the output Vc of the triangular wave generator (41), the first comparator (39) operates as shown in FIG. 10B. To generate a square wave. That is, the output is at a high level in a region where the voltage of the sine wave Vp is higher than the voltage of the triangular wave Vc, and is low when the voltage of the sine wave Vp is lower than the voltage of the triangular wave Vc.

FIG. 7 shows the details of the horizontal coil control unit (35) and the vertical coil control unit (36) in FIG. 6, and a horizontal coil is provided between the electric circuit (51) and the electric circuit (52) in the figure. In the control section (35), the transistors (80) and (81) serving as a pair of switching elements include the horizontal coils (15a) (15).
b), and diodes (55) and (56) are also connected in series via horizontal coils (15a) and (15b) so as to intersect them. Diodes (57) (5) are connected in parallel with transistors (80) (81).
8) are connected, but these are for overvoltage absorption.

The vertical coil control section (36) has the same configuration, in which transistors (82) and (83) as switching elements are connected in series via a vertical coil (12). ) (61) are likewise connected in series via a vertical coil (12). The diodes (62) and (63) are connected in parallel to the transistors (82) and (83), which are also for overvoltage absorption.

The control electrodes (80a) (81a) and (82a) (83a) of the transistors (80) (81) and (82) (83) are provided with the comparators (39) (40) in the commutation control unit (31). ) Output terminals are connected.

The output of the phase shifter (38) in the commutation controller (31) is the ninth
If the output of the sine wave generator (37) as shown in figure as a voltage having a waveform as shown by V _1, will now phase shifter (38)
The sinusoidal voltage V ₂ that only the phase shift p can be obtained by adjustment. These are supplied to the comparators (39) and (40), respectively, and as described above, the rectangles shown in FIG. 10B are shifted in phase p from the comparators (39) and (40) in relation to FIGS. 10A and 10B. Wave pulses are obtained, and these are supplied to the control electrodes (80a) (81a) and (82a) (83a) of the transistors (80) (81) (82) (83) in FIG.

The embodiment of the present invention is configured as described above. Next, this operation will be described.

Horizontal coil controller (35) and vertical coil controller (36)
Output current of each horizontal drive electromagnet coil (15a) (15b)
The ball (2) in the elliptical vibrating parts feeder (1) receives a vertical exciting force by the vertical driving electromagnet (11), and a pair of horizontal driving electromagnets flows through the vertical driving electromagnet coil (12). (14a) and (14b) receive an exciting force in the horizontal direction, and the combined vibration in each direction becomes an elliptical vibration. Generally, it has been experimentally confirmed that the maximum component transfer speed can be obtained when the phase difference between the vertical vibration and the horizontal vibration is about 60 °. The resonance frequency of the vertical vibration of the elliptical vibration parts feeder (1) is determined by the weight of the ball (2), the spring constant of the leaf spring (19), and the like, while the resonance frequency of the horizontal vibration is the ball (2).
Is determined by the weight of the plate spring (9), the spring constant of the plate spring (9), and the like. Further, in this type of vibrator, it is preferable to make the resonance frequency substantially coincide with the drive frequency, but this is also troublesome.

In this embodiment, even if the resonance frequency in the vertical and horizontal directions of the elliptical vibration parts feeder (1) is designed to roughly match the driving frequency, the optimum vibration conditions can be adjusted by adjusting the phase shifter (38). Is obtained. Generally, the phase difference between the exciting force and the vibration is determined by the ratio λ between the resonance frequency of the system and the frequency of the exciting force,
The phase difference is 90 ° when λ is 1, that is, when the resonance frequency of the system and the frequency of the excitation force completely match.

When λ is sufficiently smaller than 1, the phase difference is 0 °,
When it is sufficiently larger than 1, it is 180 °. Near [lambda] around 1, the phase difference can take values between 0 [deg.] and 180 [deg.], depending on the viscosity of the spring. For example, when the leaf springs (9) and (10) are made of steel, the viscosity coefficient is small. Therefore, even when λ is around 1, the phase difference is almost equal to 0 ° when λ <1 and 180 ° when λ> 1. Almost equal.

In any case, it has been experimentally found that the maximum transfer speed can be obtained when the phase difference between the vibrations in both directions is about 60 °. According to the present embodiment, this can be obtained freely by adjusting the resistance (44) of the phase shifter (38).

In the drive circuit of FIG. 6, the alternating current from the alternating current power supply (32) is converted into direct current by the rectifier (33), which is applied to the horizontal coil controller (35) and the vertical coil controller (36). As shown in FIG. 10B, the first comparator (39) and the second comparator (40) are rectangular waves having a phase difference with each other as shown in FIG. 10B. The transistors (80), (81) and (82) in FIG.
It is supplied to the control electrodes (80a) (81a) and (82a) (83a) of (83), and when they are at a high level, they are made conductive. The horizontal coils (15a) (15b) and the vertical coils (12) have diodes (55) (56) in the other 180 ° area of the sinusoidal voltage.
And (62) and (63), an alternating current having a frequency of a sine wave voltage flows by flowing a current. The phase difference changes the ratio of the major axis to the minor axis of the elliptical vibration and the inclination angle of the major axis. The variable resistance of the phase shifter (38) is observed while observing the movement of the components in the ball (2). If (44) is adjusted, the ball (2) will perform an elliptical torsional vibration at the output frequency of the sine wave generator (37) after the variable resistor (44) is fixed at the desired feeding action and transfer speed.

The elliptical vibration parts feeder (1) is driven as described above, and the vibration feeder (6) connected thereto is also driven at the same time. Although not shown, when a large amount of components, for example, electronic components are put into the ball (2), the components rise along the track (3), and the overlap of the component m is removed by the wiper (4). It is made into a single layer and supplied to the groove (26) of the vibrating feeder (6) through the attitude holding track (5). Note that the horizontal part m 'falls into the ball (2) on the narrow path (3a). The vibrating feeder (6) vibrates linearly in the direction of arrow A as shown in FIG. 4, and the component is transferred rightward in the figure through the groove (26) by receiving the vibrating force. In addition, one part may be continuously supplied from the vibration feeder (6) to the next step, or a stopper may be provided at the discharge end of the groove (26), and the part may be temporarily stopped by this, and some transport means may be provided. For example, the components may be suctioned from above by a vacuum suction device and conveyed one by one to another location. In any case, the parts are continuously supplied from the parts feeder (1) to the vibration feeder (6) one by one.
7) When the components come into contact with each other in the lower groove (26) without an interval, the light from the light emitting element (27) is not irradiated to the analyzing element (28). That is, the groove (26)
If the part is flowing, the light is again irradiated to the detector (28) after a short time even if the part is blocked, but if the light is not irradiated to the detector (28) for a predetermined time or more, Is determined to be in an overflow state, and an overflow signal is generated, whereby the current flowing through the horizontal drive electromagnet coils (15a) (15b) and the vertical drive electromagnet coil (12) becomes zero. Therefore, the elliptical vibration feeder (1) stops and the vibration feeder (6)
Supply of parts to is stopped. The drive circuit for this is omitted in FIG.

Eventually, when the overflow state of the vibration feeder (6) is released, that is, an interval is generated between the components, and the light emitting element (27)
Is emitted to the light detecting element (28), an overflow release signal is generated, and the elliptical vibration parts feeder (1) is returned again.
To start driving.

The gap between the track (5) of the elliptical vibrating parts feeder (1) and the trough (51) of the vibrating feeder (6) is small enough so that the transferred parts do not fall or get caught. The phase shifter (38) may be adjusted so as not to occur.

As described above, according to the embodiment of the present invention, the phase shifter (38)
By simply changing the variable resistance (44), the relationship between the major axis and the minor axis of the elliptical torsional vibration and the inclination of the major axis can be easily changed. Without using a complicated control circuit as in the past,
Elliptical vibration can be optimized, and costs can be further reduced. In addition, since the fine adjustment can be continuously performed, the controllability of the elliptical vibration parts feeder (which can continuously change the resistance value of the resistance (44) of the phase shifter (38)) is further improved. be able to.

Although the embodiments of the present invention have been described above, the present invention is, of course, not limited thereto, and various modifications can be made based on the technical idea of the present invention.

For example, in the above embodiment, the horizontal coil controller (3
5) and a pair of transistors (80) (81) and (82) (83) are used for the vertical coil controller (36), respectively.
Crossing this, diodes (55) (56) and (62) (6
3) provided, but diodes (55) (56) and (6)
2) Transistors (80) (81) and (8)
2) A transistor similar to (83) may be connected. In this case, two pairs of transistors as switching elements are connected via the horizontal driving coils (15a) (15b) or the vertical driving coil (12). In such a case, the present invention is also applicable. Applicable.

Although a circuit as shown in FIG. 8 was used as the phase shifter (38), it is needless to say that the present invention is not limited to this and various known transfer circuits can be applied to the present invention.

Further, in the above embodiment, the leaf springs (9) and (19) are used as the elastic means for horizontal vibration and the elastic means for vertical vibration of the elliptical vibration parts feeder, but other elastic means, for example, elastic rubber are used. Is also good.

〔The invention's effect〕

As described above, according to the drive control method of the elliptical vibration component feeder of the present invention, the phase difference between the vertical excitation force and the horizontal excitation force can be easily changed, and the desired elliptical vibration The ratio of the major axis to the minor axis and the vibration angle of the major axis can be adjusted precisely and with high DC-AC conversion efficiency.

[Brief description of the drawings]

1 is a partial cross-sectional view of an elliptical vibration parts feeder to which an embodiment of the present invention is applied, FIG. 2 is a plan view taken along the line II-II in FIG. 1, and FIG. 3 is an elliptical vibration parts feeder of FIG. FIG. 4 is a side view of the elliptical vibration part feeder of FIG. 1 to which the embodiment of the present invention is applied and a linear vibration feeder connected thereto, FIG. 5 is a plan view of the same, and FIG. 4th
FIG. 7 is a circuit diagram showing details of a horizontal coil control unit and a vertical coil control unit in the same driving circuit, and FIG. 8 is a diagram showing details of a phase shifter in the same driving circuit. 9 is a graph showing the operation of the transfer device, and FIGS. 10A and 10B are graphs showing the operation of the commutation control unit in the drive circuit of FIG. In the figure, (1) ... elliptical vibration parts feeder (12) (15a) (15b) ... coil (30) ... main circuit (31) ... commutation control unit (37) ... sine wave generator (38) Phase shifter (39) (40) Comparator (41) Triangular wave generator (44) Variable resistance (80) (81) (82) (83) Transistor

Claims (1)

(57) [Claims] 1. A component receiving portion having a spiral component transferring track formed on an inner peripheral wall portion, horizontal vibration elastic means for supporting the component receiving portion so as to be able to vibrate in a horizontal direction, and a component receiving portion in a horizontal direction. A horizontal drive electromagnet for vibrating the component receiver, a vertical vibration elastic means for supporting the component receiver so as to be able to vibrate in the vertical direction, and a vertical drive electromagnet for vibrating the component receiver in the vertical direction. In the drive control method for an elliptical vibration component feeder configured to cause the component receiver to perform elliptical vibration by giving a phase difference to each voltage supplied to the driving electromagnet coil and the vertical driving electromagnet coil, At least one pair of transistors as switching elements is connected to each of the driving electromagnet coil and the vertical driving electromagnet coil, and the first sine wave voltage can be adjusted. To form a second sine wave voltage having a phase difference from the first sine wave voltage, and applying a pulse width modulation (PWM) to each of the sine wave voltages to obtain a square wave voltage. Are supplied to the control electrode of the transistor connected to the coil for the horizontal drive electromagnet and the control electrode of the transistor connected to the coil for the vertical drive electromagnet, respectively. A drive control method for an elliptical vibration component feeder, wherein a phase difference is provided, and the elliptical vibration of the component receiver is optimized by adjusting the phase shifter.