JP5793941B2 - Article conveying device - Google Patents

Description

  The present invention relates to an article conveying apparatus capable of conveying an article by vibration.

  2. Description of the Related Art Conventionally, various types of devices are known as devices that can arbitrarily change the conveyance direction on an article conveyance line.

  For example, as in Patent Document 1, there is a type in which a large number of electrostatic actuators are arranged in a lattice shape on the conveyance surface of an article. This is because a large number of hook-shaped stators are provided on the conveying surface, the conveying elements are suspended through spring members, and the conveying electrodes are operated by operating suction electrodes provided on the bottom and side surfaces in the stator. By controlling the operation of the child, the article on the carrier is moved.

  Further, in Patent Document 2, a large number of small rollers are arranged on the conveyance surface of the article so that the rotation axis is parallel to the conveyance surface, and the rotation and direction of these rollers are controlled, so that the articles placed on them are controlled. A technique for controlling the transport direction is disclosed.

  Further, Patent Document 3 discloses a configuration in which rollers having rotation axes orthogonal to each other are alternately arranged on the conveyance surface, and the conveyance direction of the article is controlled by controlling the rotation of these rollers.

JP-A-8-116683 JP 2004-75387 A JP 2008-168956 A

  However, the above-described article conveying apparatus according to the prior art is composed of a large number of devices such as electrostatic actuators and small rollers and needs to be driven at the same time, so that the configuration is complicated and the control method is also complicated. It becomes. For this reason, the manufacturing cost and the maintenance cost are increased, and the malfunction of the device is likely to occur.

  Further, in such a configuration, unevenness is generated on the transport surface that comes into contact with the article to be transported, so that it is impossible to transport an article that is smaller than the size of the unevenness. Therefore, it is difficult to transport a wide range of articles from a small to a large article with a single article transport device.

  An object of the present invention is to effectively solve such a problem. Specifically, an article can be transported in an arbitrary direction on a transport surface with a simple configuration and without requiring complicated control. An object of the present invention is to provide an article transport apparatus capable of transporting articles of various sizes.

  The present invention takes the following means in order to achieve such an object.

That is, the article conveying apparatus of the present invention includes a movable table provided on a base via elastic support means, and conveys an article placed on the movable table when the movable table vibrates. The movable table is elastically supported by the elastic support means in the vertical direction, the first horizontal direction, and the second horizontal direction intersecting the first horizontal direction. A vertical vibration means having a vibration system in a horizontal direction and a second horizontal direction, and applying a periodic vibration force in a vertical direction to the movable table; and the first to the movable table. horizontal and first horizontal vibration means for imparting a periodic excitation force, the second horizontal intersecting the periodic excitation force by the previous SL first horizontal vibration means with respect to the carriage of A second horizontal excitation means for applying a periodic excitation force in the direction, and a period of each of the excitation means A vibration control means for controlling the respective excitation means so as to generate a three-dimensional vibration locus on the movable base by simultaneously generating an excitation force at the same frequency while having a phase difference; and by each of the excitation means Vibration switching means for switching between the amplitude and phase difference of the periodic excitation force is provided.

  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 three-dimensionally by the vibration switching means. Then, by changing the three-dimensional vibration trajectory generated on the movable platform to a different vibration trajectory having a different size and direction, the conveyance direction of the article being conveyed can be changed to an arbitrary direction, or an arbitrary trajectory can be taken. In this way, it is possible to carry the sheet and to increase or decrease the carrying speed. Furthermore, it is possible to independently control the conveyance direction and the conveyance speed while simultaneously conveying a plurality of articles having different friction coefficients.

  Furthermore, in order to stably convey a wide variety of articles regardless of their shapes and sizes, it is more preferable that the upper surface of the movable table on which the articles are placed is configured to be substantially planar.

  Further, in order to carry the article more stably, it is more preferable that the elastic support means is configured to elastically support the movable base while holding the movable base in parallel.

  In addition, in order to be able to arbitrarily change the conveyance direction of the article by a human operation, it has a conveyance direction input means for inputting the conveyance direction of the article, and the vibration switching is performed according to a command from the conveyance direction input means. It is preferable that the means is configured to switch the amplitude and phase of the periodic excitation force by each of the excitation means.

  Further, in order to stably convey the article in the arbitrary direction even if the friction coefficient of the article to be conveyed is different, a friction coefficient input unit for inputting the friction coefficient of the article to be conveyed is provided. More preferably, the vibration switching means is configured to switch the amplitude and phase of the periodic excitation force by the respective excitation means based on the input value of the coefficient.

  According to the present invention described above, by adopting a simple configuration, it is possible to transport articles of various shapes and sizes while having low cost and excellent maintainability, and simultaneously handling a plurality of articles. It is possible to provide an article transport apparatus that can arbitrarily change the transport direction and the transport speed independently of each other while transporting.

1 is a system configuration diagram of an article conveyance device according to an embodiment of the present invention. The perspective view of the mechanical apparatus part of the article conveyance apparatus. The front view of the mechanical apparatus part of the article conveyance apparatus. Sectional view on the AA line of FIG. 3 which shows the cross section of the 1st spring member of the goods conveyance apparatus. The front view which shows the operation | movement to the horizontal direction of the machine apparatus part of the article conveyance apparatus. The front view which shows the operation | movement to the perpendicular direction of the machine apparatus part of the article conveyance apparatus. The conceptual diagram which shows the vibration direction of the goods conveyance apparatus. The figure which shows the relationship between the phase difference between the periodic excitation forces to each direction in the article conveyance apparatus, and the article conveyance speed. The figure which shows the relationship between the phase difference between the periodic excitation forces to each direction in the goods conveyance apparatus, the conveyance speed of an article, and a friction coefficient. The figure which shows the relationship between the amplitude of the periodic excitation force to the horizontal direction in the goods conveyance apparatus, and the conveyance speed of goods. The top view which illustrated the conveyance locus at the time of conveying goods using the article conveyance device. The system block diagram of the article conveyance apparatus which concerns on embodiment different from FIG.

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

  As shown in FIG. 1, the article conveying device 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 section 2 includes a base 4 that is largely fixed to the floor, a movable base 6 that conveys 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-like springs connected to the base body 4, and an intermediate base 51 that is elastically supported in the horizontal direction with respect to the base body 4 by the first spring member 52. And the second spring member 53, which is four plate springs connected to the intermediate base 51 and elastically supporting 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 of the movable stand 6 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 vibration in the X direction, which is the first horizontal direction, on the side perpendicular to the X axis on the side surface below the center in the longitudinal direction of the intermediate portion 52c of the first spring member 52, A rectangular parallelepiped first piezoelectric element 71 is pasted. Further, as the second horizontal vibration means for imparting vibration in the Y-direction is a second horizontal direction intersecting the first horizontal direction, the longitudinal center following aspects of the intermediate portion 52c of the first spring member 52 The rectangular parallelepiped second piezoelectric element 72 is attached to a surface orthogonal to the Y axis. 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 a vertical vibration means for applying vibration in the Z direction, which is the vertical direction, as shown in FIG. Three piezoelectric elements 73 are 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 all the upper and lower stages. However, as in the case of the first piezoelectric element 71 and the second piezoelectric element 72 attached to the first spring member 52, the attachment to a wide range beyond the vicinity of the center in the longitudinal direction of the second spring member 53 impairs efficiency. Inappropriate. 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 base 6, the movable base 6 moves in the vertical direction while keeping the upper surface 61 on which the article is placed horizontally. become.

  The control system unit 3 shown in FIG. 1 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. Thus, a periodic excitation force for generating vibrations in the X, Y, and Z directions 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.

  Then, the control system unit 3 includes a conveyance direction input means 33 for inputting a conveyance direction and a conveyance speed according to the article 9 to be conveyed, and each amplitude adjustment circuit 31a and each position so as to obtain the conveyance direction and the conveyance speed. And a vibration switching means 32 for issuing a command for changing a specific control value to the phase adjustment circuit 31b. Further, the control system unit 3 has a friction coefficient input unit 36 for inputting the friction coefficient value of the article 9 from the outside, and the friction coefficient data input here is output to the vibration switching unit 32, The phase and amplitude control values are corrected based on the friction coefficient data.

  Specifically, the conveyance direction input means 33 is configured so that a person can input the conveyance direction and the conveyance speed of each article 9 by hand operation, and the vibration mode is set in the designated conveyance direction and conveyance speed. A command is given to the vibration switching means 32 to switch.

  In the vibration switching unit 32, the amplitude adjustment circuit 31a and the phase adjustment circuit 31b are adjusted in consideration of the influence of the friction coefficient of the article so that the conveyance direction and the conveyance speed become the target values input as described above. A command is output to determine each specific control value and switch to the control value.

  In the article conveying apparatus 1 configured as described above, the article 9 placed on the movable table 6 can be moved by the vibration of the movable table 6. The basic principle is the same as the technique disclosed in Japanese Patent Laid-Open No. 2005-255351, which has a different purpose from the present invention, and the article conveying apparatus 1 is a further development of the technique. Specifically, the operation is as follows.

  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. Furthermore, vibrations having the same frequency as that in the Z direction are also given in the X and Y directions as shown by the equations X = X ₀ × sin (ωt + φx) and Y = Y ₀ × sin (ωt + φy). 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 with reference to the vibration component in the Z direction, the moving speed component in the X and Y directions is changed and transported in an arbitrary direction. It becomes possible.

  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. Change. Therefore, when the phase difference of the vibration component in the X direction with respect to the vibration component in the Z direction is set to φ2 in the drawing, the article 9 is conveyed in a direction in which X is positive. Further, when the phase difference is set to φ4, the article 9 is conveyed in the direction in which X becomes negative. On the other hand, when the phase difference is set to φ1 and φ3, the moving speed Vx becomes 0 and the article 9 is stationary in the X direction. Furthermore, by changing the phase difference between φ1 and φ3 or between φ3 and π (−π) to φ1, the speed in the positive direction and the negative direction can be increased or decreased, respectively. Such a relationship holds not only in the X direction but also in the Y direction, and the movement direction and the movement speed can be changed by setting a phase difference for the vibration component in the Z direction as in the X direction.

Furthermore, according to the knowledge of the inventors, using FIG. 10 with reference to FIG. 7, the relationship between the phase difference φx (φy) and the moving speed Vx (Yy) of the article 9 is expressed by 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 this purpose, the amplitude of the control voltage may be changed so as to give a corresponding excitation force.

In this way, by changing the amplitudes X ₀ and Y ₀ of the vibration components in the X and Y directions and the phase differences φx and φy with respect to the Z direction vibration components, the moving speeds Vx and Vy in the X and Y directions are changed. Can change.

  A specific control method in the case of changing the conveyance direction and speed of the article 9 using such a function will be described with reference to FIGS. 1, 8, 11 (a), and 11 (b).

As described above, the control voltage to each piezoelectric element 71, 72, 73 that generates each vibration component in the X, Y, Z direction is based on the sine wave voltage from the same oscillator 34, and the amplitude adjustment circuit 31 a. Further, the amplitude and the phase difference are adjusted by the phase adjustment circuit 31b and then amplified by the amplifier 35. From the initial time point (T ₀ ) of FIG. 11A, when the conveyance direction input means 33 is inputted to move the article 9 only in the X direction, the vibration switching means 32 shows the phase difference of the X direction vibration component. 8 is set between φ1 and φ3, and the phase difference in the Y direction is set to φ1 or φ3. Thereby, the article 9 can be advanced only in the X direction. Further, at the time of T _1, if the article 9 from the conveying direction input unit 33 has been input as to advance the upper left of FIG. 11 in (a), the vibration switching means 32, the phase difference in the Y direction φ1~ Set in the range of φ3. Thereby, it is possible to add the Y-direction moving speed component to the article 9 and advance it diagonally to the left.

  When instructions for changing the transport direction and speed are executed from time to time as described above from the transport direction input means 33 and the amplitude and phase are adjusted by the vibration switching means 32, it can be freely moved in the XY directions as shown in FIG. The article 9 can be moved while drawing a simple trajectory.

  Note that the curve indicating the relationship between the phase difference and the conveyance speed is shifted depending on the friction coefficient as shown in FIG. Therefore, when the article 9 shown in FIG. 1 is changed to one having a different friction coefficient, a deviation occurs between the direction input from the transport direction input means 33 and the actual transport direction. Therefore, as described above, the friction coefficient data of the article 9 input to the friction coefficient input unit 36 is transmitted to the vibration switching unit 32, and the vibration switching unit 32 sets the control values of the phase and amplitude based on the friction coefficient data. It is configured to correct. For this reason, the vibration switching means 32 also holds data indicating the relationship between the phase difference and the conveyance speed in relation to the friction coefficient, and based on the held data, the phase and amplitude of each vibration component are stored. Determine the control value.

  Further, the present article transport apparatus can simultaneously control the transport direction and transport speed of the two types of articles 9. Hereinafter, the principle will be described.

  According to the knowledge of the inventors, referring to FIG. 1, the curve indicating the relationship between the phase difference shown in FIG. 8 and the moving speed Vx (Yy) of the article 9 is the difference between the article 9 and the movable table 6. The relationship varies depending on the friction coefficient and becomes the relationship shown in FIG. That is, when the friction coefficients between the two types of articles W1 and W2 and the movable table 6 are μ1 and μ2, respectively, and there is a relationship of μ1 <μ2, the movement speed graph at W2 is the movement speed at W1. The curve is shifted in the direction in which 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. 9 is set, W1 does not move and W2 moves in the negative direction. If the phase difference is set between φ1 and φ2, W1 can be moved in the positive direction and W2 can be moved in the negative direction. When set to φ3, only W1 can be moved in the positive direction without moving W2. If set between φ2 and φ4, both W1 and W2 can be moved in the positive direction, but the speeds of W1 and W2 can be switched with φ3 as a boundary. Furthermore, if the phase difference is finely changed in the range of φ2 to φ4, the speed ratio between W1 and W2 can also be changed.

  If the phase difference is φ4, only W2 can be moved in the positive direction without moving W1. Furthermore, if the phase difference is set between φ4 and φ5, W2 can be moved in the positive direction and W1 can be moved in the negative direction. If the phase difference is set to φ5, only W1 can be moved in the negative direction without moving W2. When the phase difference is in the range of φ5 to π, both w1 and w2 can be moved in the negative direction, and the ratio of the moving speeds of both can be changed by changing the phase difference within this range. You can also.

  In this way, when two types of articles 9 having different friction coefficients are conveyed in the X (Y) direction, the phase difference φx (φy) of the vibration in the X (Y) direction with respect to the vibration in the Z direction is changed. Thus, it is possible to move only one of the two types of articles, change the speed ratio while changing the moving direction, and further change the absolute amplitude of the moving speed by changing the amplitude of vibration in the X (Y) direction. The value can be controlled. By combining these, it is possible to change the other speed and change the direction of conveyance while maintaining one speed.

Thus, specifically, the article 9 can be transported as follows. Referring to FIG. 11 (c) with reference to FIG. 1, when the articles 9a and 9b are two types having different friction coefficients, the initial stage (T ₀ ) is conveyed at the same speed in one direction. It is also possible to branch and move in a different direction from a certain point in time (T ₁ ). In this case, in the initial stage (T ₀ ), the X direction is vibrated with the phase difference φ3 in FIG. 9, the Y direction is not vibrated, and the Y direction is vibrated from the time T _1. The vibration phase difference with respect to the Z direction is switched between φ1 and φ2 or between φ4 and φ5. At the same time, by shifting the vibration phase difference with respect to the Z direction with respect to the Z direction from φ3, the article 9a and 9b are switched so as to have a speed difference in the X direction. Also in the switching of the vibration, the conveyance direction input means 33 in FIG. 1 receives the conveyance direction and the conveyance speed by an external person, and outputs them to the vibration switching means 32. Then, in the vibration switching means 32, each amplitude adjustment circuit 31a, so as to determine specific control values of the amplitude and phase in each direction corresponding to the commanded transport direction and transport speed, and to change to the control value. A command is issued to the phase adjustment circuit 31b.

  Further, by performing the same control, it is possible to move only one of the articles 9a and 9b as shown in FIG. 11D, or to provide a speed difference between the two. Furthermore, as shown in FIG. 11E, it is also possible to select an arbitrary direction and move it in the opposite directions along the direction.

  Further, by continuously changing the conveyance direction and the conveyance speed, the conveyance direction and the conveyance speed of the articles 9a and 9b are independently controlled simultaneously in the XY plane as shown in FIG. It becomes possible to do.

  In addition, by controlling the articles 9 having different friction coefficients to be conveyed in different conveyance directions as described above, strictly speaking, even if the friction coefficient is the same, the surface shape is different and the friction coefficient is apparently different. The conveyance direction can also be varied for what is captured as if it were. 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 transporting apparatus 1 according to the present embodiment includes the movable table 6 provided on the base 4 via the elastic support means 5, and the movable table 6 vibrates so that the movable table 6 is placed on the movable table 6. A vertical vibration means 73 that conveys the article 9 placed thereon and applies a periodic vibration force in the vertical direction to the movable table 6, and a horizontal periodic signal to the movable table 6. A first horizontal excitation means 71 for applying an excitation force, and a periodic excitation in a direction horizontal to the movable base 6 and in a direction orthogonal to the periodic excitation force by the first horizontal excitation means. The second horizontal vibration means 72 for applying force and the periodic vibration force generated by the vibration means 71, 72, 73 are simultaneously generated at the same frequency while having a phase difference, and the movable base 6 is subjected to the third order. Vibration control hand for controlling each of the excitation means 71, 72, 73 so as to generate the original vibration trajectory 31, which is constituted to include a vibration switching means 32 for switching the amplitude and phase difference of the periodic excitation force by the respective vibration means 71, 72, 73.

  Since it is configured in this manner, the three-dimensional vibration trajectory generated on the movable base 6 by the vibration switching means 32 during the conveyance of the article 9 is changed to an arbitrary shape and size, and the article in each of the X and Y directions. 9 transport directions and transport speeds can be controlled. Therefore, it is possible to change the conveyance direction of the article 9 or to move the article 9 along an arbitrary locus, and to increase or decrease the conveyance speed. It is also possible to independently control the conveyance direction and the conveyance speed while simultaneously conveying a plurality of articles 9 having different friction coefficients.

  Furthermore, since the upper surface 61 of the movable base 6 on which the article 9 is placed is configured to be substantially flat, the upper surface 61 has no irregularities and can be used for a wide variety of items from small to large. Can be stably conveyed.

  In addition, since the elastic support means 5 is configured to elastically support the movable table 6 while holding the movable table 6 parallel to the base body 4, the movable table 6 does not tilt, and any shape can be obtained. Even the article 9 can be stably conveyed.

  Furthermore, it has a conveyance direction input means 33 for inputting the conveyance direction of the article 9, and the vibration switching means 32 is periodically applied by the vibration means 71, 72, 73 in accordance with a command from the conveyance direction input means 33. Since the configuration is such that the amplitude and phase of the vibration force are switched, the article 9 can be conveyed in any direction freely according to the operation of the person.

  Further, a friction coefficient input unit 36 for inputting the friction coefficient of the article 9 to be conveyed is provided, and the vibration switching means 32 is periodically applied by the vibration means 71, 72, 73 based on the input value of the friction coefficient. Since the configuration is such that the amplitude and phase of the vibration force are switched, even if the article 9 to be conveyed is changed, the corresponding friction coefficient is input to correct the control values to the respective excitation means 71, 72, 73. Thus, it is possible to prevent the actual control operation from deviating from the input value in the transport direction.

  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. 12, with reference to the phase of the periodic excitation force in the X direction, the phase of each periodic excitation force in the Z direction and the Y direction so that the phase difference with respect to this is 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.

  Furthermore, in the above-described embodiment, the conveyance direction input means 33 is configured so that the conveyance direction of the article 9 is input by a human hand as needed, but the conveyance direction and speed change patterns are stored in advance in advance, It is possible to configure to automatically switch based on the pattern, or to switch to a preset conveyance direction according to the inspection data of the article 9 input from the outside.

  In the above-described embodiment, since a sinusoidal excitation force is applied as a vibration component in each direction, an elliptical vibration locus in the same plane is generated on the movable table 6, but the waveform of the sine wave It is also possible to generate a vibration trajectory different from that of an ellipse by changing the above, and in this case as well, the article 9 can be arbitrarily conveyed based on the above idea.

  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 ... Article 31 ... Vibration control means 32 ... Vibration switching means 33 ... Conveyance direction input means 34 ... Oscillator 36 ... Friction coefficient input part 51 ... Intermediate stand 52 ... First spring Member 53 ... second spring member 71 ... first piezoelectric element (first horizontal excitation means)
72 ... Second piezoelectric element (second horizontal excitation means)
73. Third piezoelectric element (vertical vibration means)

Claims (5)

An article conveying apparatus comprising a movable table provided on a base via elastic support means, and conveying an article placed on the movable table by vibrating the movable table,
The movable table is elastically supported by the elastic support means in a vertical direction, a first horizontal direction, and a second horizontal direction intersecting the first horizontal direction, and the vertical direction and the first horizontal direction. And a second horizontal vibration system,
Vertical excitation means for applying a vertical periodic excitation force to the movable base, and a first horizontal excitation for applying the first horizontal periodic excitation force to the movable base. It means, a second horizontal vibration means for imparting a periodic excitation force to said second horizontal direction intersecting the front Symbol periodic excitation force of the first horizontal vibration means with respect to the carriage Vibration control for controlling the respective excitation means to generate a three-dimensional vibration trajectory on the movable base by simultaneously generating a periodic excitation force by the respective excitation means at the same frequency while having a phase difference. And a vibration switching means for switching an amplitude and a phase difference of the periodic vibration force generated by each of the vibration means. The article transport apparatus according to claim 1, wherein an upper surface of the movable base on which the article is placed is configured to be substantially planar. The article conveying apparatus according to claim 1, wherein the elastic support means is configured to elastically support the movable base while being held parallel to the base body. A conveyance direction input means for inputting the conveyance direction of the article, and the vibration switching means switches the amplitude and phase of the periodic excitation force by the respective excitation means in accordance with a command from the conveyance direction input means. The article conveying apparatus according to any one of claims 1 to 3. A friction coefficient input unit that inputs a friction coefficient of an article to be conveyed; and the vibration switching unit switches an amplitude and a phase of a periodic excitation force by each of the excitation units based on an input value of the friction coefficient. The article conveying apparatus according to claim 4, wherein

Images