JP6726934B2 - Transfer device - Google Patents

Description

The present invention relates to a transfer device that moves an article on a vibrating table having an article storage section and transfers the article to the article storage section.

This type of transfer device is used, for example, as a means for supplying various articles to an automatic assembly machine, and the ones disclosed in Patent Documents 1 and 2 have been conventionally known.

In these patent documents, a mold (pallet) in which a large number of article storage holes for accommodating articles are formed, and a swing such that the height relationship between one end and the other end of the mold is alternately changed. A drive means for simultaneously providing a dynamic operation and a vibration is provided, and the drive means repeatedly moves the article on the formwork so that the article is transferred into the article storage hole and aligned.

JP, 11-171325, A JP 2006-103833A

However, in the case of such a configuration, since the formwork in which the article is fitted is vertically vibrated or one end and the other end are alternately swung, and the article is stochastically fit into the formwork, the movement of the article It is difficult to control the direction arbitrarily, and there is a drawback that the article cannot be efficiently moved on the mold. Therefore, it is difficult to fit the articles into all the article storage holes, and there is a problem that the filling rate tends to decrease.

Furthermore, it is not possible to align the directions of the articles or to perform supplementary sorting. For this reason, particularly in the case of an article or the like that needs to be fitted into the mold in a fixed direction on the front and back sides, it is necessary to align the front and back sides of the article in advance and supply the article to the transfer device when the article is supplied to the apparatus. However, since the front and back are easily inverted when the articles are put in, there is also a problem that the articles that are stored in the set are more likely to be included in a direction other than the predetermined direction.

The present invention has been made in view of such a problem, and has a new structure for transferring an article to an article storage portion such as an article storage hole, which enables efficient transfer. The purpose is to provide a device.

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

That is, the transfer device of the present invention includes a vibrating table having a fitting area for fitting an article into the article accommodating section in which the article accommodating section is provided, and a vertical direction and a horizontal direction in the vibrating table. On the fitting area by generating a three-dimensional elliptical vibration in which each of the periodic exciting forces is combined on the vibrating table by controlling the exciting means to apply a periodic exciting force to the Control means for controlling the movement of the article in the horizontal direction, the vibrating table, in a position adjacent to the fitting area, the article in different directions depending on the friction coefficient of the article through the vibrating means and the control means. And a storage area for moving the storage area, and the storage area vibrates integrally with the fitting area.

By doing this, since the article on the vibrating table can be freely reciprocated along the elliptical vibration, it is possible to intensively collect and repeatedly convey the article in the article storage section in which the article is not fitted, It is possible to effectively improve the filling efficiency and the filling rate of the article storage unit.

Further, the transfer device of the present invention includes a vibrating table having a fitting area for fitting an article into the article accommodating section in the fitting area provided with the article accommodating section, and the vibrating table vertically and horizontally in two directions. A vibrating means including a vibrating section for vibrating and a three-dimensional elliptical vibration is generated on the vibrating table by controlling the vibrating means to control the horizontal movement of the article on the fitting area. The vibration table has a storage area at a position adjacent to the fitting area for moving the article in different directions due to a difference in friction coefficient of the article through the vibrating means and the control means. The accommodation area vibrates integrally with the fitting area.

In order to easily insert directional articles or articles that require sorting , at least a part of the storage area may also function as a sorting area for moving the articles in different directions for sorting. preferable.

In particular, the present invention is good suited if those are fitting area is constituted by fitting the mold detachably.

When the article has a rectangular shape or the like, a posture correction unit that corrects the posture of the article when the article collides may be provided at the fitting area or a position toward the fitting area so as to project from the transport surface. More preferable.

According to the present invention described above, since the article on the vibrating table can be freely moved along the elliptical vibration, it is possible to collect the article in a concentrated manner in the article storage unit where the article is not fitted and repeatedly convey the article. Therefore, it is possible to provide an excellent transfer device capable of significantly improving the filling efficiency and the filling rate of the article storage unit as compared with the conventional one.

The perspective view showing the appearance of the transfer device concerning one embodiment of the present invention. The perspective view which abbreviate|omitted and which shows the vibrating means and control means which comprise the same transfer apparatus. The schematic diagram of the periphery of the form which comprises the same transfer apparatus. The figure explaining the conveyance function of the same transfer apparatus. The figure explaining the classification function of the same transfer apparatus. The figure which shows the mode of the transfer operation in the same transfer apparatus. The perspective view which crushes and shows a part of the vibrating means which comprises the same transfer apparatus. The perspective view which decomposed|disassembled the vibrating means of FIG. The top view corresponding to FIG. The front view corresponding to FIG. The conceptual diagram which shows the vibration direction of the vibration means. The figure which shows the relationship between the phase difference between the periodic excitation forces in each direction in the same excitation means, and the conveyance speed of an article. The figure which shows the phase difference between the periodic excitation forces in each direction in the said excitation means, the conveyance speed of an article, and the relationship of a friction coefficient. The figure which shows the relationship between the amplitude of the periodic exciting force in the horizontal direction in the said exciting means, and the conveyance speed of an article. The figure which shows the modification of this invention. The figure which shows the other modification of this invention. The figure which shows the further another modified example of this invention.

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

1 and 2 show a transfer device A according to an embodiment of the present invention. The transfer device A includes a vibrating table 63 to which the mold 4 is attached, a vibrating means 2 for vibrating the vibrating table 63, and a control means 3 for controlling the vibrating means 2.

Although details of the vibrating means 2 and the control means 3 will be described later, the vibrating means 2 will be described in outline in the X direction, the Y direction, and the Z direction by the leaf springs 71, 72, and 73 that are elastic supporting means for the vibrating table 63. The plate springs 71, 72 and 73 are oscillatably supported and can be driven in the thickness direction by piezoelectric elements 81, 82 and 83 which are vibration sources. The control means 3 controls the X direction, the Y direction and the Z direction. The piezoelectric elements 81, 82, and 83 are configured to be controlled so as to vibrate by changing the amplitude and the phase difference at the same frequency in each direction. Then, as shown in FIG. 3, an elliptical vibration V1 in the XZ plane and an elliptic vibration V2 in the YZ plane are generated so that the vibration table 63 can be excited by the combined vibration. ing. Further, the vibration switching section 32 constituting the control means 3 can arbitrarily switch the moving direction and the moving speed of the article W on the XY plane based on a command input from the transport direction setting section 33. FIG. 4 exemplifies such a free transport function. FIG. 4A shows a state in which an article W is transported in the forward and reverse directions along the X direction, and FIG. 4B shows in the Y direction. 4C shows a state in which the article W is conveyed in the forward and reverse directions, and FIG. 4C shows a state in which the X-direction component and the Y-direction component are changed every moment to convey the article W in a free direction.

In the present embodiment, the form 4 is fitted into the vibrating table 63, and the vibrating table 63 is vibrated, so that the article W on the vibrating table 63 is inserted into the article accommodating hole 41 as the article accommodating portion of the form 4. I am trying to be able to fit it efficiently.

More specifically, as shown in FIGS. 1 and 3, the vibrating table 63 is provided with a recess 63b having a substantially rectangular shape and a uniform depth, and the mold 4 has a planar shape that fits into the recess 63b. The upper surface 4a of the mold 4 and the upper surface 63a of the vibrating table 63 are set so as to be flush with each other in a fitted state. In the present embodiment, the area where the formwork 4 is fitted or the area including the area up to the vicinity of the periphery is referred to as a fitting area A1.

The mold 4 is provided with a large number of article accommodating holes 41 corresponding to the planar shape and thickness of the article W to be transferred in a state of being arranged vertically and horizontally. The article W of this embodiment has a thin disk shape, and the article housing hole 41 also substantially corresponds to this thin disk shape, and a disk-shaped cavity with a slight margin in the system so that the article W can be fitted without resistance. Is formed.

Further, at a position adjacent to the vibrating table 63, a sorting area A2 where the mold 4 is not provided is provided. This sorting area A2 is the same as the fitting area A1 and is vibrated by the vibrating means 2 and the control means 3, and more specifically, it vibrates integrally with the fitting area A1. This is for separating the articles W. More specifically, when the friction coefficient with respect to the vibrating table 63 is different between the front and back of the article W, if the amplitude and phase difference related to the command input to the vibration switching unit 32 are appropriately set by the conveyance direction setting unit 33, the normal value can be obtained. The article W(T) in the posture and the article W(B) which is turned upside down can be conveyed in the forward and reverse directions. For example, as shown in FIG. 5A, an article W(T) having a normal attitude and an article W(B) having the front and back reversed are mixed, and then an article having a normal attitude as shown in FIG. 5B. It is possible to apply a conveying force that moves W(T) toward the fitting area A1 and moves the reversed article W(B) toward the sorting area A2. Such a sorting function will also be described later.

The vibrating table 63 is surrounded by ridges 63a provided on four sides. The ridge 63a of this embodiment is intended to prevent the article W from coming off the vibrating table 63.

FIG. 6 shows a state in which the article W is fitted into the article housing hole 41 of the mold 4. Among the articles W that have moved to the fitting area A1, the articles W that have arrived in the empty article accommodation holes 41 are sequentially dropped into the article accommodation holes 41 and fitted therein, and the articles W fitted in the article accommodation holes 41 have the upper surface of the mold 4 Since a new conveying surface is formed so as to be flush with the upper surface 4a of the above, the next incoming article W can pass over the inserted article W and go to the empty article accommodation hole 41. By repeating such an operation in the X direction, the Y direction, and the XY direction, the filling of the article W into the mold 4 is completed.

The vibrating means 2 and the control means 3 will be specifically described below.

In the state shown in FIG. 1, the vibrating means 2 is covered with four covers 42 on the front, back and side surfaces by a cover 42 installed on the base 40.

FIG. 7 shows a state in which the vibrating table 63 is removed from the vibrating means 2 described above. The vibrating means 2 has a movable pedestal 61 as a rectangular parallelepiped block elastically supported in the three axial directions of X, Y, and Z inside thereof, and the movable pedestal 61 has four dishes. The rectangular plate-shaped movable plate 62 is connected using screws 62a to 62a. The vibrating table 63 is detachably provided on the upper surface of the movable plate 62. In the figure, the movable plate 62 and the vibrating table 63 are fixed using the to-be-attached attachment portions 62b to 62b and the attachment attachments 63b to 63b provided near the four corners.

FIG. 8 shows a state in which the cover 42, the movable plate 62 and the vibrating table 63 are removed. Hereinafter, the configuration of the vibrating means 2 according to the present embodiment will be described in more detail with reference to this drawing.

The vibrating means 2 is configured to elastically support the movable pedestal 61 with respect to the base 40 in three directions of X, Y, and Z, and includes the base 40 as a rigid body portion, the first intermediate pedestals 51, 51, and The first plate-shaped spring members 71, 71, the second plate-shaped spring members 72, 72 and the third plate-shaped spring members 73, 73 are connected so that the second intermediate base 52 and the movable base 61 are sequentially connected. It is provided. Since the plate-shaped spring members 71 to 73 are arranged so that the plate thickness directions thereof are the X, Y, and Z directions, they are easily elastically deformed in the directions.

Further, first to third piezoelectric elements 81 to 83 as vibration sources for vibrating the movable pedestal 61 in three directions of X, Y and Z are provided.

Mounting blocks 41 are provided in four locations on the base 40 at positions slightly closer to the center than the four corners so as to be arranged in a rectangular shape. The mounting blocks 41 each have an L-shaped cross section, and first plate-shaped spring members 71, 71 are provided between the mounting blocks 41, 41 that are adjacent to each other in a pair in the Y direction. The plate thickness direction of the first plate-shaped spring members 71, 71 is the X direction.

And the 1st intermediate|middle stand 51, 51 is attached to the vicinity of the center of the longitudinal direction of the 1st plate-shaped spring member 71, 71 via the attachment parts 71c-71c. The first intermediate bases 51 are each formed in a rectangular parallelepiped shape extending in the Y direction.

Then, the second plate-shaped spring members 72, 72 are attached between the first intermediate bases 51, 51 in the XZ plane. The plate thickness direction of the second plate-shaped spring members 72, 72 is the Y direction. A second intermediate table 52 is attached near the center of the second plate spring members 72, 72 in the longitudinal direction via attachment portions 72c to 72c.

As shown in the plan view of FIG. 9, the second intermediate base 52 is configured as a rectangular frame body, and is formed by combining four rectangular parallelepiped blocks having 6 faces orthogonal to the X, Y, and Z directions. Has been done.

The mounting positions of the mounting portions 72c to 72c can be changed along the long holes shown in FIG. 10, and the effective lengths of the second plate-shaped spring members 72, 72 as springs can be changed. .. Similarly, the above-described mounting portions 71c to 71c for mounting the first plate-shaped spring members 71, 71 to the first intermediate bases 51, 51 also have the first plate-shaped spring members 71, 71 along the elongated holes. The effective length of the spring can be changed.

As described above, the first plate-shaped spring members 71, 71 and the second plate-shaped spring members 72, 72 respectively change the effective length to change the spring constant and also the natural frequency. Can be changed.

Returning to FIG. 8, a total of four third plate-shaped spring members 73 to 73, two in total, are provided on the upper surface and the lower surface of the second intermediate base 52 forming a rectangular frame body along the X direction. ing. Both ends of the third plate-shaped spring members 73 to 73 are fixed via mounting portions 73c to 73c.

In addition, an inter-spring block 73e is attached to the upper and lower two pairs of third plate-shaped spring members 73, 73, and above the inter-spring block 73e, the first inter-spring block 52 is connected to the upper surface of the second intermediate table 52. The movable pedestal 61 described above is attached with the plate-shaped spring members 73, 73 of No. 3 sandwiched therebetween.

As described above, in the vibrating means 2 of the present embodiment, the first intermediate bases 51, 51 are elastically supported in the X direction with respect to the base 40 by using the first plate-shaped spring members 71, 71. The second intermediate base 52 is elastically supported in the Y direction by using the second plate-shaped spring member 72 with respect to the first intermediate bases 51, 51, and the movable pedestal 61 is the third movable base 61 relative to the second intermediate base 52. The plate-shaped spring member 73 is elastically supported in the Z direction. As a result, the movable pedestal 61 is elastically supported in the X, Y, and Z directions with respect to the base 40.

Each of the plate-shaped spring members 71 to 73 has elasticity in the X-, Y-, and Z-directions, which are the plate-thickness directions, and has sufficient rigidity in the width direction and the longitudinal direction orthogonal thereto. Therefore, it can be considered that the support in each direction is independent.

Further, the vibrating means of this embodiment has first to third piezoelectric elements 81 to 83 as vibrating sources independent in the X, Y, and Z directions.

First, the vibration source in the X direction is composed of a total of four first piezoelectric elements 81 to 81, two of which are attached to the surfaces of the two first plate-shaped spring members 71 and 71, respectively. .. The first piezoelectric elements 81 to 81 are expanded or contracted in the Y direction when a voltage is applied, and are bent in the first plate-shaped spring members 71, 71 to be displaced in the X direction. It is possible to

By doing so, as shown by an imaginary line in FIG. 9, the first plate-shaped spring members 71, 71 spaced apart in the X direction can be similarly deformed while maintaining the distance therebetween. The intermediate bases 51, 51 can be displaced only in the X direction while maintaining the horizontal state.

Next, returning to FIG. 8, the vibration source in the Y direction is a total of four second piezoelectric elements, each of which is attached to the surface of each of the two second plate-shaped spring members 72 and 72. 82 to 82. By doing so, as shown by an imaginary line in FIG. 9, the second plate-shaped spring members 72, 72 spaced apart in the Y direction can be similarly deformed while maintaining the distance between them. The intermediate table 52 can be displaced only in the Y direction while maintaining the horizontal state.

Further, returning to FIG. 8, the vibration source in the Z direction is on the surface of the upper two plate-shaped spring members 73, 73 of the plate-shaped spring members 73 to 73 provided two at a time. It is composed of a total of four third piezoelectric elements 83 to 83, two of which are each attached. By doing so, as shown by an imaginary line in FIG. 10, the third plate-shaped spring members 73, 73 spaced apart in the Z direction can be similarly deformed while maintaining the distance therebetween, and the movable pedestal can be moved. 61 can be displaced only in the Z direction while maintaining the horizontal state.

As described above, by changing the voltage capable of giving a displacement in each of the X, Y, and Z directions in a sinusoidal shape, the movable pedestal 61 and thus the vibrating table 63 are periodically excited in each direction. Can be given.

The control means 3 shown in FIG. 2 applies a sinusoidal control voltage to each of the first piezoelectric element 81, the second piezoelectric element 82, and the third piezoelectric element 83 with respect to the vibrating means 2 configured as described above. As a result, a periodic exciting force for generating vibration in each of the X, Y, and Z directions is generated.

Therefore, the control means 3 includes an oscillator 34 that generates a sine voltage, and the sine voltage is amplified by an amplifier 35 and then output to each of the piezoelectric elements 81, 82 and 83. Further, the control means 3 has a vibration control section 31 for adjusting the control voltage in each of 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 the vibration system in any of the X, Y, and Z directions, so that the vibration is amplified to save power. In addition, in order to avoid the interference of the vibrations of the vibration system in all directions, the natural frequencies in each direction may be separated. At this time, the natural frequencies in the respective directions are separated by, for example, about −10% to +10%.

In the present embodiment, the effective lengths of the first plate-shaped spring members 71, 71 and the second plate-shaped spring members 72, 72 are changed by the spring seats 71c to 71c, 72c to 72c as described above. It is possible to Therefore, it is possible to change and adjust the natural frequencies in the X direction and the Y direction so as to have appropriate values with reference to the natural frequency in the Z direction.

The vibration control section 31 is mainly composed of an amplitude adjusting circuit 31a for adjusting the amplitude of the control voltage in each of the X, Y, and Z directions, and a phase adjusting circuit 31b for adjusting the phase difference between them. The present embodiment has an amplitude adjusting circuit 31a corresponding to each of the X, Y, and Z control voltages, and uses the phase of the control voltage in the Z direction as a reference to control the control voltage so as to have a predetermined phase difference. A phase adjusting circuit 31b for adjusting the phase is provided for each of the X and Y control voltages.

Then, the control unit 3 sets the carrying direction and the carrying speed according to the article W to be carried, and the respective amplitude adjusting circuits 31a and the respective phase adjustments according to the carrying direction and the set carrying speed. The circuit 31b includes a vibration switching unit 32 that issues a command to change a specific control value.

Then, the transport direction setting unit 33 inputs the set values of the transport direction and the transport speed of the article W to be transported by an operation unit such as a joystick, or transports according to a program if the transport direction and the transport speed are described in advance. Vibration is switched to set the direction and transfer speed sequentially, or to set the transfer direction and transfer speed in conjunction with a camera, etc., and to switch the vibration mode according to the set transfer direction and transfer speed. An instruction is given to the section 32.

Further, in the vibration switching unit 32, specific control values of the respective amplitude adjusting circuits 31a and the respective phase adjusting circuits 31b are determined and set to the control values so that the carrying direction and the carrying speed become the instructed target values. Output a command to switch.

Specifically, the article transporting device 1 configured as described above operates as follows, and transports and sorts the articles W placed on the vibrating table 63.

Here, in a simplified manner as shown in the schematic view of FIG. 11, the vibrating table 63 elastically supports the base 40 in each of the X, Y, and Z directions by elastic bodies 74, 75, and 76, and It is assumed that directional vibration sources 84, 85, 86 are provided. With this configuration, the vibrating table 63 can be operated in the three directions by the vibration sources 84, 85, 86 provided in the three directions of X, Y, and Z. The elastic bodies 74 to 76 in the schematic diagram of FIG. 11 correspond to the first to third plate-shaped spring members 71 to 73 (see FIG. 8), and the vibration sources 84 to 86 respectively correspond to the first to third piezoelectric elements. It corresponds to the elements 81 to 83 (see FIG. 8).

A periodic vibration displacement represented by Z=Z ₀ ×sinωt is applied in the Z direction to the vibration table 63 of the model shown in FIG. Here, Z ₀ is the amplitude in the Z direction, ω is the angular frequency, and t is the time. Further, vibrations of the same frequency as in the Z direction are applied to the X and Y directions, respectively, as in the equations of X=X ₀ ×sin(ωt+φx) and Y=Y ₀ ×sin(ωt+φy). Here, X ₀ and Y ₀ are amplitudes in the X direction and Y, respectively, and φx and φy are phase differences between vibrations in the X direction and Z direction with respect to vibrations in the Z direction.

In this way, by applying a sinusoidal periodic vibration displacement in each of the X, Y, and Z directions, the vibration table 63 can generate a three-dimensional vibration in which these are combined. For example, as shown in FIG. 11, when vibrations in the X and Y directions are generated by giving a phase difference of φx and φy to a vibration component in the Z direction, the right side on the XZ plane is two-dimensionally displayed. Vibrations occur with the elliptical orbits on the top, and vibrations with the elliptical orbits on the YZ plane with the right side down. Then, by further synthesizing the two, an elliptical orbit in a three-dimensional space is generated as shown in the lower right part of the figure.

Then, 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 the YZ plane can be changed. The size and orientation can be changed freely. In addition, in order to apply the periodic vibration displacement in each direction in this way, a control is performed by applying a periodic excitation force in each direction.

As described above, the vibrating table 63 vibrates while drawing an elliptical orbit, so that the article W placed on the vibrating table 63 moves. The movement velocity component in the X direction of this movement can be controlled by the elliptical trajectory in the XZ plane, and the movement velocity component in the Y direction can be controlled by the elliptical trajectory in the YZ plane. That is, by changing the amplitude and phase difference of each vibration in the X and Y directions with reference to the vibration component in the Z direction, the moving speed component in the X and Y directions is changed and the paper is conveyed in an arbitrary direction. It becomes possible.

Specifically, the moving speed is changed as follows.

Explaining with reference to FIG. 12 with reference to FIG. 11, the moving speed Vx(Yy) of the article W changes so as to draw a curve similar to a sine wave due to the phase difference φx(φy). 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 φ12 in FIG. 11, the article W is conveyed in the direction in which X is positive. Further, when the phase difference is set to φ14, the article W is conveyed in the direction in which X becomes negative. On the other hand, when the phase difference is set to φ11 and φ13, the moving speed Vx becomes 0, and the article W is stationary in the X direction. Further, by changing the phase difference between φ11 to φ13 or φ13 to π(−π) to φ11, the speed in the positive direction and the speed in the negative direction can be increased or decreased. Such a relationship holds not only in the X direction but also in the Y direction, and similarly, the movement direction and the movement speed can be changed by setting the phase difference for the vibration component in the Z direction.

In this way, the moving speeds Vx and Vy in the X and Y directions are changed 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 component. Can be changed.

Further, referring to FIG. 11, the curve showing the relationship between the phase difference shown in FIG. 12 and the moving speed Vx(Yy) of the article W changes depending on the friction coefficient between the article W and the vibrating table 63. The relationship is shown in FIG. That is, when the friction coefficients between the two types of articles W11 and W12 and the vibration table 63 are μ11 and μ12, respectively, and there is a relationship of μ11<μ12, the graph of the moving speed at W12 is the moving speed at W11. The curve is shifted in the direction in which the phase difference is positive. Therefore, when the articles W having different friction coefficients are simultaneously placed on the vibrating table 63 that performs elliptical vibration, the moving speed and the moving direction are different.

Specifically, when the phase difference φ11 shown in FIG. 13 is set, W11 does not move, but W12 moves in the negative direction. When the phase difference is set between φ11 and φ12, W11 can be moved in the positive direction and W12 can be moved in the negative direction. When φ12 is set, only W11 can be moved in the positive direction without moving W12. Also, if set between φ12 and φ14, both W11 and W12 can be moved in the positive direction, but the magnitude of the speed of W11 and W12 can be switched at the boundary of φ13. Further, if the phase difference is finely changed in the range of φ12 to φ14, the speed ratio of W11 and W12 can also be changed.

Then, if the phase difference is φ14, only W12 can be moved in the positive direction without moving W11. Further, if the phase difference is set between φ14 and φ15, W12 can be moved in the positive direction and W11 can be moved in the negative direction. If the phase difference is set to φ15, only W11 can be moved in the negative direction without moving W12. When the phase difference is set in the range of φ15 to π, both W11 and W12 can be moved in the negative direction. By changing the phase difference in this range, the moving speed ratio of both can be changed. Can also

Further, with reference to FIG. 14 with reference to FIG. 11, the relationship between the phase difference φx (φy) and the moving speed Vx (Yy) of the article W is changed by changing the amplitude X ₀ (Y ₀ ). To do. That is, a curve similar to a sine wave, which is the moving speed Vx(Yy) of the article W 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 W, the amplitude of the vibration displacement in the X(Y) direction may be doubled. For that purpose, the amplitude of the control voltage may be changed so as to give a corresponding exciting force.

In this way, when two kinds of articles W 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 should be changed. Thus, it becomes possible to move only one of the two types of articles W, or to change the speed ratio while changing the moving direction. Furthermore, by changing the amplitude of vibration in the X(Y) direction, The absolute value can be controlled. By combining these, it is possible to change the speed of the other or change the transport direction while maintaining the speed of one.

By expanding the control of the transport speed and direction in one direction as described above in two directions, it becomes possible to freely move in the XY plane. That is, by making the horizontal vibration into two directions of X and Y and combining it with the vibration in the Z direction respectively, elliptical vibration in the XZ plane and elliptical vibration in the YZ plane are created, respectively, and they are combined into a three-dimensional three-dimensional shape. By generating different elliptic vibrations and switching the direction and magnitude of the elliptic vibrations three-dimensionally, the moving direction and moving speed of the article W can be controlled in more detail. Then, with reference to the periodic exciting force generated by the control voltage in the Z direction, the amplitude and the phase of the periodic exciting force generated by the control voltage in the X direction and the Y direction are respectively changed to obtain an elliptical vibration in the XZ plane. By changing the component and the elliptical vibration component in the YZ plane, it is possible to apply the moving velocity components in the X direction and the Y direction to the article W in accordance with the relationships of FIGS.

That is, by appropriately utilizing these, the free transport function as shown in FIG. 4 and the sorting function as shown in FIG. 5 can be freely realized.

As described above, the transfer device according to the present embodiment includes the vibrating table 63 having the fitting area A1 for fitting the article W into the article housing hole 41 in the fitting area A1 provided with the article housing hole 41, and the vibration table 63. A vibrating means 2 for vibrating the table 63 in the vertical and horizontal directions, and an elliptical vibration is generated in the vibrating table 63 by controlling the vibrating means 2 to horizontally move the article W on the fitting area A1. The control means 3 for controlling the movement is provided.

By doing so, since the articles W on the vibrating table 63 can be freely reciprocated along the elliptical vibration, the articles W are intensively collected in the article accommodation holes 41 in which the articles W are not fitted and repeatedly conveyed. Therefore, even if the amount of the articles W to be charged is relatively small, the filling efficiency and the filling rate of the article accommodation holes 41 can be effectively improved.

Particularly, the transfer device A of this embodiment is capable of performing horizontal vibration by the vibrating means 2 in two horizontal directions, and the control means 3 controls the vibrating means 2 to cause the vibrating table 63 to move. Since the elliptical vibration in the three-dimensional direction can be generated, the article W on the vibrating table 63 can be freely moved in the horizontal plane, and the filling efficiency and the filling rate can be improved more effectively. That is, in the case of the conventional configuration in which the article is conveyed by giving the swing and the vibration at the same time, since the moving direction of the article is limited to the reciprocal movement along a certain direction, the article storage hole located near the end portion in the direction orthogonal to that direction. However, according to the present embodiment, since the article can be freely moved in the XY directions in the horizontal plane, the article W can be effectively moved to the empty article storage hole 41. It is possible to concentrate.

Moreover, since the moving speed of the article existing in the fitting area A1 can also be controlled through the control means 3, the article W can be moved at a low speed that easily fits in the article housing hole 41 and does not easily pop out after being fitted, and filling is performed. The efficiency and filling rate can be improved more effectively. That is, in the case of the conventional configuration in which the article is conveyed by giving the swing and the vibration at the same time, the article is moved at a moment when the static friction state is switched to the dynamic friction state at the beginning of the movement of the article in the initial driving. Therefore, there is a problem that it is difficult to adjust the speed to a value suitable for fitting in the article storage hole. Although vibration can cause an article to switch from a static friction state to a dynamic friction state, if it is affected by gravity, the article will gradually accelerate after swinging and the positions of the article storage holes are scattered. However, it is substantially difficult to adjust the supply of the article at an appropriate speed to any of the article storage holes. On the other hand, in the present embodiment, since the speed control can be appropriately performed on the article W without being affected by gravity, the filling efficiency and the filling rate can be effectively increased.

Further, in the present embodiment, the article W is conveyed to the adjacent position of the fitting area A1 in different directions through the vibrating means 2 and the control means 3 by the front and back discrimination using the difference in the friction coefficient of the front and back of the article W with respect to the vibration table. Since the sorting area A2 for sorting by sorting is provided, it is possible to align the articles W in the front-back direction and perform auxiliary sorting. Therefore, in the case of an article W that needs to be fitted into the article accommodation hole 41 in a predetermined direction on the front and back sides as in the present embodiment, when the article W is supplied to the apparatus, the directions such as the front and back sides of the article W are previously aligned to the transfer device. It is not necessary to supply, and even if an article W having both front and back sides is thrown in, or even if the front and back sides are reversed after being put in, only the article W(T) in the desired orientation, that is, the article W(T) in the proper posture is inserted into the fitting area A1. Can be transported to. As a result, it becomes possible to arrange and sort after charging, simplifying the apparatus and optimizing the filling state.

Further, the fitting area A1 is configured by removably fitting the mold 4, and the sorting area A2 adjacent to the fitting area A1 is an article to the fitting area A1 through the vibrating means 2 and the control means 3. Since it also has a function as a storage area for feeding or withdrawing the article W from the fitting area A1, it is possible to appropriately perform temporary withdrawal and subsequent feeding of the article W as the formwork 4 is attached and detached. ..

Although one embodiment of the present invention has been described above, the specific configuration of each unit is not limited to the above-described embodiment.

For example, in the above-described embodiment, the article that requires transfer is a thin disk-shaped article, but it can be carried out by changing the shape of the article-accommodating hole of the form according to the shape of the article. FIG. 15 shows a case where a rectangular article W is handled as an example, and the mold 4 fitted in the fitting area A1 has a rectangular article accommodation hole 41 corresponding to this and is provided at an adjacent position. Goods can be supplied from the sorting area A2 which also serves as a storage area.

In the case of such a rectangular article W, when the article W is in a posture of rotating in a horizontal plane with respect to the article accommodation hole 41, it is not fitted even if it reaches the article accommodation hole 41. In such a case, a part of the fitting area A1 (for example, the outer edge) is provided with a posture correction section (a ridge 63a or the like in the figure) protruding from the vibrating table 63 for correcting the posture of the article when the article collides. It is effective to keep it. By doing so, once the article W is made to collide with the posture forcing section (protrusion 63a) along the direction shown in FIG. 4B, the article W follows the article forcing section (63a) and Since the long side is corrected to a posture parallel to the long side of the article storage hole 41, if the article is moved again in the direction of the article storage hole 41, the probability of fitting the article into the article storage hole 41 can be increased.

Further, as shown in FIG. 16, a storage area A3 for storing the components excluded in the front/back sorting may be separately provided at a position adjacent to the sorting area A2.

In the configuration in which the articles W are supplied from the transport path B to the accommodation area A3, the articles W in the regular direction are transferred to and taken out from the form 4, and then the parts W in the opposite direction to the regular direction temporarily stored in the accommodation area A3. May be returned to the conveyance path B, a large-amplitude vertical vibration may be applied on the conveyance path B, the posture of the article W may be reversed, and the article W may be fed again to the sorting area A2.

Furthermore, the accommodation area A3 may have a concave shape having a slope S that slopes up toward the end of the sorting area A2. In this way, the articles W stored in the accommodation area A3 cannot climb the slope S when the amplitude is small, and the articles W excluded by classification cannot move to the classification area A2 and the fitting area A1. On the other hand, when the amplitude is large, the articles W stored in the storage area A3 can climb up the slope S and can be re-loaded into the sorting area A2.

Of course, in the case of articles having the same conditions on the front and back, the sorting area is unnecessary, so the transfer device can be configured only with the fitting area or with only the fitting area and the accommodation area.

Even in the case of being configured only with the fitting area, it is of course possible to connect a conveyance path for introducing articles from the outside as shown in FIG.

Further, in the case where a large amount of articles are to be loaded than the number of article storage parts, the elliptic vibration can be expected to have a certain effective filling efficiency and filling rate even with only two-dimensional vibration (elliptic vibration V1 in FIG. 3). Therefore, it is possible to omit the element parts of the vibrating means 2 and the control means 3 (see FIG. 2) for forming the elliptical vibration V2 and simplify the structure.

Furthermore, if the article housing portion is formed as a through hole and a trough is provided below the through hole, the present device can be used as a sieving device that divides articles according to the size of particles.

Furthermore, on the vibrating table, as shown in FIG. 17, a guide 163a, which is a posture correcting section, is provided at a position where the posture of the article W is corrected while facing the article W into the article storage hole 41, and the article W forms along the guide 163a. It is also effective to configure so as to be inserted into the article accommodation hole 41 of No. 4.

In addition, various modifications can be made to the specific configuration of each part such as using an electromagnetic feeder instead of a piezoelectric element as a vibration source without departing from the spirit of the present invention.

2... Exciting means 3... Control means 41... Article accommodation section (article accommodation hole)
63... Shaking table A... Transfer device A1... Fitting area A2... Sorting area (accommodation area)
W... Goods

Claims (5)

A transfer device for fitting an article into the article accommodation section in a fitting area provided with the article accommodation section,
A vibrating table having the fitting area, a vibrating means for applying a periodic vibrating force to the vibrating table vertically and horizontally, and a vibrating table by controlling the vibrating means. Control means for controlling the movement of the article in the horizontal direction on the fitting area by generating a three-dimensional elliptical vibration in which the force is combined , wherein the vibrating table is provided at a position adjacent to the fitting area. Having an accommodation area for moving the article in different directions due to the difference in the friction coefficient of the article through the vibrating means and the control means,
The transfer device , wherein the accommodation area vibrates integrally with the fitting area . A transfer device for fitting an article into the article accommodation section in a fitting area provided with the article accommodation section,
A vibrating table having the fitting area, a vibrating means including a vibrating section that vibrates the vibrating table vertically and horizontally, and a three-dimensional ellipse on the vibrating table by controlling the vibrating means. And a control means for controlling the movement of the article in the horizontal direction on the fitting area by generating vibration , wherein the vibrating table is located at a position adjacent to the fitting area, through the vibrating means and the control means. Having a storage area for moving the article in different directions due to the difference in friction coefficient,
The transfer device , wherein the accommodation area vibrates integrally with the fitting area . The transfer device according to claim 1 or 2, wherein at least a part of the accommodation area also has a function as a sorting area for moving the articles in different directions to sort the articles. Transfer device according to any one of claims 1 to 3 wherein the fitting area is intended to be constituted by fitting the mold detachably. The transfer device according to any one of claims 1 to 4, wherein a posture correction unit that corrects the posture of the article when the article collides is provided at the fitting area or a position toward the fitting area so as to project from the transport surface. ..

Images