JP7024998B2

JP7024998B2 - Transport equipment, transport method, and actuator unit

Info

Publication number: JP7024998B2
Application number: JP2017216829A
Authority: JP
Inventors: 世傑徐; 昭雄矢野; リーイーチュ; 健矢野; ケウェンコウ; 和夫八鍬
Original assignee: Mechano Transformer Corp
Current assignee: Mechano Transformer Corp
Priority date: 2017-11-09
Filing date: 2017-11-09
Publication date: 2022-02-24
Anticipated expiration: 2037-11-09
Also published as: JP2019085259A

Description

本発明は、物品を搬送する搬送装置、搬送方法、およびそれに用いるアクチュエータユニットに関する。 The present invention relates to a transport device for transporting articles, a transport method, and an actuator unit used therein.

物品を搬送する搬送装置として、板ばね等で支持された搬送路を電磁石や圧電素子などのアクチュエータにより振動させることによって、搬送路上の物品を搬送するパーツフィーダが知られている。 As a transport device for transporting articles, a parts feeder that transports articles on the transport path by vibrating a transport path supported by a leaf spring or the like with an actuator such as an electromagnet or a piezoelectric element is known.

パーツフィーダとして、特許文献１には、水平回転するボウルまたは水平に直線移動するフィーダを、カム機構を用い、往復に加速度差をつけて水平振動させることにより、摩擦力と慣性力を利用して被搬送体である物品（ワーク）を搬送するものが記載されている。 As a parts feeder, Patent Document 1 describes a bowl that rotates horizontally or a feeder that moves linearly horizontally by using a cam mechanism and vibrating horizontally with an acceleration difference between reciprocating to utilize frictional force and inertial force. The one that transports the article (work) that is the object to be transported is described.

また、特許文献２には、両端が互いに平行な平面とされ、これら２つの平面に電極が形成されるとともに、その電極の形成された平面に平行に分極された圧電素子を設け、この圧電素子の一端を基板上に固定し、他端を被搬送体である物品と接する作用部として配設し、圧電素子の電極間に電圧を印加することにより作用部に、第１振動方向の速度と、この速度よりも小さな第２振動方向の速度とを発生させ、物品を第２振動方向へ送る搬送装置が記載されている。すなわち、速度が小さい第２振動方向の移動により、移動体は作用部とともに移動し、圧電素子が第１振動方向へ移動する際には速度が大きく、動摩擦係数は静摩擦係数よりも小さいため、物品は移動した後の位置からは動かず、圧電素子のみが第１振動方向に移動する。このため、この動作を繰り返すことにより、物品を第２振動方向に移動させることができる。 Further, in Patent Document 2, both ends are formed as planes parallel to each other, electrodes are formed on these two planes, and a piezoelectric element polarized parallel to the plane on which the electrodes are formed is provided. One end is fixed on the substrate, the other end is arranged as an acting part in contact with the article to be conveyed, and a voltage is applied between the electrodes of the piezoelectric element to give the acting part a velocity in the first vibration direction. , A transport device that generates a speed in the second vibration direction smaller than this speed and feeds the article in the second vibration direction is described. That is, due to the movement in the second vibration direction where the speed is low, the moving body moves together with the acting part, and when the piezoelectric element moves in the first vibration direction, the speed is high and the dynamic friction coefficient is smaller than the static friction coefficient. Does not move from the position after moving, and only the piezoelectric element moves in the first vibration direction. Therefore, by repeating this operation, the article can be moved in the second vibration direction.

実開昭５５－００７８５２号公報Jitsukaisho 55-007852 Gazette 特開平５－１０５２９１号公報Japanese Unexamined Patent Publication No. 5-105291

上記特許文献１に記載された搬送装置では、相対滑りを生じさせて被搬送体である物品（ワーク）を効率良く搬送しようとしているが、滑りを生じさせ易くするためには、大きな駆動力により物品の摺動抵抗を軽減しなければならず、効率の良い搬送を行うことは困難である。また、搬送時の加速度が物品との静摩擦係数より大きくなると物品との間に滑りが発生して搬送効率が低下してしまう。 The transport device described in Patent Document 1 attempts to efficiently transport an article (work) to be transported by causing relative slippage, but in order to facilitate slippage, a large driving force is used. The sliding resistance of the article must be reduced, and it is difficult to carry out efficient transportation. Further, if the acceleration during transportation becomes larger than the coefficient of static friction with the article, slippage occurs with the article and the transport efficiency is lowered.

また、特許文献２の技術では、被搬送体である物品を搬送するためには、圧電素子を第２振動方向へゆっくりと伸長させた後、第１振動方向へ急速に縮退させるが、小型の物品を搬送する際には、圧電素子を第１振動方向へ急速に縮退しても、物品がそれに追従して第１振動方向に移動してしまう場合があり、また、圧電素子にこのような変位を高速で行わせると残留振動により効率の良い搬送は困難である。 Further, in the technique of Patent Document 2, in order to convey the article to be conveyed, the piezoelectric element is slowly extended in the second vibration direction and then rapidly retracted in the first vibration direction, but it is small in size. When transporting an article, even if the piezoelectric element is rapidly retracted in the first vibration direction, the article may follow the piezoelectric element and move in the first vibration direction. If the displacement is performed at high speed, efficient transfer is difficult due to residual vibration.

したがって、本発明は、振動搬送の技術を用いて被搬送体を効率良くかつ高速で搬送することができる技術を提供することを課題とする。 Therefore, it is an object of the present invention to provide a technique capable of efficiently and high-speed transporting an object to be transported by using a technique of vibration transport.

上記課題を解決するため、本発明は、以下の（１）～（１４）を提供する。 In order to solve the above problems, the present invention provides the following (1) to ( 14 ).

（１）所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータと、
前記アクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させる駆動部と、
前記アクチュエータの変位が伝達され、その上を被搬送体が前記第１方向または前記第２方向に搬送される搬送レールと
を具備し、
前記駆動部は、前記アクチュエータが前記第１方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第１方向に搬送されることを特徴とする搬送装置。 (1) An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction.
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. A drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
It is provided with a transport rail on which the displacement of the actuator is transmitted and the conveyed body is transported in the first direction or the second direction .
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the conveyed body is conveyed in the first direction. A characteristic transport device.

（２）所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータと、
前記アクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させる駆動部と、
前記アクチュエータの変位が伝達され、その上を被搬送体が前記第１方向または前記第２方向に搬送される搬送レールと
を具備し、
前記駆動部は、前記アクチュエータが前記第１方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第１方向に搬送されることを特徴とする搬送装置。 ( 2 ) An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction.
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. A drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
With a transport rail on which the displacement of the actuator is transmitted and the transported object is transported in the first direction or the second direction.
Equipped with
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the conveyed body is conveyed in the first direction. A characteristic transport device.

（３）前記アクチュエータは、前記伸縮素子の変位を前記搬送レールに伝達する変位伝達機構をさらに有することを特徴とする（１）または（２）に記載の搬送装置。 ( 3 ) The transport device according to (1) or (2) , wherein the actuator further includes a displacement transmission mechanism that transmits the displacement of the telescopic element to the transport rail.

（４）前記変位伝達機構は、前記伸縮素子の変位を拡大して出力し、前記搬送レールに伝達する変位拡大機構であることを特徴とする（３）に記載の搬送装置。 ( 4 ) The transfer device according to ( 3 ), wherein the displacement transmission mechanism is a displacement expansion mechanism that expands and outputs the displacement of the telescopic element and transmits it to the transfer rail.

（５）前記アクチュエータは、前記第１方向および前記第２方向の変位を出力する変位出力部を有し、前記変位出力部に前記搬送レールの一方の端部が取り付けられ、前記変位出力部の変位が前記搬送レールに伝達されることを特徴とする（１）から（４）のいずれかに記載の搬送装置。 ( 5 ) The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, and one end of the transport rail is attached to the displacement output unit to that of the displacement output unit. The transport device according to any one of (1) to ( 4 ), wherein the displacement is transmitted to the transport rail.

（６）前記アクチュエータは、前記伸縮素子の変位を前記搬送レールに伝達する変位伝達機構をさらに有し、前記伸縮素子が水平方向に伸縮するように前記変位伝達機構に装着され、前記変位伝達機構は、前記伸縮素子の上方に設けられ、前記伸縮素子の伸縮変位と対応する方向に前記第１方向および前記第２方向の変位を出力する変位出力部材を有し、前記搬送レールは前記変位出力部材の上に取り付けられることを特徴とする（１）または（２）に記載の搬送装置。 ( 6 ) The actuator further has a displacement transmission mechanism that transmits the displacement of the telescopic element to the conveyor rail, and is mounted on the displacement transmission mechanism so that the telescopic element expands and contracts in the horizontal direction. Has a displacement output member provided above the telescopic element and outputs displacements in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the telescopic element, and the transport rail has the displacement output. The transport device according to (1) or (2) , which is mounted on a member.

（７）搬送レール上で被搬送体を搬送する搬送方法であって、
所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させ、
前記アクチュエータの変位を前記搬送レールに伝達させて、前記被搬送体を前記搬送レール上で前記第１方向または前記第２方向に搬送し、
前記アクチュエータが前記第１方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第１方向に搬送されることを特徴とする搬送方法。 ( 7 ) A transport method for transporting an object to be transported on a transport rail.
To the actuator that outputs the displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the telescopic element and the displacement in the second direction opposite to the first direction. A displacement waveform is generated, and when the actuator is displaced in the first direction or the second direction, the actuator is operated so that a displacement point is formed.
The displacement of the actuator is transmitted to the transfer rail, and the conveyed object is conveyed on the transfer rail in the first direction or the second direction .
A transport method characterized in that the actuator is operated so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. ..

（８）搬送レール上で被搬送体を搬送する搬送方法であって、
所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させ、
前記アクチュエータの変位を前記搬送レールに伝達させて、前記被搬送体を前記搬送レール上で前記第１方向または前記第２方向に搬送し、
前記アクチュエータが前記第２方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第２方向に搬送されることを特徴とする搬送方法。 ( 8 ) A transport method for transporting an object to be transported on a transport rail.
To the actuator that outputs the displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the telescopic element and the displacement in the second direction opposite to the first direction. A displacement waveform is generated, and when the actuator is displaced in the first direction or the second direction, the actuator is operated so that a displacement point is formed.
The displacement of the actuator is transmitted to the transfer rail, and the conveyed object is conveyed on the transfer rail in the first direction or the second direction.
The actuator is operated so that the inflection point is formed when the actuator is displaced in the second direction, and the conveyed object is conveyed in the second direction. Sending method.

（９）搬送レール上で被搬送体を搬送するためのアクチュエータユニットであって、
所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータと、
前記アクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させる駆動部と
を具備し、
前記搬送レールに前記アクチュエータの変位が伝達され、前記搬送レール上を前記被搬送体が前記第１方向または前記第２方向に搬送され、
前記搬送レールに前記アクチュエータの変位が伝達され、前記搬送レール上を前記被搬送体が前記第１の方向または前記第２の方向に搬送され、
前記駆動部は、前記アクチュエータが前記第１方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第１方向に搬送されることを特徴とするアクチュエータユニット。 ( 9 ) An actuator unit for transporting an object to be transported on a transport rail.
An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. It is provided with a drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
The displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction .
The displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction.
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the conveyed body is conveyed in the first direction. Characterized actuator unit.

（１０）搬送レール上で被搬送体を搬送するためのアクチュエータユニットであって、
所定の方向に伸縮変位する伸縮素子の変位に対応する変位波形を出力するアクチュエータと、
前記アクチュエータに、前記伸縮素子の伸縮変位に対応する第１方向の変位と前記第１方向とは逆の第２方向の変位を繰り返す変位波形を生じさせ、前記アクチュエータが前記第１方向または前記第２方向に変位する場合に、変位の変曲点が形成されるように前記アクチュエータを動作させる駆動部と
を具備し、
前記搬送レールに前記アクチュエータの変位が伝達され、前記搬送レール上を前記被搬送体が前記第１方向または前記第２方向に搬送され、
前記駆動部は、前記アクチュエータが前記第２方向に変位している場合に前記変曲点が形成されるように前記アクチュエータを動作させ、前記被搬送体は前記第２方向に搬送されることを特徴とするアクチュエータユニット。 ( 10 ) An actuator unit for transporting an object to be transported on a transport rail.
An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. With a drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
Equipped with
The displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction.
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the conveyed body is conveyed in the second direction. Characterized actuator unit.

（１１）前記アクチュエータは、前記伸縮素子の変位を前記搬送レールに伝達する変位伝達機構をさらに有することを特徴とする（９）または（１０）に記載のアクチュエータユニット。 ( 11 ) The actuator unit according to ( 9 ) or (10) , wherein the actuator further includes a displacement transmission mechanism for transmitting the displacement of the telescopic element to the transfer rail.

（１２）前記変位伝達機構は、前記伸縮素子の変位を拡大して出力し、前記搬送レールに伝達する変位拡大機構であることを特徴とする（１１）に記載のアクチュエータユニット。 ( 12 ) The actuator unit according to ( 11 ), wherein the displacement transmission mechanism is a displacement expansion mechanism that expands and outputs the displacement of the telescopic element and transmits the displacement to the transfer rail.

（１３）前記アクチュエータは、前記第１方向および前記第２方向の変位を出力する変位出力部を有し、前記変位出力部に前記搬送レールの一方の端部が取り付けられ、前記変位出力部の変位が前記搬送レールに伝達されることを特徴とする（９）から（１２）のいずれかに記載のアクチュエータユニット。 ( 13 ) The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, and one end of the transport rail is attached to the displacement output unit to that of the displacement output unit. The actuator unit according to any one of ( 9 ) to ( 12 ), wherein the displacement is transmitted to the transfer rail.

（１４）前記アクチュエータは、前記伸縮素子の変位を前記搬送レールに伝達する変位伝達機構をさらに有し、前記伸縮素子が水平方向に伸縮するように前記変位伝達機構に装着され、前記変位伝達機構は、前記伸縮素子の上方に設けられ、前記伸縮素子の伸縮変位と対応する方向に前記第１方向および前記第２方向の変位を出力する変位出力部材を有し、前記搬送レールは前記変位出力部材の上に取り付けられることを特徴とする（９）または（１０）に記載のアクチュエータユニット。 ( 14 ) The actuator further has a displacement transmission mechanism that transmits the displacement of the telescopic element to the conveyor rail, and is mounted on the displacement transmission mechanism so that the telescopic element expands and contracts in the horizontal direction. Has a displacement output member provided above the telescopic element and outputs displacements in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the telescopic element, and the transport rail has the displacement output. The actuator unit according to ( 9 ) or (10) , which is mounted on a member.

本発明によれば、振動搬送の技術を用いて少ない消費電力で効率良く、被搬送体の搬送量を稼ぐことができ、かつ高速搬送を実現することができる。 According to the present invention, it is possible to efficiently increase the transport amount of the transported object with low power consumption by using the vibration transport technique, and to realize high-speed transport.

本発明の第１の実施形態に係る搬送装置を示す側面図である。It is a side view which shows the transporting apparatus which concerns on 1st Embodiment of this invention. 本発明の第１の実施形態に係る搬送装置を示す平面図である。It is a top view which shows the transport device which concerns on 1st Embodiment of this invention. 物品を第１方向であるＡ方向に搬送しようとする際のアクチュエータから出力される変位波形の一例を示す図である。It is a figure which shows an example of the displacement waveform output from the actuator when trying to convey an article in the A direction which is a 1st direction. 物品を第２方向であるＢ方向に搬送しようとする際のアクチュエータから出力される変位波形の一例を示す図である。It is a figure which shows an example of the displacement waveform output from the actuator when trying to convey an article in the B direction which is a 2nd direction. 変位波形に形成される変曲点の例を示す図である。It is a figure which shows the example of the inflection point formed in the displacement waveform. 本発明の効果を説明するための実験結果を示す図である。It is a figure which shows the experimental result for demonstrating the effect of this invention. 搬送レールが圧電素子の伸長方向に対応するＡ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。It is a figure which shows the example of the displacement waveform in which an inflection point is formed when the conveyor rail is displaced in the A direction corresponding to the extension direction of a piezoelectric element, and the voltage waveform when the displacement waveform is formed. 搬送レールが圧電素子の伸長方向に対応するＡ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。It is a figure which shows the example of the displacement waveform in which an inflection point is formed when the conveyor rail is displaced in the A direction corresponding to the extension direction of a piezoelectric element, and the voltage waveform when the displacement waveform is formed. 搬送レールが圧電素子の伸長方向に対応するＡ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。It is a figure which shows the example of the displacement waveform in which an inflection point is formed when the conveyor rail is displaced in the A direction corresponding to the extension direction of a piezoelectric element, and the voltage waveform when the displacement waveform is formed. 搬送レールが圧電素子の伸長方向に対応するＢ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。It is a figure which shows the example of the displacement waveform in which an inflection point is formed when the conveyor rail is displaced in the B direction corresponding to the extension direction of a piezoelectric element, and the voltage waveform when the displacement waveform is formed. 搬送レールが圧電素子の伸長方向に対応するＢ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。It is a figure which shows the example of the displacement waveform in which an inflection point is formed when the conveyor rail is displaced in the B direction corresponding to the extension direction of a piezoelectric element, and the voltage waveform when the displacement waveform is formed. 搬送レールが圧電素子の戻り方向に対応するＢ方向に変位する際に変曲点を設けた場合のナットの変位と、搬送レールの変位波形および電圧波形の一例を示す図である。It is a figure which shows an example of the displacement of a nut when the inflection point is provided when the transfer rail is displaced in the B direction corresponding to the return direction of the piezoelectric element, and the displacement waveform and the voltage waveform of the transfer rail. 図１２における搬送レールの変位波形および電圧波形を拡大して示す図である。It is a figure which shows the displacement waveform and the voltage waveform of the transport rail in FIG. 12 in an enlarged manner. 本発明の第２の実施形態に係る搬送装置を示す側面図である。It is a side view which shows the transporting apparatus which concerns on 2nd Embodiment of this invention.

以下、本発明の実施の形態について詳細に説明する。
＜第１の実施形態＞
最初に本発明の第１の実施形態について説明する。
図１は本発明の第１の実施形態に係る搬送装置を示す側面図、図２はその平面図である。
これらの図に示すように、本実施形態の搬送装置１は、水平部１０１および垂直部１０２を有するベース部材１００と、ベース部材１００の垂直部１０２に固定され所定波形の変位を出力するアクチュエータ２００と、アクチュエータ２００を駆動する駆動部３００と、アクチュエータ２００の変位が伝達され、物品１０を搬送する搬送レール４００と、ベース部材１００の水平部１０１に取り付けられ、搬送レール４００を移動可能に支持する支持部５００と、支持部５００と搬送レール４００の間に設けられたリニアガイド６００とを有する。アクチュエータ２００と駆動部３００とによりアクチュエータユニット７００を構成する。 Hereinafter, embodiments of the present invention will be described in detail.
<First Embodiment>
First, the first embodiment of the present invention will be described.
FIG. 1 is a side view showing a transport device according to the first embodiment of the present invention, and FIG. 2 is a plan view thereof.
As shown in these figures, the transport device 1 of the present embodiment has a base member 100 having a horizontal portion 101 and a vertical portion 102, and an actuator 200 fixed to the vertical portion 102 of the base member 100 and outputting a displacement of a predetermined waveform. The drive unit 300 that drives the actuator 200, the transfer rail 400 that conveys the displacement of the actuator 200 and conveys the article 10, and the horizontal portion 101 of the base member 100 are attached to movably support the transfer rail 400. It has a support portion 500 and a linear guide 600 provided between the support portion 500 and the transport rail 400. The actuator unit 700 is composed of the actuator 200 and the drive unit 300.

アクチュエータ２００は、電圧等のトリガーを与えることにより伸縮する伸縮素子２０１と、この伸縮素子２０１が装着され、伸縮素子２０１の変位を搬送レール４００に伝達する変位伝達機構としての変位拡大機構２１０とを具備している。 The actuator 200 includes an expansion / contraction element 201 that expands / contracts by giving a trigger such as a voltage, and a displacement expansion mechanism 210 as a displacement transmission mechanism to which the expansion / contraction element 201 is mounted and transmits the displacement of the expansion / contraction element 201 to the transport rail 400. It is equipped.

伸縮素子２０１は、長尺状をなし、長手方向を鉛直にして配置されている。伸縮素子２０１としては、トリガーが与えられることにより主に長手方向に伸縮する素子であればよく、電圧に応じて変位する圧電素子、磁界に応じて変位する磁歪素子、温度に応じて変位する形状記憶合金素子等を挙げることができる。いずれの素子の場合にも電源からの電圧を直接印加するか、または電圧を適宜の手段で磁界や温度に変換して用いることにより電圧に応じた変位を実現することができる。 The telescopic element 201 has a long shape and is arranged vertically in the longitudinal direction. The telescopic element 201 may be any element that expands and contracts mainly in the longitudinal direction when a trigger is applied, and is a piezoelectric element that displaces according to a voltage, a magnetostrictive element that displaces according to a magnetic field, and a shape that displaces according to temperature. A memory alloy element or the like can be mentioned. In the case of any of the elements, the displacement according to the voltage can be realized by directly applying the voltage from the power source or by converting the voltage into a magnetic field or temperature by an appropriate means.

伸縮素子２０１としては、圧電素子が好ましい。圧電素子を用いたアクチュエータは、（１）投入される電気エネルギーに対して実に６０％以上が機械エネルギーに変換され、例えば１０ｍｍ×１０ｍｍの素子で発生する力が３００ｋｇｆに達し、エネルギー効率が極めて高い、（２）数ｋＨｚ以上の高速応答が可能である、（３）物体を一定の位置で保持する場合に、電圧を印加する必要はあるが、電流は流れなくて済むため、電気エネルギー消費を抑えることができる、（４）小型化、薄型化に適している、等の優れた点を有している。 The expansion / contraction element 201 is preferably a piezoelectric element. Actuators using piezoelectric elements (1) have 60% or more of the input electrical energy converted into mechanical energy, for example, the force generated by a 10 mm x 10 mm element reaches 300 kgf, and the energy efficiency is extremely high. , (2) High-speed response of several kHz or more is possible, (3) When holding an object at a fixed position, it is necessary to apply a voltage, but no current flows, so electrical energy consumption is consumed. It has excellent points such as being able to be suppressed, (4) suitable for miniaturization and thinning.

伸縮素子２０１として用いられる圧電素子としては、板状の圧電体が電極を挟んで複数積層されて構成された積層タイプのものが用いられる。例えば、１０ｍｍ×１０ｍｍの圧電体を４０ｍｍ程度の長さに積層して直方体として構成される。圧電体を構成する圧電材料としては、圧電効果を有するセラミック材料が用いられ、そのような材料として、典型的にはチタン酸ジルコン酸鉛（Ｐｂ（Ｚｒ，Ｔｉ）Ｏ_３；ＰＺＴ）を挙げることができる。伸縮素子２０１の形状は直方体に限らず、例えば三角柱や六角柱等の多角柱であっても、円柱であってもよい。 As the piezoelectric element used as the expansion / contraction element 201, a laminated type in which a plurality of plate-shaped piezoelectric materials are laminated with an electrode interposed therebetween is used. For example, a 10 mm × 10 mm piezoelectric body is laminated to a length of about 40 mm to form a rectangular parallelepiped. As the piezoelectric material constituting the piezoelectric body, a ceramic material having a piezoelectric effect is used, and as such a material, lead zirconate titanate (Pb (Zr, Ti) O ₃ ; PZT) is typically mentioned. Can be done. The shape of the telescopic element 201 is not limited to a rectangular parallelepiped, and may be a polygonal prism such as a triangular prism or a hexagonal prism, or a cylinder.

変位拡大機構２１０は、伸縮素子２０１の変位を拡大して出力し、その拡大された変位を搬送レール４００に伝達するものであり、本例では、長尺体からなる伸縮素子２０１の一端面および他端面にそれぞれ固定された第１の取り付け部材２１１および第２の取り付け部材２１２と、伸縮素子２０１の一方の側面に、これら第１の取り付け部材２１１および第２の取り付け部材２１２を連結するように設けられ、圧電素子の変位方向に直交する方向に拡大された変位を出力する変位伝達部２１３と、伸縮素子２０１の他方の側面に、第１の取り付け部材２１１および第２の取り付け部材２１２を、可撓性を有するヒンジ２１６を介して連結するように設けられた固定部材２１４とを有する。変位伝達部２１３は、中央に出力部材２１５を有し、複数の可撓性を有するヒンジ２１６および複数のアーム２１７の作用により出力部材２１５から拡大された変位を出力することが可能となっている。出力部材２１５には搬送レール４００が取り付けられる取り付け部材２１８が装着されている。固定部材２１４の表面は固定面であり、ベース部材１００の垂直部１０２に固定される。 The displacement expansion mechanism 210 expands and outputs the displacement of the expansion / contraction element 201 and transmits the expanded displacement to the transport rail 400. In this example, one end surface of the expansion / contraction element 201 made of a long body and the displacement expansion mechanism 201 are transmitted. The first mounting member 211 and the second mounting member 212 fixed to the other end surfaces, respectively, and the first mounting member 211 and the second mounting member 212 are connected to one side surface of the expansion / contraction element 201. A displacement transmission unit 213 provided and outputting a displacement expanded in a direction orthogonal to the displacement direction of the piezoelectric element, and a first mounting member 211 and a second mounting member 212 on the other side surface of the telescopic element 201. It has a fixing member 214 provided to be connected via a flexible hinge 216. The displacement transmission unit 213 has an output member 215 in the center, and is capable of outputting an expanded displacement from the output member 215 by the action of a plurality of flexible hinges 216 and a plurality of arms 217. .. The output member 215 is equipped with a mounting member 218 to which the transport rail 400 is mounted. The surface of the fixing member 214 is a fixing surface and is fixed to the vertical portion 102 of the base member 100.

このような構成の変位拡大機構２１０に伸縮素子２０１が装着されることによりアクチュエータ２００が構成される。なお、変位拡大機構は、図示したような構成に限らず種々の構成をとることができる。また、変位伝達機構としては、変位を拡大せずに伸縮素子２０１の変位を伝達する機能のみを有するものであってもよい。また、変位伝達機構を用いずに、伸縮素子のみでアクチュエータ２００を構成してもよい。 The actuator 200 is configured by mounting the telescopic element 201 on the displacement expanding mechanism 210 having such a configuration. The displacement expansion mechanism is not limited to the configuration as shown in the figure, but may have various configurations. Further, the displacement transmission mechanism may have only a function of transmitting the displacement of the telescopic element 201 without expanding the displacement. Further, the actuator 200 may be configured only by the expansion / contraction element without using the displacement transmission mechanism.

伸縮素子２０１が圧電素子の場合、脆性材料であるセラミックス材料で構成されており、引張り力に対して弱い。このため、図示するように、伸縮素子２０１に与圧機構２２０により長手方向に圧縮力を与えられた状態で変位拡大機構２１０に装着されることが好ましい。与圧機構２２０により予め圧縮力を与えることによりこのような欠点を軽減することができる。与圧機構２２０は、本例では、伸縮素子２０１の一端面および他端面に固定される一対のヘッドピース２２１，２２２と、これらの間に架け渡されるように設けられた例えば２本の圧縮力付与部材２２３とを有している。ただし、与圧機構の構成は、圧縮力を付与できればこれに限るものではない。なお、与圧機構２２０は設けなくともよく、また、変位拡大機構（変位伝達機構）に与圧機構としての機能を持たせてもよい。 When the expansion / contraction element 201 is a piezoelectric element, it is made of a ceramic material which is a brittle material and is vulnerable to tensile force. Therefore, as shown in the figure, it is preferable that the telescopic element 201 is mounted on the displacement expanding mechanism 210 in a state where a compressive force is applied in the longitudinal direction by the pressurizing mechanism 220. Such a defect can be alleviated by applying a compressive force in advance by the pressurization mechanism 220. In this example, the pressurization mechanism 220 is a pair of headpieces 221,222 fixed to one end surface and the other end surface of the telescopic element 201, and for example, two compressive forces provided so as to be bridged between them. It has a granting member 223. However, the configuration of the pressurization mechanism is not limited to this as long as a compressive force can be applied. The pressurization mechanism 220 may not be provided, and the displacement expansion mechanism (displacement transmission mechanism) may be provided with a function as a pressurization mechanism.

駆動部３００は、伸縮素子２０１を伸縮駆動させるドライバー３０１と、所定波形の信号を発生してドライバー３０１に供給する信号発生部３０２を有している。ドライバー３０１は、電源と駆動回路とを有している。伸縮素子２０１が圧電素子である場合には、ドライバー３０１は、圧電素子である伸縮素子２０１に信号発生部３０２から所定の波形の信号に応じて所定の電圧を印加して充放電させることにより伸縮素子２０１を駆動する。 The drive unit 300 has a driver 301 that expands and contracts the telescopic element 201, and a signal generation unit 302 that generates a signal having a predetermined waveform and supplies the signal to the driver 301. The driver 301 has a power supply and a drive circuit. When the expansion / contraction element 201 is a piezoelectric element, the driver 301 applies a predetermined voltage from the signal generation unit 302 to the expansion / contraction element 201, which is a piezoelectric element, in accordance with a signal having a predetermined waveform to charge and discharge the expansion / contraction element 201. Drive the element 201.

駆動部３００により伸縮素子２０１が所定の波形で伸縮駆動され、変位拡大機構２１０の出力部材２１５から、その伸縮駆動の波形に対応した変位波形が出力される。このときの出力される変位波形については後述する。 The expansion / contraction element 201 is expanded / contracted with a predetermined waveform by the drive unit 300, and the displacement waveform corresponding to the expansion / contraction drive waveform is output from the output member 215 of the displacement expansion mechanism 210. The displacement waveform output at this time will be described later.

搬送レール４００は、変位拡大機構２１０の出力部材２１５に装着された取り付け部材２１８に着脱可能に取り付けられており、出力部材２１５から出力される変位波形が直接伝達される。搬送レール４００は、複数の物品１０が載せられる搬送面４０１と、搬送面４０１から物品１０が落下しないように搬送面４０１の両側部に設けられたガード部材４０３を有している。また、搬送レール４００は、アクチュエータ側の第１の端部４１１と、先端側の第２の端部４１２とを有しており、これらの間で物品１０が搬送される。このとき、後述するように、アクチュエータ２００から出力される変位波形を、変曲点を有するものとし、その変曲点を形成する位置を調整することにより、物品１０を第１の端部４１１から第２の端部４１２に搬送することも、第２の端部４１２から第１の端部４１１に搬送することもできる。物品１０は特に限定されず、ボルトやナット等の部品でもよいし、重量が大きいものであってもよいが、特に、直径０．５ｍｍ以下の小さいものに対して有効である。 The transport rail 400 is detachably attached to the attachment member 218 attached to the output member 215 of the displacement expansion mechanism 210, and the displacement waveform output from the output member 215 is directly transmitted. The transport rail 400 has a transport surface 401 on which a plurality of articles 10 are placed, and guard members 403 provided on both sides of the transport surface 401 so that the articles 10 do not fall from the transport surface 401. Further, the transfer rail 400 has a first end portion 411 on the actuator side and a second end portion 412 on the distal end side, and the article 10 is conveyed between them. At this time, as will be described later, the displacement waveform output from the actuator 200 is assumed to have an inflection point, and the article 10 is moved from the first end portion 411 by adjusting the position where the inflection point is formed. It can be transported to the second end 412 or from the second end 412 to the first end 411. The article 10 is not particularly limited, and may be a part such as a bolt or a nut, or may be a heavy one, but is particularly effective for a small one having a diameter of 0.5 mm or less.

搬送レール４００の下部には、長手方向に沿ってガイドレール４１０が設けられている。そして、このガイドレール４１０にリニアガイド６００が装着され、搬送レール４００は、ベース部材１００の水平部１０１に取り付けられた支持部５００にリニアガイド６００を介して支持されている。このため、搬送レール４００は、アクチュエータ２００の変位に追従して移動することができる。 A guide rail 410 is provided in the lower portion of the transport rail 400 along the longitudinal direction. A linear guide 600 is mounted on the guide rail 410, and the transport rail 400 is supported by the support portion 500 attached to the horizontal portion 101 of the base member 100 via the linear guide 600. Therefore, the transport rail 400 can move following the displacement of the actuator 200.

このように構成される搬送装置１においては、駆動部３００の信号発生部３０２からの信号に基づいて、ドライバー３０１から伸縮素子２０１に所定波形の電圧が印加され、伸縮素子２０１は伸縮変位を高速で繰り返す。この伸縮変位は、変位伝達機構である変位拡大機構２１０により拡大された変位として出力部材２１５から出力され、この変位が搬送レール４００に伝達される。 In the transport device 1 configured in this way, a voltage having a predetermined waveform is applied from the driver 301 to the expansion / contraction element 201 based on the signal from the signal generation unit 302 of the drive unit 300, and the expansion / contraction element 201 has a high speed expansion / contraction displacement. Repeat with. This expansion / contraction displacement is output from the output member 215 as a displacement expanded by the displacement expansion mechanism 210, which is a displacement transmission mechanism, and this displacement is transmitted to the transport rail 400.

出力部材２１５は、伸縮素子２０１の伸縮変位に対応して、基本的に、電圧非印加時の基準位置から水平方向へ進出する第１方向であるＡ方向の変位と、進出した位置から基準位置に戻る第２方向であるＢ方向の変位とを高速で繰り返す変位波形により変位し、これにともなって搬送レール４００も同様に変位する。このとき、アクチュエータ２００（出力部材２１５）に基づく搬送レール４００の変位波形において、Ａ方向およびＢ方向のうち、物品１０を搬送しようとする方向に変位している際に、変位の変曲点が生じるように、伸縮素子２０１を駆動する。ここで変位の変曲点とは、速度が極値（極大値または極小値）になる点をいう。 The output member 215 is basically displaced in the A direction, which is the first direction to advance horizontally from the reference position when no voltage is applied, and the reference position from the advanced position, in response to the expansion / contraction displacement of the expansion / contraction element 201. It is displaced by the displacement waveform that repeats the displacement in the B direction, which is the second direction, at high speed, and the transport rail 400 is similarly displaced accordingly. At this time, in the displacement waveform of the transport rail 400 based on the actuator 200 (output member 215), the inflection point of the displacement is changed when the article 10 is displaced in the direction to be conveyed among the A direction and the B direction. The expansion / contraction element 201 is driven so as to occur. Here, the inflection point of displacement means a point where the velocity becomes an extreme value (maximum value or minimum value).

具体的には、物品１０を第１方向であるＡ方向に搬送しようとする際には、アクチュエータ２００から出力される変位波形の一例としては、図３に示すようなものとなる。すなわち、アクチュエータ２００がＡ方向に変位しているときに、その途中に変曲点Ｃが形成されるように、伸縮素子２０１を駆動する。 Specifically, when the article 10 is to be conveyed in the A direction, which is the first direction, an example of the displacement waveform output from the actuator 200 is as shown in FIG. That is, when the actuator 200 is displaced in the A direction, the expansion / contraction element 201 is driven so that an inflection point C is formed in the middle of the displacement.

逆に、物品１０を第２方向であるＢ方向に搬送しようとする際には、アクチュエータ２００から出力される変位波形の一例としては、図４に示すようなものとなる。すなわち、アクチュエータ２００がＢ方向に変位しているときに、その途中に変曲点Ｃが形成されるように、伸縮素子２０１を駆動する。 On the contrary, when the article 10 is to be conveyed in the second direction B, an example of the displacement waveform output from the actuator 200 is as shown in FIG. That is, when the actuator 200 is displaced in the B direction, the expansion / contraction element 201 is driven so that an inflection point C is formed in the middle of the displacement.

変位の変曲点としては、図５のように、Ａ方向に一定の速度で変位している途中で、（ａ）に示すようにＡ方向の変位を保ったまま変位の速度が低下する場合、（ｂ）に示すように変位変化が０になる場合、（ｃ）に示すように変位がＢ方向に逆転する場合のいずれであってもよい。変曲点で速度または加速度が変化した後は、所定期間で変位の速度が元の速度に戻る。 As a variation point of the displacement, as shown in FIG. 5, when the displacement in the A direction is performed at a constant speed and the displacement speed decreases while maintaining the displacement in the A direction as shown in (a). , When the displacement change becomes 0 as shown in (b), or when the displacement is reversed in the B direction as shown in (c). After the velocity or acceleration changes at the inflection, the displacement velocity returns to the original velocity in a predetermined period.

このような変曲点を有するアクチュエータ２００の変位すなわち搬送レール４００の変位を実現するためには、対応する電圧波形をコンピュータで合成してもよいし、信号発生装置で発生した２つ以上の波形を合成してもよいし、プレパルスを利用してもよい。 In order to realize the displacement of the actuator 200 having such an inflection point, that is, the displacement of the transport rail 400, the corresponding voltage waveforms may be synthesized by a computer, or two or more waveforms generated by the signal generator may be combined. May be synthesized, or prepulse may be used.

次に、本発明における物品搬送の原理について説明する。
アクチュエータ２００により搬送レール４００を一方向に変位させると、搬送面４０１上の物品１０は、静止摩擦により搬送レール４００の移動方向に加速力が伝達される。加速力を得た物品１０は搬送面４０１との間に滑りが生じた状態となり、搬送レール４００よりも低速で搬送レールの変位方向に移動する。そしてアクチュエータ２００により搬送レール４００が搬送方向に変位している途中で変位の変曲点Ｃを設けることにより、搬送レール４００の速度が変化し、ある時点で搬送レール４００と物品１０との相対速度差が０となる。この相対速度差が０になる時点において、搬送レール４００と物品１０との間に再び静止摩擦が生じる。その後、搬送レール４００は加速され、その際に静止摩擦により搬送レール４００から物品１０に加速力が伝達されて、その結果、物品１０が加速され、搬送レール４００の変位が逆向きになった際にも、物品１０は摩擦力に抗して搬送面４０１上を搬送方向に向けて変位する。このため、伸縮素子２０１が伸長して戻るまでの変位に対応する搬送レール４００の一回の変位波形で、物品１０を大きく変位させることができ、搬送レール４００にこのような変位波形を繰り返し与えることにより、物品１０を効率良く搬送することができる。また搬送レールを駆動する周波数を高くすることができるので、高速搬送が可能である。このように、１回目の加速力により搬送レール４００上で物品１０を滑らせながら、搬送レール４００の変位に変曲点Ｃを設けて、物品１０に２回目の加速力を加えるため、一回の変位波形で物品１０に２回の加速力を加えることができ、少ない消費電力で効率良く、物品の搬送量を稼ぐことができ、かつ高速搬送が実現できる。 Next, the principle of article transportation in the present invention will be described.
When the transport rail 400 is displaced in one direction by the actuator 200, the article 10 on the transport surface 401 transmits an accelerating force in the moving direction of the transport rail 400 due to static friction. The article 10 that has obtained the accelerating force is in a state of slipping with the transport surface 401, and moves in the displacement direction of the transport rail at a lower speed than that of the transport rail 400. Then, by providing the inflection point C of the displacement while the transfer rail 400 is displaced in the transfer direction by the actuator 200, the speed of the transfer rail 400 changes, and the relative speed between the transfer rail 400 and the article 10 at a certain point. The difference is 0. When the relative speed difference becomes 0, static friction occurs again between the transport rail 400 and the article 10. After that, the transfer rail 400 is accelerated, and at that time, the acceleration force is transmitted from the transfer rail 400 to the article 10 by static friction, and as a result, the article 10 is accelerated and the displacement of the transfer rail 400 is reversed. Further, the article 10 is displaced on the transport surface 401 in the transport direction against the frictional force. Therefore, the article 10 can be largely displaced with a single displacement waveform of the transport rail 400 corresponding to the displacement of the telescopic element 201 until it expands and returns, and such a displacement waveform is repeatedly applied to the transport rail 400. As a result, the article 10 can be efficiently transported. Moreover, since the frequency for driving the transport rail can be increased, high-speed transport is possible. In this way, while sliding the article 10 on the transport rail 400 by the first acceleration force, the inflection point C is provided in the displacement of the transport rail 400, and the second acceleration force is applied to the article 10 once. Acceleration force can be applied to the article 10 twice with the displacement waveform of, the article can be efficiently transported with low power consumption, the transport amount of the article can be increased, and high-speed transport can be realized.

図６は、このことを示す実験結果である。ここでは、物品として直径約１０ｍｍのナットを用いた。図６では、横軸に時間をとり、縦軸に端子間電圧および変位をとっている。搬送レールおよびナットの変位は、搬送レール４００の先端側に設けられたレーザー距離計により測定した。なお、図６は、搬送レール４００にＡ方向およびＢ方向の変位を一往復与えた場合を示し、変位の方向は、図３、図４とは逆で、正方向（上方向）がＢ方向（戻り方向）であり、負方向（下方向）がＡ方向（伸長方向）である。 FIG. 6 is an experimental result showing this. Here, a nut having a diameter of about 10 mm was used as the article. In FIG. 6, the horizontal axis represents time, and the vertical axis represents the voltage between terminals and displacement. The displacements of the transport rail and the nut were measured by a laser range finder provided on the tip side of the transport rail 400. Note that FIG. 6 shows a case where the transport rail 400 is subjected to one reciprocating displacement in the A direction and the B direction. The displacement direction is opposite to that in FIGS. 3 and 4, and the positive direction (upward direction) is the B direction. (Return direction), and the negative direction (downward direction) is the A direction (extension direction).

図６に示すように、搬送レール４００を搬送方向であるＡ方向に変位させている途中で、変位の変曲点を形成することで、搬送レール４００の変位方向がＢ方向に転じた後もナットがＡ方向へ変位していることがわかる。このことから、物品であるナットを効率良く搬送できること、つまり、一回の変位波形で物品１０に２回の加速力を加えて、少ない消費電力で効率良く物品の搬送量を稼ぐことができ、かつ高速搬送が実現できることが確認された。 As shown in FIG. 6, even after the displacement direction of the transport rail 400 is changed to the B direction by forming an inflection point of the displacement while the transport rail 400 is being displaced in the A direction which is the transport direction. It can be seen that the nut is displaced in the A direction. From this, it is possible to efficiently convey the nut, which is an article, that is, it is possible to apply the acceleration force twice to the article 10 with one displacement waveform, and efficiently increase the amount of the article to be conveyed with low power consumption. Moreover, it was confirmed that high-speed transfer can be realized.

また、本実施形態では、アクチュエータ２００および搬送レール４００の変位波形における変曲点の位置により物品１０をＡ方向にもＢ方向にも搬送することができるという利点も得られる。 Further, in the present embodiment, there is an advantage that the article 10 can be conveyed in both the A direction and the B direction depending on the position of the inflection point in the displacement waveform of the actuator 200 and the transfer rail 400.

さらに、伸縮素子、特に圧電素子は、０．１～５０μｍ程度の小さな変位で駆動することができるので、直径０．５ｍｍ以下の小さな物品であっても、部品の搬送先との間の継ぎ目を物品の落下の危険性が生じない程度に狭くすることができ、しかも、変曲点を設けることにより、残留振動が低減され、残留振動の影響をほとんど受けずに高速駆動が可能であるため、１回の変位が小さくても十分に高い搬送速度で物品を搬送することができる。 Further, since the expansion / contraction element, particularly the piezoelectric element, can be driven with a small displacement of about 0.1 to 50 μm, even a small article having a diameter of 0.5 mm or less can form a seam between the parts and the transport destination. Since it can be narrowed to the extent that there is no danger of the article falling, and by providing an inflection point, residual vibration is reduced and high-speed driving is possible with almost no influence of residual vibration. Even if one displacement is small, the article can be transported at a sufficiently high transport speed.

次に、実際に変曲点を有する変位波形を搬送レールに繰り返し与えて搬送実験を行った結果について説明する。 Next, the results of conducting a transfer experiment by repeatedly applying a displacement waveform having an inflection point to the transfer rail will be described.

ここでは、伸縮素子として圧電素子を用いたアクチュエータにより、搬送レール上の物品として直径約１０ｍｍのナットを搬送する実験を行った。端子間電圧を１５０Ｖとし、圧電素子を伸長して元に戻すまでの１波長の時間を８ｍｓｅｃとし、最大変位を１５０μｍとし、電圧波形を変化させて、種々の変曲点を有する変位波形を形成して搬送レールを振動させてナットの搬送実験を行った。 Here, an experiment was conducted in which a nut having a diameter of about 10 mm was transported as an article on a transport rail by an actuator using a piezoelectric element as a telescopic element. The voltage between terminals is 150 V, the time for one wavelength until the piezoelectric element is extended and restored is 8 msec, the maximum displacement is 150 μm, and the voltage waveform is changed to form a displacement waveform with various bending points. Then, the transfer rail was vibrated to perform a nut transfer experiment.

図７～９は、搬送レールが圧電素子の伸長方向に対応するＡ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図であり、図１０～１１は、搬送レールが圧電素子の戻り方向に対応するＢ方向に変位する際に変曲点が形成される変位波形とその変位波形を形成した際の電圧波形の例を示す図である。なお、これらの図においては、変位の方向は、図３、図４と同様、正方向（上方向）がＡ方向（伸長方向）であり、負方向（下方向）がＢ方向（戻り方向）である。 FIGS. 7 to 9 are diagrams showing an example of a displacement waveform in which a bending point is formed when the conveyor rail is displaced in the A direction corresponding to the extension direction of the piezoelectric element and a voltage waveform when the displacement waveform is formed. 10 to 11 show an example of a displacement waveform in which a bending point is formed when the conveyor rail is displaced in the B direction corresponding to the return direction of the piezoelectric element, and a voltage waveform when the displacement waveform is formed. It is a figure. In these figures, as in FIGS. 3 and 4, the positive direction (upward direction) is the A direction (extension direction), and the negative direction (downward direction) is the B direction (return direction). Is.

図７～９の場合は、いずれもナットをＡ方向に搬送することができ、その際の平均搬送速度は、１２～２０ｍｍ／ｓｅｃであった。また、図１０～１１の場合は、いずれもナットをＢ方向に搬送することができ、その際の平均速度は、８～１０ｍｍ／ｓｅｃであった。このように、本発明により効率良くかつ高速な搬送が可能なことが確認された。 In the cases of FIGS. 7 to 9, the nut could be conveyed in the A direction, and the average conveying speed at that time was 12 to 20 mm / sec. Further, in the cases of FIGS. 10 to 11, the nut could be conveyed in the B direction, and the average speed at that time was 8 to 10 mm / sec. As described above, it was confirmed that the present invention enables efficient and high-speed transportation.

図１２は、搬送レールが圧電素子の戻り方向に対応するＢ方向に変位する際に変曲点を設けた場合のナットの変位と搬送レールの変位波形の一例を示す図であり、図１３は、その際の端子間電圧と搬送レールの変位を拡大して示す図である。なお、図１２、１３においては、変位の方向は、図７～１１とは逆で、正方向（上方向）がＢ方向（戻り方向）であり、負方向（下方向）がＡ方向（伸長方向）である。この場合、図１２に示すように、ナットは最初の１５波形までは、逆方向のＡ方向に搬送され、それ以降Ｂ方向に搬送される現象がみられた。これは、最初の圧電素子の伸長に対応する搬送レールのＡ方向の変位によりナットがＡ方向に搬送される影響が残留したためと考えられる。この現象の時間はわずかであるから、Ｂ方向の搬送には大きな影響はおよぼさない。 FIG. 12 is a diagram showing an example of the displacement of the nut and the displacement waveform of the transport rail when a bending point is provided when the transport rail is displaced in the B direction corresponding to the return direction of the piezoelectric element, and FIG. 13 is a diagram. It is an enlarged view which shows the voltage between terminals and the displacement of a transport rail at that time. In FIGS. 12 and 13, the direction of displacement is opposite to that in FIGS. 7 to 11, the positive direction (upward direction) is the B direction (return direction), and the negative direction (downward direction) is the A direction (extension). Direction). In this case, as shown in FIG. 12, a phenomenon was observed in which the nut was conveyed in the A direction in the opposite direction up to the first 15 waveforms and then in the B direction thereafter. It is considered that this is because the influence of the nut being transported in the A direction remains due to the displacement of the transport rail in the A direction corresponding to the extension of the first piezoelectric element. Since the time of this phenomenon is short, it does not have a great influence on the transportation in the B direction.

＜第２の実施形態＞
次に本発明の第１の実施形態について説明する。
図１４は本発明の第２の実施形態に係る搬送装置を示す側面図である。
この図に示すように、本実施形態の搬送装置２は、所定波形の変位を出力するアクチュエータ８００と、アクチュエータ８００を駆動する駆動部３００と、アクチュエータ８００の変位が伝達され、物品１０を搬送する搬送レール４００とを有する。アクチュエータ８００と駆動部３００とでアクチュエータユニット９００を構成する。アクチュエータ８００は、基台１０００上に載置または固定される。 <Second embodiment>
Next, the first embodiment of the present invention will be described.
FIG. 14 is a side view showing a transport device according to a second embodiment of the present invention.
As shown in this figure, the transport device 2 of the present embodiment transports the article 10 by transmitting the displacement of the actuator 800, the drive unit 300 for driving the actuator 800, and the actuator 800 to output the displacement of a predetermined waveform. It has a transport rail 400. The actuator 800 and the drive unit 300 constitute an actuator unit 900. The actuator 800 is placed or fixed on the base 1000.

アクチュエータ８００は、電圧等のトリガーを与えることにより伸縮する伸縮素子８０１と、この伸縮素子８０１が装着され、伸縮素子８０１の変位を搬送レール４００に伝達する変位伝達機構８１０とを具備している。 The actuator 800 includes an expansion / contraction element 801 that expands / contracts by applying a trigger such as a voltage, and a displacement transmission mechanism 810 to which the expansion / contraction element 801 is mounted and transmits the displacement of the expansion / contraction element 801 to the transfer rail 400.

伸縮素子８０１は、長尺状をなし、長手方向を水平にして配置されている。伸縮素子８０１としては、伸縮素子２０１と同様、トリガーが与えられることにより主に長手方向に伸縮する素子であればよく、電圧に応じて変位する圧電素子、磁界に応じて変位する磁歪素子、温度に応じて変位する形状記憶合金素子等を挙げることができ、これらの中では圧電素子が好ましい。 The telescopic element 801 has a long shape and is arranged horizontally in the longitudinal direction. The expansion / contraction element 801 may be an element that expands / contracts mainly in the longitudinal direction when a trigger is applied, as in the expansion / contraction element 201, a piezoelectric element that displaces according to a voltage, a magnetostrictive element that displaces according to a magnetic field, and a temperature. A shape memory alloy element or the like that is displaced according to the above can be mentioned, and among these, a piezoelectric element is preferable.

変位伝達機構８１０は、伸縮素子８０１の変位を搬送レール４００に伝達するものであり、基台１０００に載置または固定されるベース部材８１１と、ベース部材８１１と一体またはベース部材８１１に固定して設けられ、伸縮素子８０１の一端が取り付けられる第１の取り付け部材８１２と、伸縮素子８０１の他端が移動可能に取り付けられる第２の取り付け部材８１３と、伸縮素子８０１の上方に水平に設けられ、伸縮素子８０１の伸縮変位に対応した水平方向の所定波形の変位を出力する出力部材８１４とを有している。第２の取り付け部材８１３は、ベース部材８１１の一端および出力部材８１４の対応する一端に、それぞれ可撓性を有するヒンジ８１５を介して連結されている。一方、ベース部材８１１の他端および出力部材８１４の対応する他端には、中間部材８１６がそれぞれ可撓性を有するヒンジ８１５を介して連結されている。出力部材８１４の上には搬送レール４００が取り付けられる取り付け部材８１６が装着され、搬送レール４００は、取り付け部材８１６を介して出力部材８１４上に取り付けられている。 The displacement transmission mechanism 810 transmits the displacement of the telescopic element 801 to the transport rail 400, and the base member 811 mounted or fixed on the base 1000 and the base member 811 are integrated with the base member 811 or fixed to the base member 811. A first mounting member 812 provided and to which one end of the telescopic element 801 is mounted, a second mounting member 813 to which the other end of the telescopic element 801 is movably mounted, and a second mounting member 813 provided horizontally above the telescopic element 801 are provided. It has an output member 814 that outputs a displacement of a predetermined waveform in the horizontal direction corresponding to the expansion / contraction displacement of the expansion / contraction element 801. The second mounting member 813 is connected to one end of the base member 811 and the corresponding end of the output member 814 via a flexible hinge 815, respectively. On the other hand, an intermediate member 816 is connected to the other end of the base member 811 and the corresponding other end of the output member 814 via a hinge 815 having flexibility. A mounting member 816 to which the transport rail 400 is mounted is mounted on the output member 814, and the transport rail 400 is mounted on the output member 814 via the mounting member 816.

このような構成の変位伝達機構８１０に伸縮素子８０１が装着されることによりアクチュエータ８００が構成される。 The actuator 800 is configured by mounting the telescopic element 801 on the displacement transmission mechanism 810 having such a configuration.

伸縮素子８０１には、その長手方向に予め圧縮力を与える与圧機構８２０が装着されている。与圧機構８２０は、上述した与圧機構２２０と同様の機能を有しており、本例では、伸縮素子８０１の一端面および他端面に固定される一対のヘッドピース８２１，８２２と、これらの間に架け渡されるように設けられた例えば２本の圧縮力付与部材８２３とを有している。ただし、与圧機構の構成は、圧縮力を付与できればこれに限るものではない。なお、与圧機構８２０は設けなくともよく、また、変位伝達機構に与圧機構としての機能を持たせてもよい。 The telescopic element 801 is equipped with a pressurization mechanism 820 that previously applies a compressive force in the longitudinal direction thereof. The pressurization mechanism 820 has the same function as the pressurization mechanism 220 described above, and in this example, a pair of headpieces 821 and 822 fixed to one end surface and the other end surface of the telescopic element 801 and these. It has, for example, two compressive force applying members 823 provided so as to be bridged between them. However, the configuration of the pressurization mechanism is not limited to this as long as a compressive force can be applied. The pressurization mechanism 820 may not be provided, and the displacement transmission mechanism may have a function as a pressurization mechanism.

駆動部３００は、第１の実施形態と同様、ドライバーと、所定波形の信号を発生してドライバーに供給する信号発生部とを有している。詳細については第１の実施形態と同様であるから省略する。駆動部３００により伸縮素子８０１が所定の波形で伸縮駆動され、変位伝達機構８１０の出力部材８１４から、その伸縮駆動の波形に対応した変位波形が出力される。このときの出力される変位波形は第１の実施形態と同様である。 Similar to the first embodiment, the drive unit 300 has a driver and a signal generation unit that generates a signal having a predetermined waveform and supplies the signal to the driver. Since the details are the same as those in the first embodiment, they will be omitted. The expansion / contraction element 801 is expanded / contracted with a predetermined waveform by the drive unit 300, and the displacement waveform corresponding to the expansion / contraction drive waveform is output from the output member 814 of the displacement transmission mechanism 810. The displacement waveform output at this time is the same as that of the first embodiment.

搬送レール４００は、第１の実施例と同様に構成され、変位伝達機構８１０の出力部材８１４に装着された取り付け部材８１６に着脱可能に取り付けられており、出力部材８１４から出力される変位波形が直接伝達される。第１の実施形態と同様、物品１０は特に限定されず、ボルトやナット等の部品でもよいし、重量が大きいものであってもよいが、特に、直径０．５ｍｍ以下の小さいものに対して有効である。 The transport rail 400 is configured in the same manner as in the first embodiment, and is detachably attached to the attachment member 816 attached to the output member 814 of the displacement transmission mechanism 810, and the displacement waveform output from the output member 814 is generated. Directly transmitted. Similar to the first embodiment, the article 10 is not particularly limited and may be a part such as a bolt or a nut or a heavy one, but particularly for a small one having a diameter of 0.5 mm or less. It is valid.

出力部材８１４は、伸縮素子８０１の伸縮変位に対応して、基本的に、電圧非印加時の基準位置から伸縮素子８０１が伸長する第１方向であるＡ方向の変位と、伸長した位置から基準位置に戻る第２方向であるＢ方向の変位とを高速で繰り返す変位波形により変位し、これにともなって搬送レール４００も同様に変位する。このとき、第１の実施形態と同様、アクチュエータ８００（出力部材８１４）に基づく搬送レール４００の変位波形において、Ａ方向およびＢ方向のうち、物品１０を搬送しようとする方向に変位している際に、変位の変曲点が生じるように、伸縮素子８０１を駆動する。 The output member 814 basically corresponds to the expansion / contraction displacement of the expansion / contraction element 801 and is basically a displacement in the A direction, which is the first direction in which the expansion / contraction element 801 extends from the reference position when no voltage is applied, and a reference from the extended position. Displacement is caused by a displacement waveform that repeats displacement in the B direction, which is the second direction of returning to the position, at high speed, and the transfer rail 400 is similarly displaced accordingly. At this time, as in the first embodiment, in the displacement waveform of the transport rail 400 based on the actuator 800 (output member 814), when the article 10 is displaced in the direction to be transported among the A direction and the B direction. In addition, the expansion / contraction element 801 is driven so that an inflection point of displacement occurs.

これにより、第１の実施形態と同様の原理で、伸縮素子８０１が伸長して戻るまでの変位に対応する搬送レール４００の一回の変位波形で、物品１０を大きく変位させることができ、搬送レール４００にこのような変位波形を繰り返し与えることにより、物品１０を効率良く搬送することができる。 As a result, according to the same principle as in the first embodiment, the article 10 can be largely displaced by the one-time displacement waveform of the transport rail 400 corresponding to the displacement until the telescopic element 801 is extended and returned. By repeatedly applying such a displacement waveform to the rail 400, the article 10 can be efficiently conveyed.

また、本実施形態においても、アクチュエータ８００および搬送レール４００の変位波形における変曲点の位置により物品１０をＡ方向にもＢ方向にも搬送することができるという利点も得られる。 Further, also in this embodiment, there is an advantage that the article 10 can be conveyed in both the A direction and the B direction depending on the position of the inflection point in the displacement waveform of the actuator 800 and the transfer rail 400.

さらにまた、本実施形態では搬送レール４００の第１の端部４１１および第２の端部４１２のいずれも開放されているので、これらのいずれにも物品１０の搬送先の部材を設けることが可能であるという利点を得ることができる。 Furthermore, in the present embodiment, since both the first end 411 and the second end 412 of the transport rail 400 are open, it is possible to provide a member to which the article 10 is transported in any of these. You can get the advantage of being.

以上、本発明の実施の形態について説明したが、本発明は上記実施形態に限定されることなく、種々変形可能である。例えば、上記実施形態では圧電素子を与圧機構により予め圧縮力を与えた例を示したが、与圧機構は必須ではない。また、変位伝達機構は、上記実施形態に限定されるものではなく、上述した変曲点を有する所望の変位波形を形成し、搬送レールに伝達することができるものであればよく、さらに、上述した変曲点を有する所望の変位波形を実現することができれば変位伝達機構を設けなくてもよい。 Although the embodiment of the present invention has been described above, the present invention is not limited to the above embodiment and can be variously modified. For example, in the above embodiment, an example in which the piezoelectric element is preliminarily applied with a compressive force by a pressurization mechanism is shown, but the pressurization mechanism is not essential. Further, the displacement transmission mechanism is not limited to the above embodiment, and may be any one that can form a desired displacement waveform having the above-mentioned inflection point and transmit it to the transport rail, and further described above. If a desired displacement waveform having an inflection point can be realized, it is not necessary to provide a displacement transmission mechanism.

さらにまた、アクチュエータユニットの構成は、搬送レールに物品の搬送が可能な上記変位波形を伝達できるものであれば、上記２つの実施形態に限定されるものではない。 Furthermore, the configuration of the actuator unit is not limited to the above two embodiments as long as it can transmit the displacement waveform capable of transporting the article to the transport rail.

１，２；搬送装置
１０；物品（被搬送体）
１００；ベース部材
２００，８００；アクチュエータ
２０１，８０１；伸縮素子
２１０；変位拡大機構（変位伝達機構）
３００；駆動部
４００；搬送レール
５００；支持部
６００；リニアガイド
７００，９００；アクチュエータユニット
１０００；基台 1,2; Conveyor device 10; Article (conveyed object)
100; Base member 200,800; Actuator 201,801; Telescopic element 210; Displacement expansion mechanism (displacement transmission mechanism)
300; Drive unit 400; Conveyance rail 500; Support unit 600; Linear guide 700, 900; Actuator unit 1000; Base

Claims

An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. A drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
It is provided with a transport rail on which the displacement of the actuator is transmitted and the conveyed body is transported in the first direction or the second direction .
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the conveyed body is conveyed in the first direction. A characteristic transport device.

An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. A drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
With a transport rail on which the displacement of the actuator is transmitted and the transported object is transported in the first direction or the second direction.
Equipped with
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the conveyed body is conveyed in the second direction. A characteristic transport device.

The transfer device according to claim 1 or 2 , wherein the actuator further includes a displacement transmission mechanism for transmitting the displacement of the telescopic element to the transfer rail.

The transfer device according to claim 3 , wherein the displacement transmission mechanism is a displacement expansion mechanism that expands and outputs the displacement of the telescopic element and transmits the displacement to the transfer rail.

The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, and one end of the transport rail is attached to the displacement output unit, and the displacement of the displacement output unit is the displacement. The transport device according to any one of claims 1 to 4 , wherein the transport device is transmitted to a transport rail.

The actuator further has a displacement transmission mechanism for transmitting the displacement of the expansion / contraction element to the transfer rail, and is mounted on the displacement transmission mechanism so that the expansion / contraction element expands and contracts in the horizontal direction. A displacement output member provided above the telescopic element and outputting displacements in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the telescopic element, and the transport rail is above the displacement output member. The transport device according to claim 1 or 2 , wherein the transport device is attached to the vehicle.

It is a transport method that transports the object to be transported on the transport rail.
To the actuator that outputs the displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the telescopic element and the displacement in the second direction opposite to the first direction. A displacement waveform is generated, and when the actuator is displaced in the first direction or the second direction, the actuator is operated so that a displacement point is formed.
The displacement of the actuator is transmitted to the transfer rail, and the conveyed object is conveyed on the transfer rail in the first direction or the second direction .
A transport method characterized in that the actuator is operated so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. ..

It is a transport method that transports the object to be transported on the transport rail.
To the actuator that outputs the displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the telescopic element and the displacement in the second direction opposite to the first direction. A displacement waveform is generated, and when the actuator is displaced in the first direction or the second direction, the actuator is operated so that a displacement point is formed.
The displacement of the actuator is transmitted to the transfer rail, and the conveyed object is conveyed on the transfer rail in the first direction or the second direction.
The actuator is operated so that the inflection point is formed when the actuator is displaced in the second direction, and the conveyed object is conveyed in the second direction. Sending method.

An actuator unit for transporting an object to be transported on a transport rail.
An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. It is provided with a drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
The displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction .
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the conveyed body is conveyed in the first direction. Characterized actuator unit.

An actuator unit for transporting an object to be transported on a transport rail.
An actuator that outputs a displacement waveform corresponding to the displacement of the telescopic element that expands and contracts in a predetermined direction,
The actuator is generated with a displacement waveform that repeats a displacement in the first direction corresponding to the expansion / contraction displacement of the expansion / contraction element and a displacement in the second direction opposite to the first direction, and the actuator causes the first direction or the first direction. With a drive unit that operates the actuator so that a displacement point is formed when the displacement is made in two directions.
Equipped with
The displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction.
The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the conveyed body is conveyed in the second direction. Characterized actuator unit.

The actuator unit according to claim 9 or 10 , wherein the actuator further includes a displacement transmission mechanism for transmitting the displacement of the telescopic element to the transfer rail.

The actuator unit according to claim 11 , wherein the displacement transmission mechanism is a displacement expansion mechanism that expands and outputs the displacement of the telescopic element and transmits the displacement to the transfer rail.

The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, and one end of the transport rail is attached to the displacement output unit, and the displacement of the displacement output unit is the displacement. The actuator unit according to any one of claims 9 to 12 , wherein the actuator unit is transmitted to a transport rail.

The actuator further has a displacement transmission mechanism for transmitting the displacement of the expansion / contraction element to the transfer rail, and is mounted on the displacement transmission mechanism so that the expansion / contraction element expands and contracts in the horizontal direction. A displacement output member provided above the telescopic element and outputting displacements in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the telescopic element, and the transport rail is above the displacement output member. The actuator unit according to claim 9 or 10 , wherein the actuator unit is mounted on the vehicle.