JP7378024B2 - How to determine the installation position of the vibration motor in a transport device or transport device - Google Patents
How to determine the installation position of the vibration motor in a transport device or transport device Download PDFInfo
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- JP7378024B2 JP7378024B2 JP2019224415A JP2019224415A JP7378024B2 JP 7378024 B2 JP7378024 B2 JP 7378024B2 JP 2019224415 A JP2019224415 A JP 2019224415A JP 2019224415 A JP2019224415 A JP 2019224415A JP 7378024 B2 JP7378024 B2 JP 7378024B2
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- 238000009434 installation Methods 0.000 title claims description 8
- 230000005284 excitation Effects 0.000 claims description 58
- 230000005484 gravity Effects 0.000 claims description 22
- 238000000034 method Methods 0.000 claims description 9
- 230000001154 acute effect Effects 0.000 claims description 4
- 238000002955 isolation Methods 0.000 description 8
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 4
- 238000012937 correction Methods 0.000 description 2
- 239000008187 granular material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 239000000843 powder Substances 0.000 description 1
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Description
本発明は、搬送路であるトラフを楕円振動させることで、前記トラフ上の被搬送物を一方向に搬送する搬送装置、及び、搬送装置において加振モータの設置位置を定める方法に関するものである。 The present invention relates to a conveying device that conveys an object on a trough in one direction by elliptically vibrating a trough, which is a conveying path, and a method for determining the installation position of an excitation motor in the conveying device. .
トラフを楕円振動させる搬送装置として、例えば、特許文献１に記載の加振装置を備えた搬送装置がある。特許文献１に記載の加振装置では、回転中心から重心までの距離に質量を乗じた値が異なる一対の錘を各々逆回転させることで、各錘により異なる遠心力を生じさせて楕円振動を得ている。楕円振動を用いることで、直線振動を用いるよりも被搬送物の搬送速度を増大できることが知られている。 As an example of a conveying device that vibrates a trough in an elliptical manner, there is a conveying device equipped with an excitation device described in Patent Document 1, for example. In the vibration device described in Patent Document 1, by rotating a pair of weights with different values obtained by multiplying the distance from the center of rotation to the center of gravity by the mass in opposite directions, each weight generates a different centrifugal force to generate elliptic vibration. It has gained. It is known that by using elliptical vibration, the conveyance speed of the conveyed object can be increased more than by using linear vibration.
ところが、楕円振動のうち短軸成分はトラフに対してピッチング振動を生じさせる。トラフ上の被搬送物は、ピッチング振動を受けるとトラフから受ける鉛直方向の力の大きさが変化してしまう。これにより搬送方向への搬送が阻害され、搬送能力が低下してしまうことがある。 However, the short axis component of the elliptical vibration causes pitching vibration in the trough. When the conveyed object on the trough receives pitching vibration, the magnitude of the vertical force received from the trough changes. This may impede the conveyance in the conveyance direction and reduce the conveyance ability.
そこで本発明は、トラフのピッチング振動を抑制した搬送装置、及び、搬送装置において加振モータの設置位置を定める方法を提供することを課題とする。 SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide a conveyance device that suppresses pitching vibration of a trough, and a method for determining the installation position of a vibration motor in the conveyance device.
本発明の例示的な構成の一つは、トラフを楕円振動させることで、前記トラフ上の被搬送物を一方向に搬送する搬送装置において、前記トラフの幅方向に延びる回転軸及び当該回転軸に設けられた偏心錘が回転することで、前記トラフに対する加振力を発生する第１加振モータと、前記トラフの幅方向に延びる回転軸及び当該回転軸に設けられた偏心錘が回転することで、前記トラフに対する前記第１加振モータとは異なる加振力を発生する第２加振モータと、前記トラフの幅方向視にて、前記第１加振モータが有する前記回転軸の回転中心と前記第２加振モータが有する前記回転軸の回転中心とを結ぶ、モータ間基準線が、前記搬送装置において振動する部分の重心と仮想的に設定した前記トラフの加振点とを結ぶ線に対して直交して前記加振点を通る加振基準線に対し、鋭角または鈍角で交差することを特徴とする搬送装置である。 One of the exemplary configurations of the present invention is a conveying device that conveys an object on the trough in one direction by vibrating the trough in an elliptical manner, including a rotating shaft extending in the width direction of the trough, and a rotating shaft extending in the width direction of the trough. When the eccentric weight provided on the trough rotates, a first vibration motor that generates an exciting force on the trough, a rotating shaft extending in the width direction of the trough, and an eccentric weight provided on the rotating shaft rotate. By this, a second vibration motor that generates an excitation force different from that of the first vibration motor on the trough, and a rotation of the rotation shaft of the first vibration motor when viewed in the width direction of the trough. An inter-motor reference line connecting the center and the rotation center of the rotation shaft of the second vibration motor connects the center of gravity of the vibrating part of the conveyance device and the virtually set vibration point of the trough. The conveyance device is characterized in that the vibration reference line is orthogonal to the line and intersects at an acute angle or an obtuse angle with respect to the vibration reference line passing through the vibration point.
この構成によれば、モータ間基準線が加振基準線に対し、鋭角または鈍角で交差するように設定される。この設定により、搬送装置における重心の位置において、トラフにピッチング振動を生じさせるモーメントを低減できる。 According to this configuration, the inter-motor reference line is set to intersect the vibration reference line at an acute angle or an obtuse angle. With this setting, it is possible to reduce the moment that causes pitching vibration in the trough at the center of gravity of the conveying device.
また、前記第１加振モータと前記第２加振モータとが前記トラフを挟んで上下に位置することができる。 Further, the first vibration motor and the second vibration motor may be located above and below with the trough interposed therebetween.
この構成によれば、目標の楕円振動を実現するための重心と加振点の関係を設定しやすい。 According to this configuration, it is easy to set the relationship between the center of gravity and the excitation point to achieve the target elliptical vibration.
そして本発明の例示的な構成の一つは、前記搬送装置で、前記第１加振モータ及び前記第２加振モータに関し、加振モータの設置位置を定める方法において、前記角度を設定するに際し、前記第１加振モータが有する前記回転軸の回転中心と前記加振点との前記モータ間基準線上の距離、及び、前記第２加振モータが有する前記回転軸の回転中心と前記加振点との前記モータ間基準線上の距離を、前記設定前後で不変とすることを特徴とする、加振モータの設置位置を定める方法である。 One of the exemplary configurations of the present invention is a method for determining the installation position of the vibration motors with respect to the first vibration motor and the second vibration motor in the conveyance device, when setting the angle. , a distance between the rotation center of the rotation shaft of the first vibration motor and the vibration point on the inter-motor reference line, and a distance between the rotation center of the rotation shaft of the second vibration motor and the vibration point. This is a method for determining the installation position of an excitation motor, characterized in that a distance between the motor and a point on the motor-to-motor reference line remains unchanged before and after the setting.
この構成によれば、第１加振モータが有する前記回転軸の回転中心と前記加振点との距離、及び、前記第２加振モータが有する前記回転軸の回転中心と前記加振点との距離が前記設定前後で不変であるため、試行錯誤的に調整を行っていく場合であっても、前記各距離を調整のたびに変動させることに比べると、各加振モータの位置を適切な位置に収束させる作業を早くでき、トラフにピッチング振動を生じさせるモーメントを低減するための調整が容易である。 According to this configuration, the distance between the rotation center of the rotation shaft of the first vibration motor and the vibration point, and the distance between the rotation center of the rotation shaft of the second vibration motor and the vibration point Since the distance remains unchanged before and after the above settings, even if adjustments are made by trial and error, it is easier to set the position of each excitation motor appropriately, compared to changing each distance each time. It is possible to quickly converge to a suitable position, and it is easy to make adjustments to reduce the moment that causes pitching vibration in the trough.
また、前記搬送装置が、前記第１加振モータ及び前記第２加振モータの加振力により振動する振動部と、前記振動部を支持する基台と、前記振動部と前記基台とを接続し、前記振動部から前記基台に伝わる振動を吸収する防振接続部と、を有し、前記角度の設定後、前記防振接続部を前記加振点に対して、前記被搬送物の搬送方向で対称に配置させることができる。 The conveyance device may include a vibrating section that vibrates by the excitation force of the first vibrating motor and the second vibrating motor, a base that supports the vibrating section, and the vibrating section and the base. and a vibration-proof connection part that absorbs vibration transmitted from the vibrating part to the base, and after setting the angle, the vibration-proof connection part is connected to the vibration point to the object to be transported. can be arranged symmetrically in the transport direction.
この構成によれば、防振接続部が加振点に対して対称位置に配置されたことで、加振と防振のバランスが取れるため、前記交差角度の設定とは別に、ピッチング振動を有効に低減できる。 According to this configuration, since the vibration isolation connection part is arranged symmetrically with respect to the vibration excitation point, a balance between vibration excitation and vibration isolation can be achieved. can be reduced to
本発明は、トラフに生じるモーメントを低減することにより、トラフのピッチング振動を抑制できる。 The present invention can suppress pitching vibration of the trough by reducing the moment generated in the trough.
本発明につき、一実施形態を取り上げて、図面とともに以下説明を行う。 One embodiment of the present invention will be described below with reference to the drawings.
本実施形態の搬送装置１の基本構成を図１に示す。この搬送装置１は、主に、トラフ２、第１加振モータ３、第２加振モータ４を備える。 FIG. 1 shows the basic configuration of a conveying device 1 of this embodiment. This conveyance device 1 mainly includes a trough 2, a first vibration motor 3, and a second vibration motor 4.
トラフ２は、例えば板状体が用いられており、上方が開口するように縦断面形状が横倒しコの字状とされていて、幅方向（図１の紙面表裏方向）の寸法に対して長手方向の寸法が大きく形成されている。図示しない被搬送物（例えば、砂糖等の粉粒体であるがこれに限られない）は、このトラフ２の上面２１に載せられて長手方向の一方向（図示左方から右方に向かう方向）に搬送される。つまり、このトラフ２の上面２１は搬送面として機能する。本実施形態のトラフ２は、振動する振動部を支持する基台としての、図示しない架台に吊り下げ支持されていて、水平方向に設けられている。なおトラフ２は、搬送方向で被搬送物の搬送が可能な範囲で勾配（上り勾配または下り勾配）を有していてもよい。架台からの吊り下げ部分には、振動部から基台（架台）に伝わる振動を吸収する防振接続部としての防振ばね５が設けられていて、加振源（第１加振モータ３、第２加振モータ４）の加振力が有効にトラフ２に伝達され、トラフ２に楕円振動を生じる。本実施形態において、防振ばね５はトラフ２の下部を弾性支持している。防振ばね５には、共振周波数が搬送装置１の駆動周波数よりも十分に低い、低剛性のばねが用いられている。また、防振ばね５は、トラフ２の加振点Ｆに対して、被搬送物の搬送方向で対称に配置されている。 The trough 2 is made of, for example, a plate-like body, and has a vertical cross-sectional shape in the shape of a sideways U-shape so that it is open at the top, and has a longitudinal dimension with respect to the width direction (front and back direction of the paper in FIG. 1). The dimension in the direction is large. An object (not shown) to be conveyed (for example, powder or granules such as sugar, but not limited to this) is placed on the upper surface 21 of this trough 2 in one direction in the longitudinal direction (from the left to the right in the figure). ). In other words, the upper surface 21 of this trough 2 functions as a conveying surface. The trough 2 of this embodiment is suspended and supported by a pedestal (not shown) serving as a base for supporting a vibrating section, and is provided in the horizontal direction. Note that the trough 2 may have a slope (an upward slope or a downward slope) within a range that allows the conveyance of the object to be conveyed in the conveyance direction. A vibration-proofing spring 5 as a vibration-proof connection part that absorbs vibration transmitted from the vibrating part to the base (frame) is provided at the part suspended from the pedestal, and is connected to the vibration source (the first vibration motor 3, The excitation force of the second vibration motor 4) is effectively transmitted to the trough 2, causing elliptical vibration in the trough 2. In this embodiment, the vibration isolation spring 5 elastically supports the lower part of the trough 2. As the vibration isolation spring 5, a low-rigidity spring whose resonance frequency is sufficiently lower than the drive frequency of the transport device 1 is used. Further, the vibration isolation spring 5 is arranged symmetrically with respect to the vibration point F of the trough 2 in the transport direction of the transported object.
第１加振モータ３はトラフ２に対して上方に固定されている。具体的に、第１加振モータ３はトラフ２の幅方向両端に設けられた上ブラケット６に固定されていて、トラフ２において被搬送物が搬送されるラインを跨ぐように設けられている。上ブラケット６により、第１加振モータ３の加振力がトラフ２に伝達される。第１加振モータ３が有する回転軸３１（図２に示した黒丸部分に相当）はトラフ２の幅方向に延びている。回転軸３１には図示しない偏心錘が一体的に設けられている。偏心錘は、回転軸３１に固定されていて回転軸３１と共に回転する。偏心錘は公知の構成を有し（第２加振モータ４の偏心錘も同様）、例えば特開平４－３５４７１４号公報（特許文献１）に示された略半円形のように、回転対称ではない形状とされている。この形状により、偏心錘の重心は、回転軸３１の軸心から外れた位置となる。このため、第１加振モータ３の回転軸３１が回転することで遠心力が発生する。これがトラフ２に対する加振力となる。 The first vibration motor 3 is fixed above the trough 2. Specifically, the first vibration motor 3 is fixed to upper brackets 6 provided at both ends of the trough 2 in the width direction, and is provided so as to straddle the line along which objects to be transported are transported in the trough 2. The upper bracket 6 transmits the excitation force of the first vibration motor 3 to the trough 2 . A rotating shaft 31 (corresponding to the black circle shown in FIG. 2) of the first vibration motor 3 extends in the width direction of the trough 2. An eccentric weight (not shown) is integrally provided on the rotating shaft 31. The eccentric weight is fixed to the rotating shaft 31 and rotates together with the rotating shaft 31. The eccentric weight has a known configuration (the same goes for the eccentric weight of the second vibration motor 4), and is not rotationally symmetrical, for example, like the approximately semicircular shape shown in JP-A-4-354714 (Patent Document 1). It is said that there is no shape. Due to this shape, the center of gravity of the eccentric weight is located off the axis of the rotating shaft 31. Therefore, centrifugal force is generated when the rotating shaft 31 of the first vibration motor 3 rotates. This becomes an excitation force for the trough 2.
第２加振モータ４はトラフ２に対して下方に固定されている。つまり、第２加振モータ４は第１加振モータ３とはトラフ２の反対側（トラフ２を挟んだ反対側）に設けられている。具体的に、第２加振モータ４は、下ブラケット７を介して、トラフ２の下方に吊り下げられている。下ブラケット７により、第２加振モータ４の加振力がトラフ２に伝達される。このように、第１加振モータ３と第２加振モータ４とを、トラフ２を挟んで上下に位置させることにより、目標の楕円振動を実現するための重心Ｇと加振点Ｆの関係を設定しやすい。本実施形態の第２加振モータ４は、第１加振モータ３よりも被搬送物の搬送方向で下流側（図示右側）に設けられている。このため、図２に示すように、第１加振モータ３が有する回転軸３１の回転中心と第２加振モータ４が有する回転軸４１の回転中心とを結ぶ線（モータ間基準線Ｌ１）は、左上から右下に向かう直線となる。ただし、第１加振モータ３と第２加振モータ４の位置関係は、トラフ２を挟んで上下に位置する関係や、モータ間基準線Ｌ１が前記直線になる関係に限定されない。 The second vibration motor 4 is fixed below the trough 2. That is, the second vibration motor 4 is provided on the opposite side of the trough 2 from the first vibration motor 3 (on the opposite side with the trough 2 interposed therebetween). Specifically, the second vibration motor 4 is suspended below the trough 2 via the lower bracket 7. The lower bracket 7 transmits the excitation force of the second vibration motor 4 to the trough 2 . In this way, by positioning the first vibration motor 3 and the second vibration motor 4 one above the other with the trough 2 in between, the relationship between the center of gravity G and the vibration point F to achieve the target elliptical vibration is established. Easy to set up. The second vibration motor 4 of this embodiment is provided downstream (on the right side in the figure) of the first vibration motor 3 in the transport direction of the transported object. Therefore, as shown in FIG. 2, a line connecting the rotation center of the rotation shaft 31 of the first vibration motor 3 and the rotation center of the rotation shaft 41 of the second vibration motor 4 (inter-motor reference line L1) is a straight line from the top left to the bottom right. However, the positional relationship between the first vibration motor 3 and the second vibration motor 4 is not limited to the relationship in which they are located one above the other with the trough 2 in between, or the relationship in which the inter-motor reference line L1 is the straight line.
また、第１加振モータ３及び第２加振モータ４の組が、トラフ２に対してトラフ２の長手方向（本実施形態では水平方向）に移動可能とされている。これは、後述する微調整作業の際に加振点Ｆを移動させるためである。 Further, the set of the first vibration motor 3 and the second vibration motor 4 is movable with respect to the trough 2 in the longitudinal direction of the trough 2 (horizontal direction in this embodiment). This is to move the vibration point F during fine adjustment work, which will be described later.
第２加振モータ４は第１加振モータ３と、公知の現象である「引き込み現象」により同期して回転する。第２加振モータ４の回転方向Ｍ４は第１加振モータ３の回転方向Ｍ３と逆方向に設定されている。第１加振モータ３と同じく、第２加振モータ４が有する回転軸４１（図２に示した黒丸部分に相当）はトラフ２の幅方向に延びている。回転軸４１には第１加振モータ３と同じく、図示しない偏心錘が一体的に設けられている。ただし、第２加振モータ４の偏心錘は、例えば特開平４－３５４７１４号公報（特許文献１）に示されたように、第１加振モータ３の偏心錘と異なる形状とされている。よってこの偏心錘は、重量と重心位置の少なくとも一つが第１加振モータ３の偏心錘と異なっている。第１加振モータ３と同じく、第２加振モータ４の回転軸４１が回転することで遠心力が発生する。これがトラフ２に対する、第１加振モータ３とは異なる加振力となる。なお、図２や図４では、各加振モータ３，４を示す円に大小をつけることで、これを模式的に表現している。 The second vibration motor 4 rotates in synchronization with the first vibration motor 3 due to a "pull-in phenomenon" which is a well-known phenomenon. The rotation direction M4 of the second vibration motor 4 is set to be opposite to the rotation direction M3 of the first vibration motor 3. Similar to the first vibration motor 3, the rotation shaft 41 (corresponding to the black circle shown in FIG. 2) of the second vibration motor 4 extends in the width direction of the trough 2. Like the first vibration motor 3, an eccentric weight (not shown) is integrally provided on the rotating shaft 41. However, the eccentric weight of the second vibration motor 4 has a different shape from the eccentric weight of the first vibration motor 3, as shown in, for example, Japanese Patent Laid-Open No. 4-354714 (Patent Document 1). Therefore, this eccentric weight is different from the eccentric weight of the first vibration motor 3 in at least one of the weight and the position of the center of gravity. Similar to the first vibration motor 3, centrifugal force is generated by the rotation of the rotating shaft 41 of the second vibration motor 4. This results in an excitation force applied to the trough 2 that is different from that of the first excitation motor 3. In addition, in FIGS. 2 and 4, this is schematically expressed by assigning sizes to the circles indicating each of the vibration motors 3 and 4.
このように各加振モータ３，４（詳しくは各偏心錘）が設定されたことにより、側面視（トラフ２の幅方向視）にて、搬送装置１においてトラフ２を含んで振動する部分の重心Ｇと加振点Ｆとを結ぶ直線に対し、直交する方向に配置された、各加振モータ３，４による加振力が相殺されないことになるから、各加振モータ３，４の回転により、図４に示すように、加振点Ｆにおいて楕円軌跡の加振力Ｆｘ，Ｆｙが発生する。楕円軌跡の方向は、図４に示した直線であるモータ間基準線Ｌ１に沿う方向が短軸方向で、これと直交する方向が長軸方向である。 By setting the vibration motors 3 and 4 (specifically, each eccentric weight) in this way, the vibrating portion of the conveying device 1 including the trough 2 can be Since the excitation forces by the excitation motors 3 and 4 arranged perpendicularly to the straight line connecting the center of gravity G and the excitation point F are not canceled out, the rotation of each excitation motor 3 and 4 As a result, as shown in FIG. 4, excitation forces Fx and Fy of an elliptical locus are generated at the excitation point F. Regarding the direction of the elliptical locus, the direction along the inter-motor reference line L1, which is a straight line shown in FIG. 4, is the short axis direction, and the direction perpendicular to this is the long axis direction.
しかし、図４に示した各加振モータ３，４の配置では、楕円振動のうち短軸成分の加振力Ｆｙがトラフ２に対してピッチング振動を生じさせる。この短軸成分の加振力Ｆｙは、近似的には正弦波振動である。ピッチング振動とはすなわち、トラフ２に重心Ｇまわりで一方向（時計回り）と他方向（反時計回り）に交互に回転する挙動である。この挙動（ピッチング振動）により、搬送能力の低下をまねくことがある。このピッチング振動への対策として、本実施形態の搬送装置１では、図４に示した状態を図２に示した状態に変化させるようにして各加振モータ３，４を配置している。なお、図２と図４とでは、対応する部分に同一の符号を付して示している。 However, in the arrangement of the vibration motors 3 and 4 shown in FIG. 4, the short axis component of the vibration force Fy of the elliptical vibration causes pitching vibration in the trough 2. This excitation force Fy of the short axis component is approximately a sine wave vibration. In other words, pitching vibration is a behavior in which the trough 2 rotates around the center of gravity G in one direction (clockwise) and the other direction (counterclockwise) alternately. This behavior (pitching vibration) may lead to a decrease in conveyance capacity. As a countermeasure against this pitching vibration, in the conveyance device 1 of this embodiment, the vibration motors 3 and 4 are arranged so as to change the state shown in FIG. 4 to the state shown in FIG. 2. Note that in FIGS. 2 and 4, corresponding parts are designated by the same reference numerals.
各加振モータ３，４の配置に際しては、まず、目標とする楕円振動軌跡の長軸側の振幅より、各加振モータ３，４の加振力の和を決定する。また、目標とする楕円振動軌跡の短軸側の振幅より、各加振モータ３，４の加振力の差を決定する。これらから、各加振モータ３，４の必要な加振力を決定できる。従って、各加振モータ３，４の出力及び偏心錘の組み合わせを決定できる。 When arranging the vibrating motors 3 and 4, first, the sum of the vibrating forces of the vibrating motors 3 and 4 is determined based on the amplitude on the long axis side of the target elliptical vibration locus. Further, the difference between the excitation forces of the respective excitation motors 3 and 4 is determined from the amplitude on the short axis side of the target elliptical vibration locus. From these, the required excitation force of each excitation motor 3, 4 can be determined. Therefore, the combination of the output of each vibration motor 3, 4 and the eccentric weight can be determined.
次に、図２に示すように、仮想的にトラフ２の加振点Ｆ（設計上の加振点Ｆ）を設定する。搬送装置１において振動する部分である振動部（具体的には、防振ばね５に吊り下げられた「一かたまり」の部分）の重心Ｇと加振点Ｆとの距離ｒは任意に設定する。また、重心Ｇと加振点Ｆとを結ぶ直線の角度は、目標とする振動角α（すなわち、楕円軌跡における長軸方向の、水平線ＬＬに対する角度）に一致させる。 Next, as shown in FIG. 2, an excitation point F (designed excitation point F) of the trough 2 is virtually set. The distance r between the center of gravity G of the vibrating part that vibrates in the conveying device 1 (specifically, the "bundle" part suspended from the vibration isolation spring 5) and the excitation point F is set arbitrarily. . Further, the angle of the straight line connecting the center of gravity G and the excitation point F is made to match the target vibration angle α (that is, the angle of the long axis direction of the elliptical locus with respect to the horizontal line LL).
本実施形態においては、トラフ２の幅方向視（図２に示された状態）にて、第１加振モータ３が有する回転軸３１の回転中心と第２加振モータ４が有する回転軸４１の回転中心とを結ぶ線をモータ間基準線Ｌ１とする。そして、重心Ｇと仮想的に設定したトラフ２の加振点Ｆとを結ぶ直線Ｌ０に対して直交して加振点Ｆを通る線を加振基準線Ｌ２とする。モータ間基準線Ｌ１を、加振基準線Ｌ２に対し、鋭角または鈍角、つまり、９０度を除く角度で交差するよう設定する。 In this embodiment, when viewed in the width direction of the trough 2 (the state shown in FIG. 2), the rotation center of the rotation shaft 31 of the first vibration motor 3 and the rotation shaft 41 of the second vibration motor 4 are The line connecting the rotation center of the motor to the rotation center is defined as the inter-motor reference line L1. Then, a line passing through the excitation point F and perpendicular to the straight line L0 connecting the center of gravity G and the hypothetically set excitation point F of the trough 2 is defined as an excitation reference line L2. The inter-motor reference line L1 is set to intersect the vibration reference line L2 at an acute angle or an obtuse angle, that is, at an angle other than 90 degrees.
前記交差に係る交差角度は以下の関係式をもって設定される。
sinβ＝ｒ（ｒ２－ｒ１）／２ｒ１ｒ２
β…モータ間基準線Ｌ１の加振基準線Ｌ２に対する交差角度
ｒ…重心Ｇと仮想的に設定したトラフ２の加振点Ｆとの距離
ｒ１…第１加振モータ３が有する回転軸３１の回転中心と仮想的に設定したトラフ２の加振点Ｆとの距離
ｒ２…第２加振モータ４が有する回転軸４１の回転中心と仮想的に設定したトラフ２の加振点Ｆとの距離
なお、三つの変数（ｒ、ｒ１、ｒ２）に対して関係式が一つであるため、計算は試行錯誤的になされる必要がある。また、ｒ１とｒ２の比率は、各加振モータ３，４の回転により生じる遠心力の大小比の逆数となっている。
The crossing angle related to the crossing is set using the following relational expression.
sinβ=r(r 2 - r 1 )/2r 1 r 2
β...Angle of intersection of the inter-motor reference line L1 with the excitation reference line L2 r...Distance r between the center of gravity G and the hypothetically set excitation point F of the trough 2 1 ...Rotary shaft 31 of the first excitation motor 3 Distance r2 between the rotation center of the rotation center and the virtually set excitation point F of the trough 2...The rotation center of the rotation shaft 41 of the second vibration motor 4 and the virtually set excitation point F of the trough 2. distance of
Note that since there is one relational expression for the three variables (r, r 1 , r 2 ), the calculation needs to be done by trial and error. Further, the ratio between r 1 and r 2 is the reciprocal of the magnitude ratio of the centrifugal force generated by the rotation of each of the vibration motors 3 and 4.
以上、モータ間基準線Ｌ１が加振基準線Ｌ２に対し、９０度を除く角度で交差するような、加振モータ３，４の配置位置の設定方法によると、図２に示すように、搬送装置１における重心Ｇの位置において、モータ間基準線Ｌ１が加振基準線Ｌ２と一致（交差角度０度）していた際（図４参照）に楕円振動のうち短軸成分により生じていた回転モーメントを釣り合わせる（相殺させる）ことができる。従って、重心Ｇの位置でトラフ２にピッチング振動を生じさせるモーメントを低減でき、この結果、搬送装置１において振動する部分に重心Ｇまわりの回転力がかかりにくくなることから、トラフ２のピッチング振動を抑制できる。ピッチング振動を抑制することで、被搬送物に楕円振動を有効に伝達できるから、搬送速度を増大できて搬送能力を向上できる。また、搬送が安定的になされ、被搬送物に搬送に要する以外の外力がかかりにくくなるため、損傷を生じさせにくい。また、搬送能力を低下させずにトラフ２の幅方向寸法を縮小できるため、搬送装置１をコンパクト化できる。 As described above, according to the method of setting the arrangement positions of the vibration motors 3 and 4 such that the inter-motor reference line L1 intersects the vibration reference line L2 at an angle other than 90 degrees, the conveyance as shown in FIG. The rotation caused by the short axis component of the elliptical vibration when the inter-motor reference line L1 coincides with the excitation reference line L2 (crossing angle 0 degrees) at the position of the center of gravity G in the device 1 (see Figure 4). Moments can be balanced (cancelled). Therefore, the moment that causes pitching vibration in the trough 2 at the position of the center of gravity G can be reduced, and as a result, the rotational force around the center of gravity G is less likely to be applied to the vibrating portion of the conveying device 1, so the pitching vibration of the trough 2 can be reduced. It can be suppressed. By suppressing the pitching vibration, the elliptical vibration can be effectively transmitted to the object to be transported, so that the transport speed can be increased and the transport capacity can be improved. Further, since the conveyance is carried out stably and external forces other than those required for conveyance are less likely to be applied to the conveyed object, damage is less likely to occur. Further, since the widthwise dimension of the trough 2 can be reduced without reducing the conveying capacity, the conveying device 1 can be made more compact.
本実施形態では、加振点Ｆにおいては楕円振動を実現させつつ、重心Ｇにおいてはモーメントの釣り合いをなすことができるため、搬送能力の低下を抑制した楕円振動をトラフ２に生じさせられる。また本実施形態では、基本的に、モータ間基準線Ｌ１を加振基準線Ｌ２に対し、加振点Ｆまわりに周方向にずらすだけ（図４に示す状態から図２に示す状態に変化させるだけ）でトラフ２のピッチング振動を抑制できることから、他の方法に比べ、ピッチング振動への対策が容易である（ただし、十分な対策のためには、後述する微調整も必要である）。 In this embodiment, while achieving elliptical vibration at the excitation point F, it is possible to balance the moment at the center of gravity G, so that the trough 2 can generate elliptical vibration that suppresses a decrease in conveyance capacity. In addition, in this embodiment, basically, the inter-motor reference line L1 is simply shifted in the circumferential direction around the excitation point F with respect to the excitation reference line L2 (the state shown in FIG. 4 is changed to the state shown in FIG. 2). Since the pitching vibration of the trough 2 can be suppressed by using only one method, it is easier to take countermeasures against pitching vibration than other methods (however, fine adjustment described below is also required for sufficient countermeasures).
ここで、前記交差角度βを設定するに際し、第１加振モータ３が有する回転軸３１の回転中心と加振点Ｆとのモータ間基準線Ｌ１上の距離（前記ｒ１）、及び、第２加振モータ４が有する回転軸４１の回転中心と加振点Ｆとのモータ間基準線Ｌ１上の距離（前記ｒ２）を、前記設定前後で不変とする。こうして交差角度βを設定することで、ピッチング振動への対策に係る作業が、一次的には、モータ間基準線Ｌ１を、加振点Ｆを回転中心として交差角度β分、周方向に回転させる作業だけで可能である。 Here, when setting the crossing angle β, the distance on the inter-motor reference line L1 between the rotation center of the rotating shaft 31 of the first vibration motor 3 and the vibration point F (the r 1 ), and the The distance on the inter-motor reference line L1 between the center of rotation of the rotating shaft 41 of the two-excitation motor 4 and the excitation point F (r 2 ) remains unchanged before and after the setting. By setting the intersection angle β in this way, the work related to countermeasures against pitching vibration is primarily performed by rotating the inter-motor reference line L1 in the circumferential direction by the intersection angle β around the vibration point F as the rotation center. It is possible with just work.
ただし、ピッチング振動への対策を十分になすためには、前記一次的な作業であるモータ間基準線Ｌ１の回転作業の後に、二次的な作業である微調整作業が必要であることが多い。なお、設計段階でモータ位置の設定が完全にできていれば、現物の搬送装置１において微調整作業を行う必要はない。つまり、微調整作業は本発明において必須ではない。微調整作業が必要になることの理由は、モータ間基準線Ｌ１を回転させるに伴い、各加振モータ３，４の位置も変わってしまうので、重心Ｇの位置が変化し、振動角αが設計の目標値からずれるからである。微調整作業は、交差角度βを設定することで重心Ｇの位置が変わったことに対応し、振動角α一定の条件のもとで各加振モータ３，４の位置をずらす（例えばトラフ２の長手方向に移動させる）ことで補正をかけ、前記関係式が満たされるようにする作業である。例えば、各加振モータ３，４の位置を少しずつ試行錯誤的にずらしていくことや、連立方程式を立てて計算することにより補正をかけることが考えられるが、この微調整作業は、その他に種々の手法をとることができる。 However, in order to take sufficient measures against pitching vibration, it is often necessary to perform fine adjustment work as a secondary work after rotating the motor reference line L1, which is the primary work. . Note that if the motor position is completely set at the design stage, there is no need to perform fine adjustment work on the actual transport device 1. In other words, fine adjustment work is not essential in the present invention. The reason why fine adjustment work is necessary is that as the inter-motor reference line L1 is rotated, the position of each vibration motor 3, 4 also changes, so the position of the center of gravity G changes, and the vibration angle α changes. This is because it deviates from the design target value. The fine adjustment work corresponds to the change in the position of the center of gravity G by setting the crossing angle β, and shifts the position of each vibration motor 3, 4 under the condition that the vibration angle α is constant (for example, the position of the trough 2 (in the longitudinal direction) to make corrections so that the above relational expression is satisfied. For example, it is possible to shift the position of each vibration motor 3 and 4 little by little through trial and error, or to make corrections by setting up and calculating simultaneous equations, but this fine adjustment work can be done in other ways. Various methods can be used.
なお、前記微調整作業は、加振モータ３，４の位置関係（具体的には、前記三つの変数（ｒ、ｒ１、ｒ２））を変えないで行われる。こうすることで、繰り返しを伴う微調整作業のように、試行錯誤的に調整を行っていく場合であっても、前記各変数を調整のたびに変動させることに比べると、各加振モータの位置を適切な位置に収束させる作業を早くできるとのメリットがある。 Note that the fine adjustment work is performed without changing the positional relationship between the vibration motors 3 and 4 (specifically, the three variables (r, r 1 , r 2 )). By doing this, even when making adjustments by trial and error, such as repeated fine-tuning work, compared to changing each of the variables each time, the This has the advantage that the work to converge the position to an appropriate position can be done quickly.
前記微調整作業の後、防振ばね５を定まった加振点Ｆに対して、被搬送物の搬送方向で対称に配置させる。こうすることで、加振と防振のバランスが取れるため、前記交差角度βの設定とは別に（本実施形態では追加的に）、ピッチング振動を有効に低減できる。 After the fine adjustment work, the vibration isolating springs 5 are arranged symmetrically with respect to the determined vibration point F in the transport direction of the transported object. By doing so, a balance between vibration excitation and vibration isolation can be achieved, so that pitching vibration can be effectively reduced in addition to (additionally in this embodiment) the setting of the crossing angle β.
以上のように本実施形態では、トラフ２にピッチング振動を生じさせるモーメントを低減するための調整が容易である。 As described above, in this embodiment, adjustment for reducing the moment that causes pitching vibration in the trough 2 is easy.
以上、本発明につき一実施形態を取り上げて説明してきたが、本発明は、前記実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の変更が可能である。 Although one embodiment of the present invention has been described above, the present invention is not limited to the embodiment described above, and various changes can be made without departing from the gist of the present invention.
搬送装置１は前記実施形態のような吊り下げ式ではなく、例えば、図３に示すような、基台としての架台８に対し、防振接続部としての防振ばねまたは防振ゴムを介して下方から支持される据え置き式であってもよい。 The conveying device 1 is not a hanging type as in the above embodiment, but is connected to a pedestal 8 as a base via an anti-vibration spring or anti-vibration rubber as an anti-vibration connection part, for example, as shown in FIG. It may be a stationary type that is supported from below.
また、重心Ｇの位置を調整するため、搬送装置１にバランスウェイトを配置してもよい。 Further, in order to adjust the position of the center of gravity G, a balance weight may be arranged in the transport device 1.
また、搬送装置１の駆動周波数が共振周波数よりも低い構成であってもよい。 Further, the driving frequency of the transport device 1 may be lower than the resonance frequency.
また、前記実施形態では、第２加振モータ４は第１加振モータ３とはトラフ２の反対側（トラフ２を挟んだ反対側）に設けられていた。しかし、第１加振モータ３、第２加振モータ４のトラフ２に対する位置関係はこれに限定されない。第１加振モータ３及び第２加振モータ４の両方がトラフ２の上方または下方に設けられることもできる。 Further, in the embodiment, the second vibration motor 4 was provided on the opposite side of the trough 2 (opposite side with the trough 2 interposed) from the first vibration motor 3. However, the positional relationship of the first vibration motor 3 and the second vibration motor 4 with respect to the trough 2 is not limited to this. Both the first vibration motor 3 and the second vibration motor 4 can also be provided above or below the trough 2 .
また、第１加振モータ３と第２加振モータ４の加振力の大小関係は特に限定されない。また、加振モータを３台以上使用することもできる。 Further, the magnitude relationship between the excitation forces of the first vibration motor 3 and the second vibration motor 4 is not particularly limited. Moreover, three or more vibration motors can also be used.
また、前記実施形態では、第１加振モータ３及び第２加振モータ４の組を、トラフ２に対してトラフ２の長手方向（水平方向）に移動可能に設けていた。しかしこれに限定されず、第１加振モータ３または第２加振モータ４を、トラフ２に接近離反する方向（上下方向）に移動可能に設けることもできる。 Moreover, in the embodiment, the set of the first vibration motor 3 and the second vibration motor 4 was provided so as to be movable in the longitudinal direction (horizontal direction) of the trough 2 with respect to the trough 2. However, the present invention is not limited thereto, and the first vibration motor 3 or the second vibration motor 4 may be provided so as to be movable in a direction toward and away from the trough 2 (vertical direction).
１ 搬送装置
２ トラフ
２１ トラフの上面（搬送面）
３ 第１加振モータ
３１ 第１加振モータの回転軸
４ 第２加振モータ
４１ 第２加振モータの回転軸
５ 防振接続部、防振ばね
８ 基台、架台
Ｆ トラフの加振点
Ｇ 搬送装置の振動部分の重心
Ｌ１ モータ間基準線
Ｌ２ 加振基準線
β モータ間基準線と加振基準線との交差角度
1 Conveyance device 2 Trough 21 Upper surface of trough (conveyance surface)
3 First vibration motor 31 Rotation shaft of the first vibration motor 4 Second vibration motor 41 Rotation shaft of the second vibration motor 5 Anti-vibration connection, vibration isolation spring 8 Base, mount F Excitation point of trough G Center of gravity of the vibrating part of the transport device L1 Reference line between motors L2 Reference line of vibration β Intersection angle between reference line between motors and excitation reference line
Claims (4)
前記トラフの幅方向に延びる回転軸及び当該回転軸に設けられた偏心錘が回転することで、前記トラフに対する加振力を発生する第１加振モータと、
前記トラフの幅方向に延びる回転軸及び当該回転軸に設けられた偏心錘が回転することで、前記トラフに対する前記第１加振モータとは異なる加振力を発生する第２加振モータと、
前記トラフの幅方向視にて、前記第１加振モータが有する前記回転軸の回転中心と前記第２加振モータが有する前記回転軸の回転中心とを結ぶ、モータ間基準線が、前記搬送装置において振動する部分の重心と仮想的に設定した前記トラフの加振点とを結ぶ線に対して直交して前記加振点を通る加振基準線に対し、鋭角または鈍角で交差することを特徴とする搬送装置。 In a conveying device that conveys an object on the trough in one direction by causing the trough to vibrate elliptically,
a first vibration motor that generates a vibration force on the trough by rotating a rotation shaft extending in the width direction of the trough and an eccentric weight provided on the rotation shaft;
a second vibration motor that generates an excitation force different from that of the first vibration motor to the trough by rotating a rotation shaft extending in the width direction of the trough and an eccentric weight provided on the rotation shaft;
When viewed in the width direction of the trough, an inter-motor reference line connecting the rotation center of the rotation shaft of the first vibration motor and the rotation center of the rotation shaft of the second vibration motor is defined as The line connecting the center of gravity of the vibrating part of the device and the hypothetically set excitation point of the trough is perpendicular to the excitation reference line that passes through the excitation point and intersects at an acute or obtuse angle. Characteristic conveyance device.
前記モータ間基準線の前記加振基準線に対する前記交差の角度を設定するに際し、前記第１加振モータが有する前記回転軸の回転中心と前記加振点との前記モータ間基準線上の距離、及び、前記第２加振モータが有する前記回転軸の回転中心と前記加振点との前記モータ間基準線上の距離を、前記設定前後で不変とすることを特徴とする、加振モータの設置位置を定める方法。 In the conveying device according to claim 1 or 2, in the method of determining the installation position of the vibration motor with respect to the first vibration motor and the second vibration motor,
When setting the angle of intersection of the inter-motor reference line with the excitation reference line , the distance between the rotation center of the rotating shaft of the first excitation motor and the excitation point on the inter-motor reference line; and installation of an excitation motor, characterized in that a distance on the inter-motor reference line between the center of rotation of the rotating shaft of the second excitation motor and the excitation point remains unchanged before and after the setting. How to position.
前記交差の角度の設定後、前記防振接続部を前記加振点に対して、前記被搬送物の搬送方向で対称に配置させることを特徴とする、請求項３に記載の加振モータの設置位置を定める方法。 The conveying device connects a vibrating part that vibrates by the excitation force of the first vibrating motor and the second vibrating motor, a base that supports the vibrating part, and the vibrating part and the base. , a vibration-proof connection part that absorbs vibrations transmitted from the vibration part to the base,
4. The vibration motor according to claim 3, wherein after setting the intersection angle, the vibration-proof connection portion is arranged symmetrically with respect to the vibration point in the transport direction of the conveyed object. How to determine the installation location.
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