JPH0227250B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a method of controlling a vibrating component supply device.

A vibrating parts feeder is also called a parts feeder.
It is widely used to hold parts in the desired position and feed them one by one to the next process. For example, when parts are fed from a parts feeder to a linear vibrating feeder, the parts are transferred along the transfer path of the vibrating feeder while maintaining a desired posture, and are continuously fed from the discharge end. Alternatively, the pieces are temporarily stopped by a stopper at the discharge end, and then picked up one by one by some sort of suction means and transferred to another process. However, if the parts feeder is also driven continuously, an overflow condition may eventually occur in the vibration feeder. In other words, the respective parts come into considerable contact with each other on the transfer path and are pressed against each other. If left as is, there is a risk that the posture of the parts that have been fed in the desired posture by the parts feeder will be disturbed. Conventionally, in such a case, the parts feeder was stopped, and once the overflow condition was released, the parts feeder was restarted at the original feeding speed. Parts feeders are generally equipped with various correction means depending on the shape and properties of the parts in order to correct the parts to the desired posture. In some cases, the posture of the parts was disturbed. Alternatively, blocking may occur at the connection with the following vibratory feeder.

In addition, when the parts feeder is started to vibrate with a large amplitude from a stopped state, it may vibrate with an excessive amplitude in a transient state before it becomes steady due to the influence of the anti-vibration spring, etc. In this case, The starting end of the trough of the vibratory feeder and the discharge end of the track of the parts feeder collide, and this impact force may disturb the posture of the parts feeder or the parts on the trough of the vibratory feeder. These are particularly noticeable when the parts feeder is an elliptical parts feeder.

The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a control method for a vibrating component supply device that can always stably and efficiently supply components to the next process in a desired posture. This object, according to the present invention, includes: a component receiver having a spiral component transfer track formed on its inner circumferential wall; horizontal vibration elastic means for supporting the component receiver so that it can vibrate in the horizontal direction;
a horizontal drive electromagnet for horizontally vibrating the component receiver; a vertical vibration elastic means for vertically vibratingly supporting the component receiver; and a vertical vibrator for vertically vibrating the component receiver. driving electromagnet,
A circularly vibrating component supply comprising: a horizontal drive section that supplies a first AC voltage to the horizontal drive electromagnet; and a vertical drive section that supplies a second AC voltage that has a phase difference from the first AC voltage to the vertical drive electromagnet. and a linear vibrating feeder, in which a linear trough is disposed at a distance from the discharge end of the parts transfer track of the elliptical vibrating parts feeder, and an overflow detection device is provided in proximity to the trough. In the method for controlling a vibrating component supply device, when the overflow detection device detects that the component is in an overflow state on the trough, driving of the horizontal drive section and the vertical drive section is stopped, and the overflow state is stopped. When the release is detected, the horizontal drive section and the vertical drive section are started to be driven at a predetermined adjustable low transfer speed, and then after a predetermined time, are switched to be driven at a predetermined adjustable high transfer speed. This is achieved by a method of controlling a vibrating component supply device, characterized in that:

Hereinafter, details of the present invention will be explained based on illustrated embodiments.

First, the structure of the elliptical vibrating parts feeder applied to this embodiment will be explained with reference to FIGS. 1 to 5.

In the figure, an elliptical vibrating parts feeder is indicated as a whole by 1 and is equipped with a known ball 2 .
As shown in FIG. 5, a spiral track 3 is formed on the inner wall surface of the ball 2, and a conceptually illustrated component attitude correction means 4 is provided at a suitable location on the downstream side of the spiral track 3. Since various structures of this component posture correction means 4 are already well known, they are illustrated conceptually to simplify the drawing. An attitude maintaining means 5 is provided at the discharge end of the track 3, through which parts in a desired attitude are fed to a linear vibratory feeder 6.

The ball 2 is fixed to a cross-shaped upper movable frame 7, which is shown in FIG. stacked leaf spring 9
are connected by. That is, the upper ends of the stacked leaf springs 9 are fixed to the four ends 7a of the upper movable frame 7 with bolts, and the lower ends of the stacked leaf springs 9 are fixed to the four ends 8a of the lower movable frame 8 with bolts. Ru. The ends 7a and 8a are aligned in the vertical direction.

A vertical drive electromagnet 11 is fixed to the center of the fixed frame 10, facing the center of the upper movable frame 7, and a vertical movable core 13 is fixed to the lower surface of the upper movable frame 7, facing the electromagnet 11. ing. Further, a pair of horizontal drive electromagnets 14a and 14b are fixed to opposite side walls of the fixed frame 10 in contrast with the vertical drive electromagnet 11, and each of these electromagnets 14a and 14b has a coil 1.
5a and 15b are wound. Horizontal movable cores 16a and 16b are fixed to the lower surface of the upper movable frame 7, facing horizontal drive electromagnets 14a and 14b.

Four leg portions 17 are formed on the fixed frame 10, and these leg portions 17 are attached to the vibration isolating rubber 1.
It is supported on the base via 8. The leg portions 17 are formed with a pair of spring attachment portions 17a extending in the horizontal direction, and four sets of stacked leaf springs 19 for vertical driving are attached to these spring attachment portions 17a at both ends, as shown in FIG. , fixed by bolts. The leaf springs 19 are stacked with spacers 20 in between, as shown in FIG.
is fixed with bolts.

In the vibration feeder 6, a drive section 21 (its structure is well known and is not shown) is coupled to a movable block 50 by a pair of leaf springs 24, and the entire structure is supported by a vibration isolating rubber 23 via a base block 22. supported on a table. Movable block 5
An elongated trough 51 is fixed to the trough 51, and in this trough 51, a groove 26 is formed between the side wall portions 25a and 25b, as clearly shown in FIG. On the upstream side of this groove 26, an overflow detection device consisting of a light emitting element 27 and an analyzing element 28 is arranged adjacent thereto. A small hole (not shown) is formed in the groove 26 facing the light emitting element 27, and the detecting element 28 is configured to receive light from the generating element 27 when no component is present above it. ing. The output terminal of the detection element 28 is connected to a control circuit 29.
The two output terminals 30 and 31 are input terminals 30' and 3 of the parts feeder drive circuit shown in FIG.
1'.

It should be noted that a gap is provided between the upstream end of the groove 26 and the discharge end of the track 3 of the parts feeder 1 in consideration of the size of the parts to be transferred, as is known but not explicitly stated.

Next, details of the parts feeder drive circuit will be explained with reference to FIG.

This drive circuit mainly consists of a horizontal drive section 32A, a vertical drive section 32B, a low speed relay 33, an overflow release relay 34, and changeover switches SW ₂ and SW ₃ , and is connected to a three-phase AC power source. That is, the phase order is R, S, T, and the R input terminal is connected to the horizontal drive unit 32 via the interlocking power switch SW ₁ and the fuse 38.
A and also a changeover switch SW ₂ ,
It is connected to the vertical drive section 32B via _SW3 . S
The input terminal is similarly connected to the interlocking power switch SW ₁ and the other input terminal of the horizontal drive unit 32A via the fuse 38, and is further connected to the changeover switch SW ₂ ,
It is connected to the vertical drive section 32B via _SW3 . In addition, the T input terminal is connected to the vertical drive section 32 via the motion power switch _SW1 , the fuse 38, and the changeover switch _SW2 .
Connected to B. R, S, and T are connected to the two input terminals of the vertical drive section 32B by the changeover switches SW _{2 and SW 3 .}
Two of the inputs are selectively supplied.

Generally, a spiral track is formed on the ball in either a clockwise or counterclockwise direction, and the changeover switch _SW2 is switched depending on this direction. Further, the changeover switch _SW3 is a switch for switching the phase difference between the voltage supplied to the horizontal drive section 32A and the voltage supplied to the vertical drive section 32B between 60 degrees and 120 degrees. That is, although the movable contacts 39, 40, 41, and 42 are interlocked in the changeover switch _SW2 ,
As shown in the figure, fixed contacts 39a, 40 for clockwise direction
Connected to a, 41a, 42a, selector switch
When SW ₃ is connected to the 60° fixed contact 43a, the R input is supplied to one input terminal of the vertical drive section 32B, and the T input is supplied to the other input terminal. You can also switch from the state shown in the diagram.
Fixed contacts 39c, 40c, 4 for counterclockwise direction of SW ₂
When switching to 1c or 42c, the vertical drive unit 3
The T input is supplied to one input terminal of 2B, and the S input is supplied to the other input terminal. That is, by switching the changeover switch _SW2 , the vertical drive section 32B is supplied with a voltage that is 60 degrees ahead or behind the horizontal drive section 32A in phase.
When the changeover switch SW ₃ is switched to the 120° fixed contact 43c side, the switching of the changeover switch SW ₂ causes the vertical drive unit 32B to receive a voltage that is 120° ahead or behind the horizontal drive unit 32A in phase. Supplied. Note that when the changeover switches SW ₂ and SW ₃ are switched to the neutral fixed contacts 39b, 40b, 41b, and 42b43b, no voltage is applied to the vertical drive section 32B.

The low-speed drive relay 33 and overflow release relay 34 are connected to input terminals 30', 31' and R, respectively.
Connected between input lines and their contacts Rs,
Ro is horizontal drive section 32A and vertical drive section 3, respectively.
2B, and these driving parts 32A,
Since the circuit configurations of the horizontal drive sections 32B are exactly the same, only one horizontal drive section 32A will be described below.

One input terminal of the horizontal drive section 32A is connected to the horizontal drive electromagnetic coil 15a through the triax 35.
It is connected to one terminal of coil 15b, and the other input terminal is directly supplied to the other terminal of coil 15a, 15b. A series circuit of a diode 36 and a diode 37 is connected to the control electrode of the triac 35, and a capacitor C ₁ is connected between the anode side of the diode 37 and the output side electrode of the triac 35.
is connected. Further, a resistance circuit for controlling the conduction angle of the triac 35 is connected between the input side electrode of the triac 35 and the connection point between the diode 37 and the capacitor _C1 . That is, this resistance circuit consists of a fixed resistance R ₁ , variable resistances R ₂ , _{R 3 ,} R ₄ , R ₅ and relay contacts _Ro , Rs. connected in series,
Variable resistors R ₃ and R ₄ are connected in parallel to variable resistor R ₅ . Variable resistance R ₃ , R ₄ by switching relay contact Rs
One of these is selected. The variable resistor _R2 is used to determine the maximum value of the conduction angle of the triac 35, that is, the maximum value of the horizontal driving force.
R ₅ is used to determine the minimum value of the conduction angle of the triax 35, that is, the minimum value of the horizontal driving force, and variable resistors R ₃ and R ₄ are used to adjust the horizontal driving force within this range. . One variable resistance R ₃ is for high speed transfer and the other variable low resistance R ₄ is for low speed transfer. A series circuit of a capacitor C ₂ and a resistor R ₆ is further connected in parallel to the triax 35 and functions as a surge killer for the triax 35. Note that the variable resistances R ₃ and R ₄ of the horizontal drive section 32A and the vertical drive section 32B are adjusted in conjunction with each other even though they are not shown.

The embodiment of the present invention is constructed as described above, and its operation will be explained next.

First, when driving the elliptical vibrating parts feeder 1, the track 3 is wound counterclockwise around the ball 2 as shown in FIG.
In the drive circuit shown in the figure, switch SW ₂ to the counterclockwise fixed contact side. Then power switch
When SW ₁ is closed, the R-S voltage of the three-phase AC power supply is supplied to the horizontal drive section 32A. On the other hand, the T-S voltage is supplied to the vertical drive section 32B. It is assumed that the changeover switch _SW3 remains switched to the 60° side as shown in the figure. Triack 35 is
Conductivity occurs according to the resistance value of the resistance circuit constituted by R ₁ , R ₂ , R ₃ , and R ₅ , and a current having a magnitude corresponding to the conduction angle flows through the horizontal drive electromagnetic coils 15 a, 15 b and the vertical drive electromagnet. The current flows into the coil 12. Note that since the relay 33 is not excited at this time, its contact Rs is connected to the left fixed contact as shown. Therefore, variable resistor R ₃ for high-speed transfer is connected in parallel with variable resistor R ₅ .

A half-wave current with a controlled conduction angle flows through the horizontal drive electromagnet coils 15a, 15b and the vertical drive electromagnet coil 12, and a vertical excitation force and a horizontal excitation force that are 60 degrees out of phase are applied to the ball 2. Added. As a result, the ball 2 vibrates in an ellipse at the frequency of the AC power source, as shown by B in FIG. (50HZ or 60HZ for commercial AC power supply). B shows the locus of a certain point, which is exaggerated in the figure. The length of the long axis of this ellipse is variable resistance for high-speed transfer.
R ₃ can be changed by variable resistance R ₄ during low-speed transfer, but normally it is about 0 to 3 mm.

In addition, the length of the long axis of the ellipse, that is, the swing width, is determined in advance for high-speed transfer and low-speed transfer depending on the properties of the parts to be processed and the shape of the part posture correction means 4 provided in the ball 2. It shall be adjusted by variable resistors R ₃ and R ₄ to obtain the optimum supply efficiency.

In the elliptical vibrating parts feeder 1, the ball 2 receives an excitation force in the vertical direction by a vertical drive electromagnet 11, and a pair of horizontal drive electromagnets 14a, 14b.
The vibrations in each direction receive an excitation force in the horizontal direction, and the combination of vibrations in each direction becomes elliptical vibration, but generally the phase difference between vertical vibration and horizontal vibration is approximately
It has been experimentally confirmed that the maximum parts transfer speed can be obtained at around 60°. The resonant frequency of the vertical vibration of the elliptical vibrating parts feeder 1 is determined by the weight of the ball 2, the spring constant of the leaf spring 19, etc., while the resonant frequency of the horizontal vibration is determined by the weight of the ball 2, the spring constant of the leaf spring 9, etc. However, due to structural design considerations, it is difficult to make these resonant frequencies exactly the same. Further, although it is preferable to configure this type of vibrator so that the resonance frequency substantially matches the drive frequency, this is also troublesome.

In this embodiment, even if the vertical and horizontal resonance frequencies of the elliptical vibrating parts feeder 1 are designed to roughly match the drive frequency, the changeover switch
Almost optimal vibration conditions can be obtained with SW ₃ . Generally, the phase difference between the excitation force and the vibration is determined by the ratio λ between the resonance frequency of the system and the frequency of the excitation force, and the viscosity coefficient of the spring. When the resonant frequency of and the frequency of the excitation force completely match, the phase difference is 90°. When λ is sufficiently smaller than 1, the phase difference is 0°, and when λ is sufficiently larger than 1, the phase difference is 180°. When λ is around 1, the phase difference can take a value between 0° and 180°, but this depends on the viscosity coefficient of the spring. For example, when the leaf springs 9 and 19 are made of steel, the viscosity coefficient is small, so even if λ is around 1, the phase difference is approximately equal to 0° when λ<1, and approximately equal to 180° when λ>1. .

Therefore, if the vertical and horizontal resonance frequencies of the parts feeder 1 are both close to the drive frequency but smaller than this, the phase difference between the excitation force and vibration in each direction is approximately 0°, and therefore the switching switch
When SW ₃ is switched to the 60° side, the phase difference between the vibrations in both directions is approximately 60°, achieving the optimum conditions confirmed by experiment. In addition, both the vertical and horizontal resonance frequencies of the parts feeder 1 are close to the drive frequency, but if they are larger than this, the phase difference between the excitation force and vibration in each direction is about 180°, and therefore the changeover switch When SW ₃ is switched to the 60° side, the phase difference between the vibrations in both directions is approximately 60°, and the optimum conditions similarly confirmed through experiments are obtained. Furthermore, if both the vertical and horizontal resonance frequencies are close to the driving frequency, but one is larger than this and the other is smaller, the phase difference between the excitation force and vibration of one is about 180°, and the other The phase difference between the excitation force and the vibration is approximately 0°. Therefore,
When the changeover switch SW ₃ is set to the 60° side, the phase difference between the vibrations in the vertical and horizontal directions is determined by whether the changeover switch SW ₂ is closed to the fixed contact for the clockwise direction or the fixed contact for the counterclockwise direction is closed. Depending on whether it is closed to the side, 180° + 60° = 240° or 180° - 60° = 120
It becomes ゜. This results in a significant deviation from the optimum phase difference of 60°.

However, according to this embodiment, the changeover switch SW ₃ is
By switching to the 120° side fixed contact, the vertical drive unit 32B has a 120° angle depending on whether the switching switch SW ₂ is closed to the clockwise fixed contact or the counterclockwise fixed contact from the horizontal drive unit 32A. Since a voltage is supplied with a phase lead or lag of
180° + 120° = 300° or 180° - 120° = 60°.
Ball 2 vibrates almost sinusoidally both vertically and horizontally, so if the phase difference is 300°, the horizontal vibration is expressed as a sinωt, and the vertical vibration is b.
It can be expressed as sin(ωt+300°). However, b sin(ωt+
300°)=b sin(360°+ωt−60°)=b sin(ωt
−
60°), so the phase difference between the vibrations in the vertical and horizontal directions is 60° (delay).

Actually, when parts are flowed on the track 3 of the ball 2, the voltage phase difference of 60° or 120° with a higher transfer speed is selected by switching the changeover switch _SW3 . This is clearly visible; at lower transfer speeds and voltage phase differences, the parts jump erratically, whereas at higher transfer speeds and voltage phase differences, the parts flow smoothly.

The elliptical vibrating parts feeder 1 is driven as described above, and the vibrating feeder 6 connected thereto
are also driven at the same time. Although not shown in the drawings, when a large number of parts, for example electronic parts, are thrown into the ball 2, the parts rise along the track 3, are corrected to a desired posture by the posture correction means 4, and are placed on the posture maintaining track 5. and is supplied to the groove 26 of the vibrating feeder 6. As shown in FIG. 4, the vibrating feeder 6 is vibrating linearly in the direction of arrow A, and the components are transferred to the right in the figure through the groove 26 by receiving this vibrating force. Note that the parts may be continuously supplied from the vibrating feeder 6 to the next process, or a stopper may be provided at the discharge end of the groove 26 to temporarily stop the parts, and the parts may be stopped by some conveying means, such as vacuum suction. The device may pick up the parts from above and transport them one by one to another location. In any case, parts are continuously supplied one by one from the parts feeder 1 to the vibration feeder 6, but when the parts come into contact with each other in the groove 26 below the light emitting element 27 without any gaps, the analyzer element 28
The light from the light emitting element 27 is no longer irradiated.
That is, when parts are flowing through the groove 26 at certain intervals, even if the parts block the light, the light is irradiated onto the analyzer element 28 again after a short time; If it is not irradiated, it is determined that there is an overflow condition, and the control circuit 29 generates an overflow signal, which is supplied through the output terminal 31 to the input terminal 31' of the drive circuit. When the relay 34 is energized by this, the horizontal drive section 32A
Contact Ro (normally closed contact) of the vertical drive section 32B opens, and the current flowing through the horizontal drive electromagnet coils 15a, 15b and the vertical drive electromagnet coil 12 becomes zero. Therefore, the elliptical vibrating parts feeder 1 stops,
The supply of parts to the vibrating feeder 6 is stopped.

Eventually, when the overflow state of the vibration feeder 6 is released, that is, when a gap is created between the parts and the light from the light emitting element 27 is projected onto the analyzer element 28,
An overflow release signal is generated from the control circuit 29 and is supplied via an output terminal 30 to an input terminal 30' of the drive circuit. As a result, relay 33
is excited, and the horizontal drive section 32A and the vertical drive section 3
Contact point Rs of 2B moves to the left from the state shown in the diagram,
Closed to the fixed contact side for low-speed transfer. As a result, the variable resistor R ₄ for low-speed transfer is connected in parallel with the variable resistor R ₅ , and a smaller current flows through the horizontal drive electromagnetic coils 15a, 15b and the vertical drive electromagnetic coil 12 than in the case of high-speed transfer. It is assumed that the resistance values of the variable resistors R ₃ and R ₄ are adjusted in advance.

Since the ball 2 starts vibrating with a small amplitude from a stopped state, the parts in the track 3, especially in the part attitude correction means 4, and the parts before and after this start quietly and begin to be transferred in almost the same attitude. . If vibration is started with a large amplitude, the parts will receive a large inertial force and there is a risk that the posture will be disturbed, but in this embodiment, there is no such fear. The overflow release signal continues for a predetermined time (for this purpose the control circuit 29 includes a timer) and then disappears. As a result, the contact Rs moves to the right in the figure again and is switched to the fixed contact for high-speed transfer. A larger current flows through the coils 15a, 15b, and 12, and the parts feeder 1 begins to vibrate with a large amplitude, so that the parts are transferred again at high speed.

Since the elliptical vibrating parts feeder can transport parts at a higher speed than a normal parts feeder, the above-mentioned two-stage control of height and lowness is particularly effective from the point of view of inertia force. In addition, the discharge end of the track 3 of the elliptical vibrating parts feeder and the groove 26 of the vibrating feeder 6
It is preferable that the distance between the upstream end of Horizontal component (distance)
Even if there is vibration of large amplitude due to transient vibration in the direction (direction), the gap between the discharge end of the track 3 and the upstream end of the groove 26 can be made much smaller than before so that they do not collide. Therefore, even when the parts are smaller, the distance can be made smaller in order to reliably transfer them to the vibrating feeder 6 side.

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

As described above, according to the control method of the vibrating component supply device of the present invention, an overflow state is detected in the linear vibrating feeder, which will be described later, and the driving of the horizontal drive section and the vertical drive section of the elliptical vibrating component feeder is stopped. When the drive is restarted after the overflow condition is released, the horizontal drive section and the vertical drive section are controlled in a predetermined adjustable low-speed/high-speed two-step manner, so the transfer can be started without disturbing the posture of the corrected parts. Furthermore, parts can be transferred smoothly even at the connection with the linear vibrating feeder.

Furthermore, the distance between the connecting portions can be made much smaller than in the past, making it possible to apply the present invention to smaller parts.

[Brief explanation of drawings]

Fig. 1 is a partial sectional view of an elliptical vibrating parts feeder to which an embodiment of the present invention is applied, Fig. 2 is a plan view in the -line direction in Fig. 1, and Fig. 3 is a bottom view of the elliptical vibrating parts feeder in Fig. 1. 4 is a side view of the elliptical vibrating parts feeder of FIG. 1 and the linear vibrating feeder connected thereto to which the embodiment of the present invention is applied, FIG. 5 is a plan view of the same, and FIG. FIG. 3 is a drive circuit diagram of the elliptical vibrating parts feeder shown in the figure. In the figure, 1... Elliptical vibration parts feeder, 6... Linear vibration feeder, 12... Vertical drive electromagnetic coil, 15a, 15b... Horizontal drive electromagnet coil, 27... Light emitting element, 28... Analyzer element, 29...Control circuit, 33...Low speed drive relay, 34...Overflow release relay, 35...
...triax, R ₃ , R ₄ ...variable resistance.

Claims (1)

[Claims] 1. A component receiver having a spiral component transfer track formed on the inner circumferential wall; horizontal vibration elastic means for supporting the component receiver so that it can vibrate in the horizontal direction;
a horizontal drive electromagnet for horizontally vibrating the component receiver; a vertical vibration elastic means for vertically vibratingly supporting the component receiver; and a vertical vibrator for vertically vibrating the component receiver. driving electromagnet,
A circularly vibrating component supply comprising: a horizontal drive section that supplies a first AC voltage to the horizontal drive electromagnet; and a vertical drive section that supplies a second AC voltage that has a phase difference from the first AC voltage to the vertical drive electromagnet. and a linear vibrating feeder, in which a linear trough is disposed at a distance from the discharge end of the parts transfer track of the elliptical vibrating parts feeder, and an overflow detection device is provided in proximity to the trough. In the method for controlling a vibrating component supply device, when the overflow detection device detects that the component is in an overflow state on the trough, driving of the horizontal drive section and the vertical drive section is stopped, and the overflow state is stopped. When the release is detected, the horizontal drive section and the vertical drive section are started to be driven at a predetermined adjustable low transfer speed, and then after a predetermined time, are switched to be driven at a predetermined adjustable high transfer speed. A method for controlling a vibrating parts supply device, characterized in that: