JPH10203624A - Piezoelectric drive type carrying device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To smoothly quickly carry a work, even if vibration energy given by a vibration body is not enough large, by slantwise arranging a carrying body and by carrying downward the work. SOLUTION: When an alternating voltage is applied to piezoelectric elements 1 constituting a vibration body 9, one piezoelectric element is expanded and the other piezoelectric element is contracted to produce an expansion-contraction motion, which produces a bending strain in an elastic plate 2 and a bending vibration. The bending vibration of the elastic plate 2 is produced around a fulcrum where the elastic plate 2 is fixed to the bottom surface of a carrying body support base 10 and vibration energy is transmitted to the carrying body 5 including the carrying body support base 10 and a work 16 to carry downward the work 16 placed on the carrying body 5.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a piezoelectric drive type transfer apparatus using a piezoelectric element as a vibration source of a transfer body for transferring various parts such as electronic parts or mechanical parts by vibration.

[0002]

2. Description of the Related Art As an example of the prior art, there is a configuration shown in FIGS. 3 and 4, which will be described below with reference to the drawings. FIG. 3 shows a piezoelectric-driven transport device according to the prior art, which is a piezoelectric-driven transport device that vibrates a transport body 5 by a vibrating body 9 in which a piezoelectric element 1 is attached to an elastic plate 2.
And a structure in which a mass body 7 having a different weight is fixed to one end of the elastic plate 2, a structure in which the other end of the elastic plate 2 forming the vibrating body 9 is directly fixed to the lower surface of the carrier 5, and a mass body 7, a long carrier support 8 is provided outside the vibrating body 9 having a large weight, and a short carrier support 81 is provided outside the vibrating body 9 having a small weight. In this configuration, the carrier supports 8 and 81 having different lengths are fixed to the carrier 5 and the base 3 perpendicular to the longitudinal direction of the carrier 5.

[0004] Further, in a conventional piezoelectric drive type transfer apparatus shown in FIG. 4, a transfer body 5 is supported on a base 3 by a supporting leaf spring 18.
The piezoelectric element 1 is adhered to the carrier 5 on the front and back surfaces of the elastic plate 2, and voltage applying means for reversing the expansion and contraction timing of the front and back piezoelectric elements 1 is added. A vibrating body 9 having a mass body 7 fixed to the lower end thereof is vertically inclined.

[0004]

2. Description of the Related Art When a plurality of vibrators 9 are provided in the above-described conventional piezoelectric drive type transfer apparatus, the vibration frequency and the vibration amplitude from the vibrator 9 to the transfer body 5 are single. As long as the vibration frequency and the vibration amplitude are equivalent, a sufficiently high transfer force (driving force) and transfer speed to the work 16 as the transfer object can be obtained. However, in practice, the vibration frequency and the vibration amplitude applied to the carrier 5 by the individual vibrators 9 are not constant and uniform, so that the work 16 on the carrier is in the same direction and at any part on the carrier. However, it is very difficult to transfer the same at a constant and uniform transport speed. The reason is that it is difficult to form a plurality of vibrating bodies 9 having the same characteristics, and the vibration frequency and the vibration applied by the vibrating body 9 to the transporting body 5 due to the attachment portion of the vibrating body 9 to the transporting body 5 This is because the vibration amplitudes are not the same. Therefore, it is desirable that the number of the vibrating members 9 be one, as long as a sufficient conveying force (driving force) and a sufficient conveying speed for practical use can be obtained with one vibrating member 5.

On the other hand, when the number of the vibrating body 9 provided in the piezoelectric driving type transfer apparatus is one, the vibration frequency and the vibration amplitude given to the conveying body 5 by the vibrating body 9 are the same, so There is no problem when there are a plurality of bodies 9. In other words, the constraints on the required transport conditions are greatly eased, and the configuration is simple. However, when the vibrating body 9 provided in the piezoelectric drive type transport device is one, the vibration force of the vibrating body 9 is insufficient under the conventional technique, and thus a sufficient transport force and a sufficient transport speed for practical use are obtained. It could only be put to practical use under slightly very limited conditions.

[0006]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems while retaining the excellent features in the case where only one vibrating body is provided in the piezoelectric drive type transfer apparatus, and provides a sufficiently practical use. It is another object of the present invention to provide a piezoelectric-driven transfer device.

[0007]

The means and the like will be described below with reference to FIGS. 1 and 2. In the piezoelectric drive type transfer apparatus according to the present invention, the piezoelectric element 1 is attached to one or both sides of the elastic plate 2, the mass body 7 is fixed to one end of the elastic plate 2, and the other end is the lower surface of the transfer body support 10. And a configuration in which the connecting member 4 is interposed by being erected between the carrier support 10 and the base 3 and one end thereof is brought into contact with the carrier support 10. The carrier 5 is arranged to be inclined on the upper surface of the carrier support 10.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A vibrating body 9 used in a piezoelectric drive type transfer apparatus according to the present invention is provided on one or both sides of an elastic plate 2 made of stainless steel, spring steel, tool steel or the like, with lead zirconate titanate and lithium niobate. And a so-called unimorph structure or a bimorph structure to which the piezoelectric element 1 is adhered. A mass body 7 made of a metal piece or the like is fixed to one end of the elastic plate 2.
Here, the mass body 7 is attached in order to balance the weight of the transport body 5 including the workpiece 16 as a transported object and smoothly transport the workpiece 16 in only one direction at a high speed.

The one vibrating body 9 used in the piezoelectric drive type conveying apparatus according to the present invention is one, and the above-mentioned problem caused by the single vibrating body 9 is that the conveying body 5 is placed on the upper surface of the conveying body support 10. The problem is solved by disposing it at an angle.
Work transfer in a conventional piezoelectric drive type transfer apparatus is mainly performed from below to above or horizontally, and very few transfer forms from above to below. It is presumed that it is not easy to control the transfer conditions. However, from the viewpoint of the magnitude of the vibration energy required for the transfer of the same work, it is clear that the transfer energy from the upper side to the lower side may be smaller than the transfer from the lower side to the upper side. The present invention pays attention to this point, and adopts a mode in which the shortage of the vibration energy due to the single vibrator 9 is arranged by tilting the transfer body 5 to transfer the work 16 from above to below. It was supplemented. Of course, the vibration body 9 is not limited to one if the vibration condition that a vibration frequency and a vibration amplitude equivalent to a single vibration frequency can be added to the carrier 5 and the carrier support 10 is satisfied. It may be two or more.

The basic idea of the present invention is that there is no difference in that the work 16 is transported by a predetermined distance regardless of whether the work 16 is conveyed from below to above or from above to below. On the point. Therefore, it is an indispensable component of the present invention that the transport body 5 on which the workpiece 16 to be transported is mounted is inclined with one end thereof in contact with the transport body support base 10.

The other end of the elastic plate 2 constituting the vibrating body 9 is fixed to the lower surface of the carrier support base 10 by an appropriate means such as screwing and spot welding. However, the vibration energy generated from the vibrating body 9 by the fixing is transferred to the carrier support 1.
0 and the work 1 placed on the transfer body 5
6 is transmitted.

The carrier support 10 is fixed on the base 3 by interposing a connecting member 4 between the carrier support 10 and the base 3. Here, the connecting member 4 is disposed so as to be inclined upright with respect to the base 3, and the inclined direction is inclined so as to be the same as the carrier 5 even if the inclination angle is different. This is for realizing smooth high-speed conveyance even with a small vibration energy.

One end of the carrier 5 disposed on the upper surface of the carrier support 10 is brought into contact with the carrier support 10, and two intermediate portions thereof are provided on the carrier support 10 provided on the carrier support 10. The members 11 and 12 are inclined by being brought into contact with each other under pressure. Here, the inclined arrangement of the carrier 5 may be either a configuration in which the inclination angle is fixed or a configuration in which the inclination angle can be changed. In the configuration in which the inclination angle can be changed, a vertical or oblique groove is provided in the carrier support member 11, a screw is inserted into the groove, and the screw and the upper surface of the carrier are brought into pressure contact with each other. The inclination angle of the carrier 5 can be changed by moving and fixing the screw along the groove. The carrier support 10 and the carrier support 12
One end of the rotatable carrier support member 12 provided on the carrier support base 10 with the screw formed by inserting the contact portion with the carrier support member 12 through the contact portion with the carrier support member 12 is the lower surface of the carrier 5. It is also possible to change the inclination angle of the carrier 5 by bringing the carrier support member 12 into appropriate rotation by bringing the carrier into contact with the pressure. In this manner, the inclined arrangement of the carrier 5 can be freely changed by appropriately adjusting the pressurized contact state between the carrier 5 and the carrier support members 11 and 12 by the carrier support members 11 and 12. With the release of the pressurized contact, it is possible to easily exchange a different transport body.

The carrier 5 can be arranged not only linearly but also in a curved manner as long as the carrier 5 has flexibility. Such setting of the inclination angle of the transfer body 5 allows the optimum transfer conditions to be easily set according to the type, shape and size of the work 16.

The leading end of the work 16 discharged from the carrier 5 has a so-called dead end when the work is taken out by a vacuum chuck or the like, and does not have a dead end when the work is continuously transferred to the next step.

[0016]

When an alternating voltage is applied to the piezoelectric element 1 constituting the vibrating body 9, one of the piezoelectric elements expands and the other piezoelectric element contracts to cause expansion and contraction. This causes bending distortion and causes bending vibration. The bending vibration of the elastic plate 2 is performed by using the fixed portion between the elastic plate 2 constituting the vibrating body 9 and the lower surface of the carrier support 10 as a fulcrum, and the vibration energy of the vibrator 9 is transferred to the carrier support 10 and the work 16. The work 16 transmitted to the carrier 5 including the
From above to below. In the conventional piezo-driven transfer device, the workpiece is instantaneously levitated in the air obliquely upward by the vibration energy received from the vibrating body 9 and returned to its original position in the moment. You do it at least. However, the piezoelectric drive type transfer apparatus according to the present invention can transfer a work simply by applying vibration energy to the work 16 without necessarily using the transfer principle. Here, in the work transfer, the shape of the carrier support 10 and the arrangement of the vibrator 9 on the carrier support 10 are made appropriate so that not only the straight transport but also the rotary transport can be performed. it can.

[0017]

The first effect of the present invention is that the work 16 can be smoothly transported at a high speed even if the vibration energy generated from the vibrator 9 is not sufficiently large.
This is due to the configuration in which the transporting body 5 is inclined and the work 16 is transported downward from above.

The second effect of the present invention is that when the vibrator 9 fixed to the lower surface of the carrier support 10 has a single structure, the carrier 5 including the vibrator support 10 and the work 16 is used. Since the vibration frequency and the vibration amplitude given to the workpiece 16 are single, it is easy to set the transport conditions for smoothing the workpiece 16 in the same direction and transporting the workpiece 16 at a high speed. When the number of the vibrating bodies 9 is two or more, there is a case where the effect of being greatly released due to the difficulty in setting the transfer conditions due to the combined vibration cannot be ignored.

The third effect of the present invention is that, in the configuration in which the inclination angle of the carrier 5 can be changed, the inclination of the carrier 5 can be freely set, so that the type and shape of the workpiece can be changed. In addition, it is possible to transfer a wide range of works 16 in addition to the fact that the transfer body 5 can be easily exchanged even if the sizes thereof are different from each other.

The fourth effect of the present invention is that a workpiece can be transferred even by a weak vibration energy having a small vibration amplitude. This makes it possible to transport a workpiece that is apt to be damaged, and the inconveniences such as the lifting of the workpiece 16 and the falling off of the workpiece 16 from the transporting body 5 that have been sometimes seen before have been completely eliminated.

[Brief description of the drawings]

FIG. 1 is a front view of a piezoelectric drive type transfer apparatus according to the present invention.

FIG. 2 is a plan view of a piezoelectric drive type transfer device according to the present invention.

FIG. 3 is a front view of a conventional piezoelectric drive type transfer device.

FIG. 4 is a front view of a conventional piezoelectric drive type transfer device.

[Explanation of symbols]

 1. 1. Piezoelectric element Elastic plate 3. Base 4. Connecting member 5. Carrier 7. Mass 8. Carrier support 9. Exciter 10 Carrier support 11. Carrier support member 12. Carrier support member 13. Fulcrum 16. Work 18. Support leaf spring 81. Carrier support

Claims (6)

[Claims] A vibrator having a piezoelectric element attached to one or both sides of an elastic plate, a mass body fixed to one end of the elastic plate, and the other end fixed to the lower surface of a carrier support base. Configuration: A configuration in which a connecting member is interposed by being erected between the carrier support base and the base, and one end of the connection member is brought into contact with the carrier support base, and the carrier is tilted on the upper surface of the carrier support base. A piezoelectrically driven transfer device having a configuration to be installed. 2. The piezoelectric driven transfer device according to claim 1, wherein the inclined arrangement of the transfer member can be changed by adjusting the pressure contact state between the transfer member and the transfer member by the transfer member supporting member. 3. The piezoelectric drive type transfer apparatus according to claim 1, wherein one vibrator is fixed to a lower surface of the transfer body support. 4. The inclination direction in which the connecting member is erected and the inclination direction in which the conveying member is arranged in an inclined manner are the same.
Piezo-driven transfer device. 5. The piezoelectric driven transfer device according to claim 1, wherein the transfer member can be replaced by releasing the pressurized contact between the transfer member and the transfer member supporting member. 6. The piezoelectric driven transfer device according to claim 1, wherein the transfer member is made of a member having flexibility.