JPH11119840A - Elliptical vibration device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an elliptical vibration device that suppresses the influence of disturbance having a frequency near the natural frequency and can surely perform a desired control. SOLUTION: The displacement X of the first machine vibration system 32 of the elliptical vibration device 26 is supplied to the first controller 39 and the second controller 34. The first controller 39 outputs a command signal r1 , transmits the signal to the first vibration driving source 41 by way of the first electronic amplifier 40, generates a vibration force in a horizontal direction and vibrates the first machine vibration system 32. The second controller 34 outputs a command signal r2 , communicates this to the second vibration driving source 36 by way of the second electronic amplifier 35, generates a vibration force in the vertical direction and vibrates the second machine vibration system 37. Furthermore, a vibration displacement Y of this second machine vibration system 37 is detected, a value of this amplified by a gain Kk is applied a negative feedback to an output of the second controller 34, a pseudo spring constant of the second machine vibration system 37 is enlarged, a resonance frequency of the second machine vibration system 37 is heightened, and transfer ratio Y/E2 near the natural frequency f2 is reduced.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an elliptical vibration device for supplying a component by, for example, vibration.

[0002]

2. Description of the Related Art In FIG. 11, an elliptical vibration parts feeder, which is an elliptical vibration device, is indicated by 1 as a whole and includes a bowl 2 for performing elliptical vibration. A spiral track is formed on the inner peripheral surface of the bowl 2, and a wiper is provided at an appropriate position on the downstream side. This wiper is already well-known and its illustration is omitted, but the wiper is formed by bending a flat plate, and the distance between the lower end of the wiper and the transport surface of the truck is larger than the thickness of the component m (to be flat) to be fed. It is smaller than this double. At the discharge end of the truck, a posture holding means is provided, through which a component having a desired posture (for example, a component m having a long side directed in the transfer direction) is supplied to a linear vibration feeder (not shown).

[0003] The bowl 2 is fixed to a cross-shaped upper movable frame 7 shown in FIG. 12, and the lower movable frame 8 also shown in FIG. They are connected by four sets of leaf springs 9. That is, the upper end of the leaf spring 9 is fixed to the four ends 7a of the upper movable frame 7 by bolts,
The lower ends of the leaf springs 9 are fixed to the four ends 8a of the lower movable frame 8 by bolts. In addition, the end 7a,
8a are arranged vertically.

On the lower surface of the upper movable frame 7, horizontal movable cores 16a, 1b are opposed to the horizontal drive electromagnets 14a, 14b.
6b is fixed. Further, a vertical movable core 13 is fixed to a central portion of the lower surface of the upper movable frame 7,
A vertical drive electromagnet 11 is fixed to the center of the fixed frame 10 in opposition thereto. In the figure, 12
Is a coil wound around the vertical drive electromagnet 11. Further, a pair of horizontal drive electromagnets 14a and 14b are fixed to opposite side wall portions of the fixed frame 10 with the vertical drive electromagnet 11 interposed therebetween.
4b are wound with coils 15a and 15b, respectively.

[0005] The fixed frame 10 is integrally formed with four legs 17, and these legs 17 are attached to the vibration isolating rubber 18.
Supported on the base via The leg 17 is formed integrally with a laterally extending spring mounting portion 17a. As shown in FIG. 13, the spring mounting portion 17a has four sets of leaf springs 19 for vertical driving at both ends, as shown in FIG. It is fixed by bolts. The overlapping leaf springs 19 are overlapped with a spacer 20 interposed therebetween as shown in the figure, and their central portions are fixed to the lower movable frame 8 by bolts.

In the above configuration, the horizontal drive electromagnet 14
Reference numerals a and 14b denote first vibration drive sources for generating a horizontal excitation force, and the first vibration system driven by the first vibration drive source includes a bowl 2, a leaf spring 9, and horizontal movable cores 16a and 16b.
Etc. That is, when current is supplied, the horizontal drive electromagnets 14a and 14b generate a magnetic attraction force, whereby the horizontal movable cores 16a and 16b are attracted, and the restoring force of the overlapping leaf spring 9 pulled at this time. ,
The upper movable frame 7 vibrates in the horizontal direction. The vertical drive electromagnet 11 is a second vibration drive source that generates a vertical excitation force, and the second vibration system driven by the second drive system is composed of the bowl 2, the leaf spring 19, the vertical movable core 13, and the like. Become. That is, the vertical drive electromagnet 11 generates a magnetic attraction force by the supplied current, the vertical movable core 13 of the upper movable frame 7 is attracted, and at this time, the lower movable frame 8 (which is (Attached via upper movable frame 7 and leaf spring 9)
Is pulled downward, and the restoring force of the overlapping leaf spring 19 causes the upper movable frame 7 to
Vibrates vertically. In other words, the upper and lower movable frames 7 and the bowl 2 formed integrally with the upper movable frame 7 are caused to perform elliptical vibration by vibrating the horizontal direction and the vertical direction independently and by giving a phase difference between the vibrations. I have.

In this elliptical vibration, the lower movable frame 8 hardly moves in the horizontal direction because the rigidity in the horizontal direction is strong due to the connection of the leaf springs 19, but it is not fixed. When the movable frame 7 receives horizontal vibration, the lower movable frame 8 receives the reaction force. Therefore, for example, when an attempt is made to generate a vibration in the horizontal direction, the reaction force acts in the vertical direction by the overlapping leaf spring 9 and the lower movable frame 8, and the vibration also occurs in the vertical direction.

In particular, in an elliptical vibration machine, in order to improve the efficiency, generally, the horizontal natural frequency and the vertical natural frequency are set to be close to each other (for example, the vertical natural frequency is higher than the horizontal natural frequency). The driving frequency is set to be a few percent higher than the natural frequency in the direction, and the driving frequency is matched to the natural frequency in the horizontal direction, the amplitude of which is larger than that in the vertical direction. Therefore, even if a slight amount of vertical vibration occurs as described above due to the vibration in the horizontal direction, the vibration is amplified and becomes a large excitation force, and vibrates in the vertical direction. That is, since the horizontal vibration acts as a large disturbance with respect to the vertical vibration, the vertical amplitude control and the phase difference control (the phase difference between the horizontal direction and the vertical direction is usually the optimum condition at around 60 degrees, That is, it has been found that the components on the truck in the bowl 2 can be transported at the maximum transport speed.), Which causes a problem that desired control cannot be performed.

[0009]

SUMMARY OF THE INVENTION The present invention has been made in view of the above-described problems. For example, a vibration system in a horizontal direction (first vibration system) or a vibration system in a vertical direction (second vibration system) is excited. In the case where a vibration force having a frequency near the natural frequency of the vibration system acts on the other vibration system, such as when the applied excitation force acts on the other vibration system, the influence of the disturbance on the elliptical vibration device is reduced, and the control of the elliptical vibration device is It is an object of the present invention to provide an elliptical vibration device that can be performed more reliably.

[0010]

The above object is at least achieved by the first vibrating force vibrating in the horizontal direction and the second vibrating force vibrating in the vertical direction. An elliptical vibrator (for example, 26, 31, or 6 of the embodiment) having a movable portion that has a predetermined phase difference from the horizontal vibration and performs the elliptical vibration by vibrating in the vertical direction.
1; hereinafter the same), a first controller (39, 63) having at least an amplifier (43), and a first power amplifier (40, 64) for power-amplifying the output of the first controller (39, 63). And the first power amplifier (40, 64)
A first vibration drive source (41, 65) for receiving the output of the first vibration drive and generating the first vibration force; and a first vibration drive source (41, 65).
A first vibrating system (32, 32) of the elliptical vibrator (26, 31, 61) vibrating in the horizontal direction by receiving the first vibrating force of
66), a second controller (34, 68) having at least an amplification section, and the second controller (34, 68)
Power amplifier (35, 69) for power-amplifying the output of the second power amplifier
A second vibration drive source (36, 70) for receiving the output of the second power amplifier (35, 69) and generating the second excitation force
The second vibration drive source (36, 70) receives the second excitation force and vibrates in the vertical direction.
An elliptical vibration device having a vibration system (37, 71), wherein first vibration displacement detection means for detecting the horizontal vibration displacement of the movable portion is provided, and the first vibration displacement detection means detects the vibration displacement. By amplifying the horizontal vibration displacement with a first predetermined gain and feeding it back between the first controller and the first vibration drive source to form a first closed loop, When a disturbance having a frequency near the natural frequency of the first vibration system acts on the vibration system, the pseudo-spring constant of the first vibration system is changed, and
A second vibration displacement detection means (38, 72) for reducing the transmission rate of the vibration system and / or detecting the vertical vibration displacement (Y) of the movable portion is provided. , 72) are amplified by a second predetermined gain (K _k ), and amplified by the second controller (34, 68) and the second vibration drive source (Y). 36, 70) to form a second closed loop, whereby a disturbance (D) having a frequency near the natural frequency of the second vibration system (37, 71) is applied to the second vibration system. ₁ ) operates, the pseudo-spring constant of the second vibration system is changed to change the transmission rate (Y
/ R ₂ ), an elliptical vibration device characterized in that
Solved by

With this configuration, when a disturbance having a frequency near the natural frequency is generated in one or both of the first vibration system and the second vibration system, Detecting the vibration displacement of the vibration system in which the disturbance has occurred, amplifying the vibration displacement with a (first or second) predetermined gain, and transmitting a command signal from the controller to the vibration driving source. And a pseudo-spring constant of the vibration system in which the disturbance has occurred (this is the spring constant of the entire vibration system including the control system that controls the vibration system, and is distinguished from the inherent spring constant of the vibration system. Therefore, such a term is used). By changing the pseudo-spring constant, the resonance frequency of the first vibration system and / or the second vibration system deviates greatly from the natural frequency, and the vicinity of the natural frequency of the first vibration system and / or the natural frequency of the second vibration system Desired control can be reliably performed by reducing the transmission rate in the vicinity and reducing the influence of disturbance.

[0012]

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

The elliptical vibration device according to the present invention is characterized in that at least a horizontal vibration is caused by the first vibration force vibrating in the horizontal direction and a second vibration force is vibrated in the vertical direction by the second vibration force. And an elliptical vibrator having a movable portion that performs an elliptical vibration by vibrating in the vertical direction with a predetermined phase difference, a first controller having at least an amplifier, and power-amplifying an output of the first controller. A first power amplifier, a first vibration drive source receiving an output of the first power amplifier and generating a first excitation force, and a first vibration drive source of the first vibration drive source.
A first vibration system of an elliptical vibrator that vibrates in a horizontal direction by receiving an exciting force, a second controller having at least an amplifying unit, a second power amplifier for power-amplifying an output of the second controller, and a second power amplifier. A second vibration drive source that receives an output of the power amplifier and generates a second vibration force, and a second vibration system of an elliptical vibrator that vibrates vertically by receiving the second vibration force of the second vibration drive source And a first vibration displacement detecting means for detecting a horizontal vibration displacement of the movable portion, and the first vibration displacement detecting means detects the horizontal vibration displacement detected by the first vibration displacement detecting means. Amplify with a predetermined gain,
This is negatively or positively fed back between the first controller and the first vibration drive source to form a first closed loop, so that a frequency near the natural frequency of this vibration system is given to the first vibration system. A second vibration displacement detecting means for changing a pseudo-spring constant of the first vibration system to reduce a transmissibility of the first vibration system and / or detecting a vertical vibration displacement of the movable portion when a disturbance is applied; The vertical vibration displacement detected by the second vibration displacement detection means is amplified by a second predetermined gain, and the amplified vibration displacement is negatively or positively fed back between the second controller and the second vibration drive source. By forming a second closed loop, when a disturbance having a frequency near the natural frequency of this vibration system acts on the second vibration system, the pseudo-spring constant of the second vibration system is changed to change the second vibration system. Reduce system transmissibility That.

That is, when a disturbance having a frequency near each natural frequency acts on the first vibration system and / or the second vibration system, the mechanical vibration system 21 on which the disturbance D acts as shown in FIG. displacement a (this actually means amplitude value) is detected by the vibration displacement detector 22, which was amplified with a predetermined gain (feedback gain at this time is shown as k _f in the figure), That is, the amount of feedback is changed based on the magnitude of the displacement,
Until the command signal r from the controller is transmitted to the vibration drive source 23, feedback is performed as indicated by R to form a closed loop. Thereby, the pseudo spring constant of the mechanical vibration system 21 changes, and the apparent resonance frequency changes. Note that the first predetermined gain and / or the second predetermined gain are:
The transmissibility at a frequency near the natural frequency of the vibration system that becomes a disturbance is reduced, and set to a value that can sufficiently suppress the disturbance.

FIG. 8 is a detailed block diagram of FIG. 7. When the displacement A of the mechanical vibration system 21 is not fed back between the controller and the vibration drive source, the mechanical vibration system 21 pseudo-spring constants (that is, the spring constants when representing one mechanical vibration system including the control system)
Is the inherent spring constant k of the mechanical vibration system 21, and the transmission rate at this time (that is, the command signal r = r ₀ · sin)
(Ωt), the ratio of the static displacement E caused by the signal r _{0 to the} displacement A caused by the command signal r (= r ₀ · sin (ωt)) is shown in FIG. adopts a frequency on the horizontal axis, the f _n of the natural frequency of the system, the transmission ratio has a maximum value), it has the property of a shape as shown by the solid line. The transmissivity A / E at this time can be expressed by the following equation (1) as is known.

[0016]

(Equation 1)

[0017] However, amplifies the vibration displacement A mechanical vibration system 21 in the feedback gain k _f as described above,
With positive feedback or negative feedback, this closed loop is controlled by the mechanical vibration system 21 as shown by the dotted line in FIG.
Has the same effect as adding a gain k ″ to
This gain k ″ is a closed-loop feedback gain k
_The value obtained by dividing _f by the gain I of the driving vibration source 23, that is, k ″ = k _f / I. That is, the overall spring constant of the vibration system 21 at this time (ie, a pseudo spring constant).
Is the sum of the inherent spring constant ratio k and the spring constant ratio k ″ added due to the formation of the closed loop. The transmission rate A / E at this time can be expressed by the following equation (2).

[0018]

(Equation 2)

Therefore, for example, by amplifying the detected displacement with a predetermined gain and performing negative feedback, when the pseudo spring constant increases, the resonance frequency f _n ′ of the vibrating mechanical system 21 is increased.
Is higher as shown by the dashed line in FIG. Further, for example, when the pseudo-spring constant is reduced by amplifying the detected displacement with a predetermined gain and feeding it back positively, the pseudo-spring constant is reduced as shown by the two-dot chain line in FIG. Therefore, if the feedback gain is determined so that the transmissibility at a frequency near the natural frequency of the vibration system becomes small, even when a disturbance having a frequency near the natural frequency occurs, the disturbance is greatly amplified. Does not significantly affect the vibration system. Therefore, desired control can be performed more reliably than before. The mass and the attenuation may be changed at the same time as long as the transmission at a frequency near the natural frequency does not increase.

When the vibration drive source includes a delay element, such as when the vibration drive source is an electromagnet, as shown in FIG. Phase adjuster 2 for compensating for phase delay of drive source
4 is provided. As a result, the transmission rate can be reduced without causing a phase delay in the feedback value, and the influence of disturbance can be reduced. Therefore, desired control can be reliably performed.

Further, in a general elliptical vibration device, vibration is applied so that the amplitude in the horizontal direction is larger than the amplitude in the vertical direction. If resonance vibration is used, a large amplitude can be obtained efficiently. Therefore, the horizontal vibration may be obtained by resonance vibration. Also, since the amplitude in the horizontal direction is larger than the amplitude in the vertical direction, the excitation force for exciting the horizontal direction is larger than the excitation force for exciting the vertical direction, and therefore, the disturbance acting in the vertical direction is It is larger than the disturbance acting in the horizontal direction. Therefore, if a closed loop is formed in the mechanical vibration system vibrated in the vertical direction, the pseudo-spring constant is changed, and the resonance frequency is shifted, the disturbance near the natural frequency is reduced, so that the desired control can be performed more effectively. Can be performed.

Also, when a disturbance near the natural frequency acts, even if the pseudo-spring constant of the mechanical vibration system is changed to change the resonance frequency, the phase does not change at all before changing the pseudo-spring constant. It is preferable to design a mechanical vibration system. If the mechanical vibration system is such that a phase delay occurs when the resonance frequency is changed by changing the pseudo-spring constant of the mechanical vibration system, a configuration that compensates for the phase delay is used. For example, a phase adjuster that operates when a phase delay occurs and compensates for the phase delay is provided. By doing so, the first vibration system and the second vibration system
Since the phase delay of the vibration system can be prevented, the phase difference between the horizontal and vertical vibration systems can always be maintained at a predetermined value.

Further, even when the transmissivity of the first vibration system and / or the second vibration system is reduced, the first transmissivity at the frequency where the disturbance acts always becomes 1 or more. If the predetermined gain and / or the second predetermined gain is determined, that is, if the magnitude of the output displacement is always larger than the static displacement obtained from the command signal, even if the command signal is given, the signal becomes The phenomenon that it is too small and does not vibrate does not occur. In order to cause the movable part of the elliptical vibrator to perform the elliptical vibration, it is preferable that the phase difference between the horizontal vibration displacement and the vertical vibration displacement is about 60 degrees. With this phase difference, components on the track of the movable section can be transported at the maximum transport speed.

[0024]

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

FIG. 1 shows a block diagram of an elliptical vibration device according to a first embodiment of the present invention (for example, this is the elliptical vibration parts feeder shown in the conventional example).
26. The horizontal vibration system, ie the first
The displacement X of the mechanical vibration system 32 is detected by the horizontal vibration displacement detector 33. The output of the horizontal vibration displacement detector 33 is
It is supplied to a first controller 39 for controlling horizontal vibration and a second controller 34 for controlling vertical vibration. The output of the first controller 39 is supplied to a first vibration drive source 41 via a first power amplifier 40, where an exciting force is generated in the horizontal direction, and a horizontal vibration system of the elliptical vibration device 26, That is, it is supplied to the first mechanical vibration system 32. That is, the control system in the horizontal direction forms a closed loop as a whole. On the other hand, the output of the second controller 34 is supplied to the second vibration drive source 3 via the second power amplifier 35.
6, where an exciting force is generated in the vertical direction, and is supplied to the vertical vibration system of the elliptical vibration device 26, that is, the second mechanical vibration system 37. Further, the second mechanical vibration system 3
7 is a vertical vibration displacement detector 38.
And this is fed back to the output of the second controller 34.

FIG. 2 is a block diagram showing FIG. 1 of this embodiment in more detail. That is, the first controller 39 in the present embodiment includes, for example, a phase shifter 42, a high gain amplifier 43, and an amplitude adjustment limiter (saturation element) 44. The output of the first controller 39 is
The output is supplied to a first power amplifier 40 having a gain K _a1 , and this output is supplied to an electromagnet as a first vibration drive source 41. An electromagnet has a phase difference between voltage and force, and 1 / (s + a
₁ ) (s is a Laplace transformer (the same applies hereinafter), and a ₁ is a constant). Thereby, the first mechanical vibration system 32 in the horizontal direction is vibrated. In the first mechanical vibration system 32, when the mass m ′, that is, the mass m ′ of the movable portion is vibrating at the acceleration d ² X / dt ² , 1 /
When via the integral element of s, the speed dX / dt, and the is multiplied by the attenuation factor c ₁ of the first mechanical vibration system 32 to act on the mass m 'as an attenuation factor. The speed dX / dt is the displacement X becomes through the integral element, is multiplied by the spring constant k ₁ of the first mechanical vibration system 32 to act as a restoring force. This horizontal vibration displacement is obtained by the horizontal vibration displacement detector 3
3 is supplied to the first controller 39 and the second controller 34. That is, since the first mechanical vibration system 32 performs the resonance vibration, the phase difference between the force and the displacement is 90 degrees, and the phase delay of the electromagnet 41 in the horizontal direction is also 90 degrees. The phase difference between the input and the displacement X of the first mechanical vibration system 32 is 180 degrees. Since the horizontal control system performs self-excited vibration, the phase controller 42 of the first controller 39 The set phase difference α is zero.

On the other hand, the second controller 34 supplied with the displacement X of the first mechanical vibration system 32
Similarly to the first embodiment, the second power amplifier 35 includes a phase shifter 45, a high gain amplifier 46, and an amplitude adjustment limiter (saturation element) 47. The output is supplied to a second power amplifier 35 having a gain _Ka2 . Output is the second vibration drive source 3
6 is supplied to the electromagnet. This second vibration drive source 36
Also has a delay element of 1 / (s + a ₂ ), and, like the first vibration drive source 41, produces a phase delay of 90 degrees. Thereby, the second mechanical vibration system 37 in the vertical direction of the elliptical vibration machine 26
Is excited. Similarly to the first mechanical vibration system 32, the mass m ′ of the second mechanical vibration system 37 has an acceleration d ² Y / dt.
When oscillating at ² , through the integral element of 1 / s,
The velocity dY / dt is multiplied by the damping rate c ₂ of the second mechanical vibration system 37 to act on the mass m ′ as the vibration damping rate. Further, when the speed dY / dt passes through the integral element, the displacement becomes Y. , multiplied by the spring constant k ₂ of the second mechanical vibration system 37 acts as a restoring force thereto. At this time, the second mechanical vibration system 37 is forcibly vibrated at a frequency several percent lower than its natural frequency, so that the phase difference between the force and the displacement is 0 degree, and the phase shifter 45 of the second controller 34
Is set to a phase lead of 30 degrees.

Further, in this embodiment, the second mechanical vibration system 37
During the closed loop in which the vibration displacement is fed back, the phase delay of the second vibration drive source 36 is compensated. That is, the phase adjuster 27 outputs the output of the second controller 34 via the phase adjuster 27 (which may be a differentiator) having a lead element of γ = 90 degrees and the gain K _k. Is supplied to This gain K _k is set to, for example, a value about several times the spring constant k of the second mechanical vibration system 37 in this embodiment.

The amplitude adjustment limiter 44 has an amplitude controller (not shown) which receives the output of the horizontal vibration displacement detector 33 in the horizontal direction, and the amplitude adjustment limiter 47 has a vertical vibration displacement (not shown). Amplitude controllers receiving the outputs are respectively connected. These amplitude controllers have the same structure, and have a comparator. The desired amplitude is set at one input terminal, and the horizontal vibration displacement detector 33 is set at the other input. Or the output of the vertical vibration displacement detector 38 is supplied, and the amplitude adjustment limiters 44 and 47 are automatically adjusted in accordance with the deviation, so that the elliptical vibration in a certain direction having a certain long axis and a certain short axis. In a bowl.

The elliptical vibration device 26 according to the present embodiment is configured as described above. Next, this operation will be described.

That is, the first power amplifier 40 and the second power amplifier 35 are connected to a DC power supply via a switch (not shown), and are turned on by closing the switches. Since the first mechanical vibration system 32 in the horizontal direction vibrates at the resonance frequency, the input of the first controller 39 and the output of the first mechanical vibration system 32 have a phase difference of 180 degrees and are self-excited. I do. The displacement X of the first mechanical vibration system 32, that is, the output of the vibration displacement detector 33 is supplied not only to the first controller 39 but also to the second controller 34, and is supplied to the second controller 34 via the second power amplifier 35. Then, the electromagnet of the second vibration drive source 36 is excited, and forced vibration is performed at a frequency several percent lower than the resonance frequency.
In addition, the phase difference between the force and displacement of the horizontal vibration system in the resonance vibration state is stably maintained at 90 degrees. From now on, even if the resonance frequency slightly changes in the forced vibration,
Since the phase difference hardly changes, the displacement in the horizontal direction and the displacement in the vertical direction are maintained at 60 degrees, and the optimum elliptical vibration condition is obtained.

When the first mechanical vibration system 32 and the second mechanical vibration system 37 are driven as described above, the reaction force of the excitation force of the first vibration drive source 41 is changed to the second mechanical vibration system as shown by the one-dot chain line in FIG. The mechanical vibration system 37 is vibrated, and the reaction force of the excitation force of the second vibration drive source 36 also vibrates the first mechanical vibration system 32 as shown by a two-dot chain line in the figure. That is, the excitation force of the first vibration driving source 41 acts as a disturbance D ₁ to the second mechanical vibration system 37, the excitation force of the second vibrating drive source 36 is applied to the first mechanical vibration system 32 as a disturbance D ₂ I do. However, in the present embodiment, since a large excitation force is given in the horizontal direction as described above, the opposite side,
That is, the disturbance D1 acting on the second mechanical vibration system 37 that vibrates the elliptical vibration device 26 in the vertical direction is the _first disturbance.
It is larger than the disturbance D ₂ acting on the mechanical vibration system 32. Therefore, in the present embodiment, the second mechanical vibration system 37
Is detected, and this is calculated as a feedback gain K _k
, And this is negatively fed back to the output r ₂ of the second controller 34 to form a closed loop.

When the output r ₂ is negatively fed back, the pseudo spring constant increases and the resonance frequency increases. Therefore, the transmission rate in the vertical direction, that is, the output r from the second controller
The ratio of the static displacement E ₂ caused by the signal r ₂ ′ when ₂ = r ₂ ′ · sin (ωt) to the output displacement Y of the second mechanical vibration system 37 caused by the output r ₂ (that is, the transmission rate = Y / E ₂ ) is represented by a solid line L ₂ ′ in FIG.
The shape is as shown by. The resonance frequency at this time is indicated by f ₂ ′. Further, f ₂ is the natural frequency of the vibration system in the vertical direction, that is, the second mechanical vibration system 37, and the dashed line L ₂ indicates the case where the output from the vibration displacement detector 38 is not negatively fed back to the second controller 34. That is, it is a characteristic curve of the transmissivity in the vertical direction when a closed loop is not formed. That is, the transmissivity in the horizontal direction at the driving frequency of the elliptical vibration device 26 is reduced from t ₂ to t ₁ by providing a closed loop for negatively feedbacking after amplifying the detected displacement by a predetermined gain. I do. Accordingly, the amplification factor (transmissivity) of the disturbance D ₁ acting on the second mechanical vibration system 37 near the natural frequency of the second mechanical vibration system 37
Is smaller than the conventional, it is possible to suppress the disturbance D _1. At this time, by reducing the transmission rate, the transmission rate of the command signal from the second controller 34 also decreases, so that the closed-loop feedback gain K _k
Is determined so that the desired vibration does not occur due to the command signal r ₂ , and the transmissivity is such that disturbance can be sufficiently suppressed. In addition, in FIG.
₁ is a natural frequency of the horizontal vibration system, that is, the natural frequency of the first mechanical vibration system 32 (which substantially coincides with the drive frequency), and L ₁ indicated by a two-dot chain line is a horizontal transmissivity, That is, the output from the first controller r ₁ = r ₁ ′
The ratio of the static displacement E ₁ caused by the signal r ₁ ′ when sin (ωt) is set to the output displacement X of the first mechanical vibration system 37 caused by the output r ₁ (ie, transmissivity = X / E)
₁ ).

In this embodiment, such a large disturbance D ₁
Second mechanical vibration system 37 but that occurs, and detecting the displacement of the second mechanical vibration system 37, the detected value is amplified by the gain K _k, from the second controller 34 second vibrating drive source 36
To form a closed loop, increase the quasi-spring constant of the second mechanical vibration system 37, and reduce the vertical transmission rate (this indicates transmission rate = Y / E ₂ ). ing. Therefore, the first vibration driving source 41 by can be suppressed to a low level influence of disturbance D ₁ to vibrate the first mechanical vibration system 32, the desired control can be performed reliably than before. In the present embodiment, since the detected displacement of the second mechanical vibration system 37 is amplified by the gain K _k and negatively fed back, the pseudo-spring constant becomes large and the second mechanical vibration system 37
Becomes higher. In this embodiment, since the phase difference between the force and the displacement of the second mechanical vibration system 37 is set to be zero, the phase difference does not change in this case.

In addition, L ₂ ″ shown by a dotted line in FIG. 3 is a transmissivity when the output from the vertical vibration displacement detector 38 is fed back to the second controller (this is transmissivity = Y / E
₂ ), and f ₂ ″ is the resonance frequency at this time. In this case, the transmission rate in the vertical direction at the driving frequency of the elliptical vibration device 26 is determined by determining the detected displacement by a predetermined value. After amplifying with a gain of, a closed loop for positive feedback is provided, so that it decreases from t ₂ to t _{0. In} this way, the positive feedback may be used to reduce the transmissibility and reduce the influence of disturbance. . However, in this case, resonant vibration is performed at a high frequency from the resonant frequency of the second mechanical vibration system 37 (the driving frequency is substantially the same as the natural frequency f ₁ of the first mechanical vibration system 32) for, The phase difference between the force and the displacement of the second mechanical vibration system 37 is -180 degrees In this embodiment, since the phase difference between the force and the displacement of the second mechanical vibration system 37 is set to 0 degrees, the pseudo spring is used. Phase to compensate for the phase difference changed by reducing the constant A regulator must be provided in this case.

Next, referring to FIGS. 4 and 5, an elliptical vibration device according to a second embodiment of the present invention will be described. Description is omitted.

FIG. 4 shows a block diagram of an elliptical vibration device according to a second embodiment of the present invention, which is indicated generally by 31. In this embodiment, the output of the horizontal vibration displacement detector 33 which detects the output displacement X of the horizontal vibration system of the elliptical vibration device 31, that is, the first mechanical vibration system 32, controls the vertical vibration. 2 is supplied only to the controller 34, and is supplied to the vertical vibration system of the elliptical vibration device 31, that is, the second mechanical vibration system 37 via the second power amplifier 35 and the second vibration drive source 36. Then, the vertical vibration displacement Y of the second mechanical vibration system 37 is detected by the vertical vibration displacement detector 38, and the first controller 3 for the horizontal direction is detected.
9, the first power amplifier 40, the first vibration drive source 4
1 to a first mechanical vibration system 32 in the horizontal direction. The output of the horizontal vibration displacement detector 33 is supplied to the second controller 34 as it is, while the output of the vertical vibration displacement detector 38 is supplied to the first controller 39 as a negative feedback signal.

The first mechanical vibration system 37 of the present embodiment oscillates resonantly, and therefore the phase difference between the force and the displacement is 90 degrees, but the second mechanical vibration system 37 is a few percent of the natural frequency. Since it is driven at a low frequency, the phase difference between force and displacement is 0 degrees. Further, as described above, since the first vibration drive source 41 and the second vibration drive source 36 are electromagnets,
The phase delay is 90 degrees. Therefore, in this embodiment, the phase α is advanced by 60 degrees by the phase shifter 42 of the first controller 39, and the phase difference β is shifted by 30 degrees by the phase shifter 45 of the second controller 34. Can proceed. Therefore, there is a total phase difference of 120 degrees between the input of the phase shifter 42 of the first controller 39 that controls the horizontal direction and the output of the first mechanical vibration system 32 that is the horizontal vibration system. In addition, there is a total between the output of the horizontal vibration displacement detector 33, that is, the input of the phase shifter 45 of the second controller 34 for controlling the vertical direction and the output of the second mechanical vibration system 37 which is a vertical vibration system. Has a phase difference of 60 degrees. Therefore, when the input side of the first controller 39 and the output side of the vertical vibration displacement detector 38 are cut off, and when the input side of the second controller 34 and the output side of the horizontal vibration displacement detector 33 are cut off, In any case, there is a phase difference of 180 degrees between them, and the first mechanical vibration system 32 and the second mechanical vibration system 37 perform self-excited vibration.

The elliptical vibration device 31 according to the second embodiment of the present invention is configured as described above. Next, this operation will be described.

When a DC power supply is connected to the first power amplifier 40 and the second power amplifier 35 via a switch (not shown), the horizontal vibration system performs resonance vibration by self-excited vibration, and the vertical vibration system operates. Forced vibration by self-excited vibration.
Since the first mechanical vibration system 32 in the horizontal direction is a resonance vibration, the phase difference between the force and the displacement is always maintained at 90 degrees, and the phase delay of the electromagnet 41 is constant at 90 degrees.
The phase difference between the horizontal vibration and the vertical vibration is stably maintained at 60 degrees. Therefore, the movable portion performs the elliptical vibration under the optimum condition, and the component is transported on the track formed therein at the maximum transport speed. In addition, even if the power supply or the load on the components in the bowl fluctuates, the horizontal vibration system always performs resonant vibration due to self-excited vibration, maintaining the phase difference between force and displacement at 90 degrees. Continue stably above optimal conditions.

Also in this embodiment, when the elliptical vibration is performed, the excitation force of the first vibration drive source 41 acts on the second mechanical vibration system 37 as a disturbance D _1, as in the above embodiment, and the second vibration drive is performed. Source 3
6 acts as a disturbance D _{2 on} the first mechanical vibration system 32, but also in this embodiment, since a large excitation force is given in the horizontal direction, the opposite side, that is, the vertical direction of the elliptical vibration device 26 Disturbance D _{1 of} the second mechanical vibration system 37 oscillating in the direction
Is larger than the disturbance D ₂ applied to the first mechanical vibration system 32. Therefore, in this embodiment, to detect the vibration displacement Y of the second mechanical vibration system 37, which gain K _k
, And is negatively fed back to the output from the second controller 34 (that is, the command signal). Therefore, the resonance frequency of the second mechanical vibration system 37 increases. In this embodiment,
The gain K _a1 of the second power amplifier 35 and the second vibration drive source 36
, The spring constant k ₁ and the mass m ′ of the second mechanical vibration system 37 are constant (accurately, the mass m ′ of the second mechanical vibration system 37).
Since a little variation), output displacement Y of the second mechanical vibration system 37 to the output r ₂ from the second controller 34, i.e. the transmission rate in the vicinity of the natural frequency decreases reliably. That is, at the frequency of the horizontal excitation force acting as a disturbance D ₂ on the vertical vibration system (this is a frequency near the natural frequency of the second mechanical vibration system 37),
The transmission rate of the mechanical vibration system 37 is much lower than in the past. Therefore, it is possible to suppress the influence of the disturbance D ₁ having a frequency near the natural frequency of the second mechanical vibration system 37 on the second mechanical vibration system 37.

In this embodiment, as in the above embodiment, the first
Since the influence of disturbance due to the first vibration drive source 41 that vibrates the mechanical vibration system 32 is suppressed, desired control can be performed more reliably than before.

FIG. 6 shows a block diagram of an elliptical vibration device according to a third embodiment of the present invention, which is indicated by reference numeral 61 as a whole. The output of the variable frequency power supply 62 is supplied to a first controller 63, and this output is amplified by a first power amplifier 64 and supplied to a piezoelectric actuator serving as a first vibration drive source 65. As a result, the first mechanical vibration system 66 in the horizontal direction is vibrated similarly to the above embodiment, and the horizontal vibration displacement X is detected by the horizontal vibration displacement detector 67, which generates a vertical vibration force. Is supplied to the second controller 68 which outputs a command for performing the operation. The control output of the second controller 68 is supplied to the piezoelectric actuator as the second vibration drive source 70 in the vertical direction via the second power amplifier 69, and vibrates the second mechanical vibration system 71. In addition,
The set phase difference of the second controller 68 is set to 60 degrees. Here, resonance of the first mechanical vibration system 66 is performed by adjusting the variable frequency power supply 62, but the second mechanical vibration system 71 has a phase difference of exactly 60 degrees with respect to this vibration, and Excited. Further, the vibration displacement Y of the second mechanical vibration system is detected by the vertical vibration displacement detector 72, and the detected output is negatively fed back to the output of the second controller as in the first embodiment. I have.

The first controller 63 of the present embodiment
Differs from the first embodiment and the second embodiment in that it does not have a saturation element, but supplies the output from the horizontal vibration displacement detector 67 to an amplitude controller (not shown) and compares it with a predetermined amplitude inside. By supplying the deviation to the first controller 63, a closed loop having a constant amplitude may be formed to keep the horizontal vibration constant. The configuration of the second controller 68 may be the same as that of the first controller 63.

The present embodiment is an elliptical vibration device 61 having such a control system, but the present embodiment can also provide the same effects as those of the first embodiment. That is, the second
After amplifying the displacement of the mechanical vibration system 71 with a predetermined gain, this is negatively fed back to the output of the second controller 68, so that the pseudo-spring constant increases and the resonance frequency increases.
The transmission rate near the natural frequency of the second mechanical vibration system 71 is reduced. Therefore, the influence of the disturbance near the natural frequency of the second mechanical vibration system 71, for example, the influence of the disturbance such as the reaction force due to the exciting force in the horizontal direction by the first vibration drive source can be reduced as compared with the related art. Therefore, desired control can be performed more reliably than before.

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

For example, in the above embodiment, the first vibration drive source 41 and the second vibration drive source 36 use electromagnets having a phase delay of 90 degrees, but the piezoelectric type shown in the third embodiment is used. A device having no phase delay, such as an electrodynamic type, may be used. In this case, of course, there is no need for a phase adjuster to compensate for phase lag during the closed loop. Further, as a method of controlling the horizontal output displacement X and the vertical output displacement Y of the elliptical vibrator that performs the elliptical vibration, another structure may be used.
For example, each amplitude is controlled without supplying the horizontal output displacement X to the first controller for controlling the horizontal direction or the second controller for controlling the vertical direction. The present invention is applicable to an elliptical vibration device that performs control.

In the above-described second and third embodiments, the detected displacement of the second mechanical vibration systems 37 and 71 in the vertical direction is negatively fed back to the outputs of the second controllers 34 and 68 to generate a pseudo signal. Although the spring constant is increased to increase the resonance frequency, positive feedback may be performed to reduce the resonance frequency and reduce disturbance near the natural frequency as described in the first embodiment. . In short, change the spring constant,
The natural frequency and the resonance frequency are kept away from each other to reduce the transmission rate of disturbance. However, in this case, in the above embodiment, the phase difference between the force and the displacement of the second mechanical vibration systems 37 and 71 is 0.
Because the degree is set, it is necessary to adjust the phase.
Alternatively, in the above embodiment, if the natural frequency of the second mechanical vibration systems 37 and 71 is set to be several percent lower than the drive frequency and the phase difference between the force and the displacement is set to -180 degrees, the second vertical Even if the detected displacement of the mechanical vibration systems 37 and 71 is positively fed back to the outputs of the second controllers 34 and 68 to reduce the pseudo spring constant, the phase difference between the second mechanical vibration systems 37 and 71 does not change. In this case, there is no need to adjust the phase.

Furthermore, in the above embodiment, the detected displacement of the second mechanical vibration system 37, 71 in the vertical direction is negatively fed back to the output of the second controller 34, 68. After the magnitude of the command signal to be given to the first and second vibration driving sources 37 and 71 is determined, and immediately before the second vibration drive source 70 that applies the exciting force to the second mechanical vibration systems 37 and 71,
Positive feedback or negative feedback may be provided between the controllers 34, 68 and the second mechanical vibration systems 37, 71. Therefore, for example, instead of making the output of the second controller 34, 68 have a positive or negative feedback, the second power amplifier 35,
Positive feedback or negative feedback may be applied to the output of 69.

In the above-described embodiment, the vibration displacement Y of the second mechanical vibration system 37, 71 in the vertical direction is positively or negatively fed back to the output of the second controller 34, 68 for controlling the vertical direction, thereby providing a closed loop. The resonance frequency is kept away from the natural frequency by changing the pseudo-spring constant of the second mechanical vibration system 37, and the transmission rate in the vertical direction is reduced. However,
When a disturbance having a frequency near the natural frequency of the first mechanical vibration systems 32, 66 greatly affects the first mechanical vibration systems 32, 66, the vibration displacement Y of the first mechanical vibration systems 32, 66 in the horizontal direction is determined. , First controller 3 for controlling the horizontal direction
9 and 63 to form a closed loop.
The transmission rate in the horizontal direction may be reduced by changing the pseudo-spring constant of the mechanical vibration system 37. Also, the first mechanical vibration system 32,
A disturbance having a frequency near the natural frequency of 66 greatly affects the first mechanical vibration systems 32 and 66, and a disturbance having a frequency near the natural frequency of the second mechanical vibration systems 37 and 71 generates a second mechanical vibration system 37. In the case of acting largely on 71, the respective displacements may be fed back to reduce the horizontal transmissivity and the vertical transmissivity so as to suppress the influence of disturbance in both vibration systems.

In the above embodiment, the phase difference angle between the horizontal direction and the vertical direction is optimized at 60 degrees. However, according to the transport theory of the elliptical vibration, this is slightly changed according to the amplitude of the long axis. Therefore, the phase differences α and β may be changed so as to be variable, for example, in a range of 45 degrees to 75 degrees.

[0052]

As described above, according to the elliptical vibration device of the present invention, for example, the reaction force or the second force applied to the second vibration system from the first vibration drive source when the first vibration system is vibrated. When a disturbance having a frequency near the natural frequency of the first vibration system and / or the second vibration system, such as a reaction force received by the first vibration system from the second vibration drive source when exciting the vibration system, the first vibration system Even if it acts on the second vibration system, the influence of the disturbance can be suppressed, so that the desired control can be performed more reliably than before.

[Brief description of the drawings]

FIG. 1 is a block diagram of an elliptical vibration device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing details of the device.

FIG. 3 is a diagram illustrating a relationship between a driving frequency and a transmission rate according to the first embodiment of the present invention.

FIG. 4 is a block diagram of an elliptical vibration device according to a second embodiment of the present invention.

FIG. 5 is a block diagram showing details of the device.

FIG. 6 is a block diagram of an elliptical vibration device according to a third embodiment of the present invention.

FIG. 7 is a diagram showing a configuration of a main part in the embodiment of the present invention.

FIG. 8 is a block diagram showing details of the device.

FIG. 9 is a diagram showing a relationship between a main frequency and a transmissibility in the embodiment of the present invention.

FIG. 10 is a diagram showing a configuration of a main part in which a vibration driving source has a phase delay in the embodiment of the present invention.

FIG. 11 is a partial sectional view of an elliptical vibration parts feeder according to a conventional example of the present invention.

FIG. 12 is a plan view taken along the line [12]-[12] in FIG. 11;

FIG. 13 is a bottom view of the elliptical vibration parts feeder of FIG. 11;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 21 Mechanical vibration system 22 Vibration displacement detection means 23 Vibration drive source 24 Phase adjuster 26 Elliptical vibration device 27 Phase adjuster 31 Elliptical vibration device 32 1st mechanical vibration system 33 Horizontal vibration displacement detector 34 2nd controller 35 2nd power amplifier 36 second vibration drive source 37 second mechanical vibration system 38 vertical vibration displacement detector 39 first controller 40 first power amplifier 41 first vibration drive source 61 elliptical vibration device 63 first controller 64 first power amplifier 65 first vibration Driving source 66 First mechanical vibration system 67 Vibration displacement detector 68 Second controller 69 Second power amplifier 70 Second vibration driving source 71 Second mechanical vibration system 72 Vertical vibration displacement detector A Displacement D disturbance D ₁ disturbance D ₂ disturbance f ₁ natural frequency of the first mechanical vibration system f ₂ natural frequency of the second mechanical vibration system f ₂ ′ resonance frequency f of the second mechanical vibration system f ₂ "resonance frequency f _n the natural frequency f _n '(when you increase the pseudo spring constant) resonant frequency f _n of the second mechanical vibration system" (when the reduced pseudo spring constant) gain of the resonance frequency I oscillation drive source K _k feedback gain k spring constant k ″ spring constant k _f spring constant r command signal r ₁ command signal r ₂ command signal t ₀ transmission rate t ₁ transmission rate t ₂ transmission rate X (horizontal) displacement Y (vertical direction) ) Displacement

Claims (8)

[Claims] 1. At least a predetermined phase difference between the horizontal vibration and a horizontal vibration by a first vibration force vibrating in the horizontal direction and a second vibration force vibrating in the vertical direction. An elliptical vibrator having a movable part that performs elliptical vibration by vibrating in the vertical direction; a first controller having at least an amplifying part;
A first power amplifier for power amplifying the output of the controller;
A first vibration drive source that receives the output of the first power amplifier and generates the first vibration force, and the elliptical vibration that vibrates in the horizontal direction by receiving the first vibration force of the first vibration drive source A first vibration system of the machine, a second controller having at least an amplification unit,
A second power amplifier for power amplifying the output of the controller;
A second vibration drive source that receives the output of the second power amplifier and generates the second excitation force, and the elliptical vibration that vibrates in the vertical direction by receiving the second excitation force of the second vibration drive source An elliptical vibration device having a second vibration system of the machine, comprising: a first vibration displacement detection means for detecting the horizontal vibration displacement of the movable portion; and the horizontal vibration detected by the first vibration displacement detection means. The vibration displacement in the direction is amplified by a first predetermined gain, and this is amplified by the first controller and the first controller.
When a disturbance having a frequency near the natural frequency of the first vibration system acts on the first vibration system by forming a first closed loop by feeding back the vibration to the vibration drive source, the first closed loop is formed. A second vibration displacement detecting means for changing a pseudo-spring constant of the vibration system to reduce a transmission rate of the first vibration system and / or detecting the vertical vibration displacement of the movable portion; The vertical vibration displacement detected by the detecting means is amplified by a second predetermined gain, and the amplified vibration displacement is fed back between the second controller and the second vibration drive source to form a second closed loop. By doing
When a disturbance having a frequency near the natural frequency of the second vibration system acts on the second vibration system, the pseudo-spring constant of the second vibration system is changed to reduce the transmissibility of the second vibration system. An elliptical vibration device characterized by the above-mentioned. 2. The first vibration drive source has a phase delay, and a phase adjuster for compensating the phase delay is provided in the first closed loop and / or the second vibration drive source has a phase delay. 6. The elliptical vibration device according to claim 1, wherein the drive source has a phase delay, and a phase adjuster for compensating the phase delay is provided in the middle of the second closed loop. . 3. The method according to claim 2, wherein the first vibration system is in resonance vibration.
The elliptical vibration device according to claim 1, wherein the transmissivity of the second vibration system is reduced. 4. The elliptical vibration device according to claim 1, wherein at least the first vibration system performs self-excited vibration. 5. The first vibration system and / or the first vibration system and / or the second vibration system so that a phase delay does not occur even when the pseudo spring constant is changed. 5. The elliptical vibration device according to claim 1, wherein a second vibration system is set. 6. By changing the pseudo-spring constant, the first vibration system and / or the second vibration system
5. The elliptical vibration device according to claim 1, wherein when a phase delay occurs, the phase delay is compensated. 7. The elliptical vibration device according to claim 1, wherein the transmissivity at the frequency of the disturbance acting is always in a range of 1 or more. 8. The elliptical vibration device according to claim 1, wherein the predetermined phase difference is set to a phase difference of 60 degrees.