KR100193206B1 - Vibration generating device and method - Google Patents

Abstract

In the present invention, the rotation center rotates a plurality of eccentric masses installed coaxially with each other to generate vibration while the rotation speed (frequency) and phase angle (amplitude) of each eccentric mass are independent so that the amplitude is not affected by the frequency. For the purpose of providing a generator and a method, a drive side eccentric mass rotated by a position servomotor and another position type servomotor are rotated, and a rotation center is the same as the drive side eccentric mass and is disposed coaxially. A tracking side eccentric mass and a pulse control unit input to each of the motors are provided so as to change the amplitude by changing the relative positions of the driving side and the tracking side eccentric mass by the adjustment pulse through the pulse control input to each motor. It is.

Description

Vibration generating device and method

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vibration generating device. In particular, the rotational center rotates a plurality of eccentric masses disposed coaxially with each other to generate vibration while the rotational frequency (frequency) and phase angle (amplitude) of each eccentric mass are independent and the amplitude is increased. The present invention relates to a vibration generating device and a method which is not affected by frequency.

In a component aligner or the like that aligns components by vibrating action, a vibration generating device for generating vibration is provided. In a device that performs a predetermined operation by vibrating action, the frequency and amplitude of vibration may need to be changed depending on the purpose of operation, and the vibration generating device can change the generated frequency and amplitude. It needs to be configured to

As one of such conventional vibration generating apparatuses, there is a vibration generating apparatus described in Japanese Patent Laid-Open No. 61-101275. The apparatus, as shown in FIG. 1, has a substantially rectangular parallelepiped, box-shaped, vibrating support on the frame 2 by coil springs 3, 3 '. It is becoming. The bearing members 4, 4 'are arranged coaxially with the vibrator 1 facing each other. The drive side 5 is supported by each bearing member 4 and 4 '. 6 is a motor. The motor 6 uses the speed variable type which can change a rotation speed in a fixed time. In addition, the motor 6 has a motor output shaft 7 coaxial with the drive side 5 and is connected using couplings 8 and 9 and a spring 10.

11 and 11 'are drive side eccentric masses provided on both ends of the drive side 5 in the vibrating body 1. (12) and (12 ') are the tracking side eccentric mass provided in the vibrating body 1 at the both ends of the tracking rotary shaft 13 inside the drive side eccentric mass. On the other hand, in the hysteresis brake 14 provided inside the vibrating body 1, the resistance value with respect to the rotation of the brake shaft 18 protruding from the brake 14 changes by the applied voltage. 2 is a circuit diagram for changing the voltage applied to the hysteresis brake 14.

Reference numeral 15 denotes a spur gear fixed to the following rotary shaft 13. The spur gear 15 and the spur gear 16 fixed to the brake shaft 18 of the hysteresis brake 14 are meshed with each other. By changing the voltage applied to the hysteresis brake 14, it is possible to change the rotational resistance of the first longitudinal rotating shaft 13. When the motor 6 rotates, the drive side 5 rotates, and the drive side eccentric masses 11 and 11 'are rotated in the direction of the arrow in Fig. 4, for example. When the drive side eccentric mass (11, 11 ') is rotated, centrifugal force is generated on the drive side eccentric mass (11, 11'), and the following side eccentric mass (12, 12 ') is also driven by the [balance principle of centrifugal force]. Rotate in the same direction as the direction of mass rotation. The tracking side eccentric mass 12, 12 'is brought to a position deviating in the counterclockwise direction from the 180 ° position with the driving side eccentric mass 11, 11' when no rotational resistance is applied.

The hysteresis brake 14 uses a variable resistor circuit shown in FIG. 2 to select and set a predetermined value as the applied voltage value, and a rotational resistance is generated. The rotational resistance is formed by the spur gears 15 and 16 and the following rotation shaft. It is applied to the following side eccentric mass (12, 12 ') via (13). This rotational resistance is applied counterclockwise in FIG. Accordingly, the following side eccentric mass 12, 12 'is rotated to the point indicated by the dashed-dotted line in FIG. Since the mass of the virtual eccentric mass is increased by combining the driving side eccentric mass (11, 1 ') and the following side eccentric mass (12, 12'), the amplitude of vibration in this state is in the state before the rotational resistance is applied. That is greater than the amplitude of the vibration. Thus, by changing the value of the voltage applied to the hysteresis brake 14, the resistance value applied to the rotation of the following side eccentric mass 12, 12 'is changed, whereby the following side eccentric mass 12, 12'. Will change its position.

As a result, the relative positions of the driving side and the driving side eccentric mass 12, 12 'and (11, 11') change, so that the amplitude of vibration generated changes. In addition, if the rotational speed of the motor 6 is changed, the rotational speed of the drive side 5, that is, the rotational speed per set time changes, thereby changing the rotational speed per fixed time of the drive-side eccentric mass 11, 11 '. Therefore, the vibration frequency, that is, the frequency of the vibration, changes at a predetermined time and the original vibration generated in the vibrating body 1.

5 shows the relationship between the rotational resistance torque T generated in the following side eccentric mass 12 and 12 'and the amplitude xo of the vibrating body 1 by receiving the rotational resistance of the hysteresis brake 14. It is a graph which shows an example of the measured experiment. The characteristic curve 24 is when the angular velocity (w) of the eccentric mass is about 180 rad / sec, the characteristic curve 26 is 140 rad / sec, the characteristic curve 27 is 120 rad / sec, and the characteristic curve 28 is 100 rad / sec.

As can be seen from this figure, the conventional vibration generating apparatus has a change in the angular velocity of the driving side eccentric mass (11, 11 '), that is, the change in rotational resistance acting on the following side eccentric mass (12, 12') according to the frequency change. As a result, the relative position change between the driving side and the tracking side eccentric mass, that is, the amplitude changes, which makes it difficult to change the frequency while maintaining a constant amplitude.

In addition, in order to maintain a constant amplitude at the change of the angular velocity of the eccentric mass, that is, the frequency change, it is difficult to set the alignment condition because the resistance value of the resistance adding means must change according to the change of the angular velocity of the eccentric mass.

In addition, it is difficult to digitize the resistance adding means, making it difficult to make a database of operating conditions.

In addition, since the resistance value of the variable resistor does not appear as a numerical value, it is difficult to set it unless an expert is skilled.

The present invention has been invented to solve the problems of the prior art as described above, wherein the drive-side eccentric mass rotates by the position-type servomotor, and rotates by another position-type servomotor, and the rotation center is the drive-side eccentricity. Equivalent to the mass and disposed coaxially with a tracking side eccentric mass and a pulse control unit input to each of the motors to change the relative positions of the driving side and the tracking side eccentric mass by an adjustment pulse through pulse control input to each motor. It is an object of the present invention to provide a vibration generating device for varying the amplitude by which the rotational frequency (frequency) and the phase angle (amplitude) of each eccentric mass are independent so that the amplitude is not affected by the frequency.

1 is a cross-sectional view of a conventional vibration generating device.

2 is a variable resistor circuit diagram of the vibration generating device of FIG.

3 is an exploded perspective view of main parts of the vibration generating device of FIG.

4 is a view for explaining the rotational resistance acting on the eccentric mass of the vibration generating device of FIG.

5 is a graph showing the relationship between the rotational resistance torque and the amplitude of the vibration generating device of FIG.

6 is a cross-sectional view of a vibration generating device according to the present invention.

7 is a circuit diagram of a control device of a vibration generating device according to the present invention.

8 is a schematic view using the vibration generating device according to the present invention in the alignment of parts.

9 is a flowchart of a control method of a vibration generating device according to FIG. 8;

* Explanation of symbols for main parts of the drawings

101: vibrating body 102: support

103: spring 104: bearing

110: driving side 111: driving side eccentric mass

112: drive side motor 113: motor shaft

114: motor shaft gear 115: drive side gear

120: following side 121: following side eccentric mass

122: following side motor 123: motor shaft

124: motor shaft gear 125: following shaft gear

131: servo driver 133: driver interface

134: high speed output unit 135: high speed input unit

136: control unit 137: memory

138: PLC 139: personal computer

The vibration generating device of the present invention will be described in detail below with reference to FIGS. 6 to 9.

6 shows a vibration generating apparatus according to the present invention, in which the vibrating body 101 having a predetermined weight has a space of a substantially rectangular parallelepiped shape and is box-shaped, and the coil spring 103 is vibrated on the support 102. Is supported. The bearing members 104 are arranged coaxially with the vibrating body 101 facing each other. The driving side 110 is supported by each bearing member 104. On the other hand, the position-type drive side servo motor 112 and the follow-up servo motor 122, which can change the rotation speed in a predetermined time and can be controlled by pulse adjustment, are respectively provided by vibrating bodies (116 and 126) by motor brackets 116 and 126. 101). The driving side eccentric mass 111 is provided at both ends of the driving side 110 in the vibrating body 101, and the tracking side eccentric mass 121 is located within the oscillating body 101 inside the driving side eccentric mass 111. It is provided at both ends of the following rotating shaft (120).

The following rotary shaft 120 is connected to the circumferential surface of the drive side 110 by the bearing member 125 and is maintained at a constant distance from the drive side eccentric mass 111 by the spacer 130.

The spur gear 115 is fixed to the driving side 110, and the high spur gear 125 is fixed to the following rotation shaft 120. On the other hand, the spur gear 115 of the drive side and the spur gear 114 of the drive side motor shaft 113 are interlocked with each other, and the spur gear 125 of the following shaft and the spur gear of the following motor shaft 123 are interlocked. 124 is also interlocked.

7 is a configuration diagram of the control device of the vibration generating device of the present invention, the high speed output unit (High Speed output) 134 for input to the servo driver 132 for the control of the servo motor 112, 122, Driver interface 133 for commanding servo on and off of servo driver 132, High speed input 135 for encoder Z phase input of servo motor for home setting, home setting, motor It consists of a control unit 136 which is responsible for the rotational speed change and the phase control of the eccentric mass, and the control unit 136 can store each operation condition using the nonvolatile memory 137, and through RS-232 communication. Communication with a personal computer 38 and a programmable logic controller (PLC) 138 is possible.

The operation of the vibration generating device of the present invention will be described below.

8 is a schematic diagram using the vibration generating device according to the present invention for aligning parts. The control of the driving side motor 112 and the following side eccentric mass 121 for controlling the driving side eccentric mass 111 in the Y and Z-axis directions is shown. The following side motor 122 is installed in the vibrating body 101 to adjust the frequency by adjusting the rotational speed of the motor, and the amplitude is controlled through the phase angle control of the eccentric mass on the driving side and the following side.

In addition, the excitation force is generated in the Y direction and the Z direction, respectively, thereby enabling three-dimensional excitation by the two-way coupling. The excitation device installed in the Y direction changes the posture of the component by generating an excitation force in the up and down direction to the component supplied to the vibrating body 101, and the excitation device installed in the Z direction controls the flow of the component supplied to the vibrating body. This vibration value is stored in the nonvolatile memory 137. The vibration value stored in the memory 137 can be easily manipulated by the PC 139 through RS-232C.

9 is a control flowchart of the control device of the vibration generating device of the present invention.

First, the initial home position setting so that the phase difference θ = 180 degrees of each motor in the XY and XZ planes is achieved by driving the drive side eccentric mass 111 and the follow side eccentric mass 121 to the drive side 110 and the following rotation shaft 120. Only once after tightening. In this method, the spur gear 114 fixed to the drive side motor 111, which rotates the drive side and the following side motors 111 and 121 and rotates to the Z-phase generating point, rotates so that the drive side spur gear 115 rotates. And the driving side 110 fixed to the spur gear 115 and the driving side eccentric mass 111 rotate, and the spur gear 124 fixed to the following motor 122 rotates to form the spur gear ( Following the rotational force, the following side spur gear 125 rotates, and the following side 120 and the following side eccentric mass 121 fixed to the spur gear 125 rotate. The driving side eccentric mass 111 is rotated at the position where the driving side eccentric mass 111 is at the Z-phase occurrence point, so that the following side eccentric mass 121 and the driving side eccentric mass 111 coincide with each other. Initial home setting is completed by counting and remembering the number of pulses up to 0 °. The number of pulses is an offset value of both eccentric masses 111 and 121. Therefore, in order to obtain a desired phase difference (amplitude), it can be seen how much it should be rotated in the Z phase position.

On the other hand, with respect to the Z phase generating point, the encoder attached to the servo motor typically outputs A phase, B phase, and Z phase pulses when rotating, and it is possible to know how much the motor has rotated to A phase or B phase. The direction of rotation can be known depending on which pulse comes out of B phase first.In case of Z phase, one pulse per rotation of the motor comes out and its position is determined when the encoder is attached. Regardless of where you rotate, it occurs at a fixed location.

On the other hand, the method of controlling the amplitude during the operation, when the eccentric mass (11) 121 is rotated as described above under the rotational force of the drive side motor 112 and the following side motor 122, the drive side motor and the following side motor If one of the pulses input to one motor is dropped out, the rotation angle of one motor will be changed by one pulse. Therefore, the rotation angle of the eccentric mass connected to the motor will be changed. .

On the other hand, frequency control is possible by rotation speed control of each motor. If you want to increase the number of revolutions, you can reduce the period of the input pulse (more pulses) and if you want to decrease the number of revolutions, you can increase the period of the input pulse (less pulses). Since the rotation angle per pulse is set equally, the phase difference between the two eccentric masses initially set is equal to the phase angle of both eccentric masses even if the rotation speed is changed (frequency change). Amplitude) does not change. Therefore, when controlled in this manner, the phase angle (amplitude) is not affected by the rotation speed (frequency) because the rotational speed and phase angle of the eccentric mass are independent.

On the other hand, when the parts are supplied to the vibrating body 101 after the origin setting as described above, the part number information supplied from the PLC (138_) is read and accordingly, the rotation speed and phase difference previously set in the operation condition database stored in the memory 136 (E.g., N _XY = 180 rpm, θ _XY = 168 degrees, N _XZ = 1500 rpm, θ _XZ = 150 degrees). Position 121.

Subsequently, a pulse output of a frequency corresponding to the rotational speed of each motor is started, and the motors of the XY and XZ axes are started at a set speed to rotate each eccentric mass to generate vibration.

When the alignment of the components supplied to the vibrating body 101 is completed after a set time in the PLC, a completion signal is sent, and each motor driver 132 is sub-off.

On the other hand, by analyzing the encoder signal from each of the servo motors 112 and 122 to obtain the relative angle between the drive side eccentric mass and the following side eccentric mass, the reference angle which is the phase difference between the relative angle, the set solid eccentric mass and the following side eccentric mass, Compare and control the pulse applied to each servo motor if it is larger or smaller than the reference angle.

As described above, according to the present invention, since the angular velocity control and the phase difference control of the driving side eccentric mass and the following side eccentric mass are independent of each other, the amplitude (phase difference) can be controlled constantly regardless of the angular velocity (frequency). Therefore, when the vibration device for sorting parts is made, setting of sorting conditions for sorting parts is easy.

Also, in case of controlling the amplitude, if one input pulse of one motor is dropped among the pulses input to the driving or following motor, the eccentric mass change occurs by one pulse, so amplitude control is possible during operation and each operation is performed to the controller. The condition can be stored and used as a reference value when sorting similar parts, which can shorten the time for setting the alignment value for sorting parts.

In addition, the size of the device can be reduced by installing the drive-side rotary motor inside the vibrating body.

Claims (5)

The drive side eccentric mass rotated by the position type servomotor, and the other side type servo motor rotate, the center of rotation is the same as the drive side eccentric mass and is disposed coaxially, and the following side eccentric mass is input to each motor. And a pulse control unit configured to change the amplitude by changing the relative positions of the driving side and the following side eccentric masses by an adjustment pulse through pulse control input to each motor. The drive side eccentric mass rotated by the position type servomotor, and the other side type servo motor rotate, the center of rotation is the same as the drive side eccentric mass and is disposed coaxially, and the following side eccentric mass is input to each motor. In the vibration generating device having a pulse control means, the encoder signal from each position type servomotor is analyzed to obtain a relative angle between the driving side and the following side eccentric mass, and the relative angle is compared with the reference angle. The method of generating a vibration of the vibration generating device, characterized in that for controlling the pulse applied to the position-type servo motor, respectively, if larger or smaller than the angle. The vibration generating device according to claim 1, wherein a drive side motor for rotating the drive side eccentric mass and a tracking side motor for rotating the tracking side eccentric mass are provided together in the vibrating body. 4. The driving side eccentric mass is installed at both ends of the driving side, and the tracking side eccentric mass is provided at both ends of the following rotational shaft inside the driving side eccentric mass, and the spur gear of the driving side and the driving side motor shaft are provided. The purge gear is bitten to each other, and the spur gear of the following shaft and the spur gear of the following motor shaft are bitten to each other, so that the rotational force of each servomotor is transmitted to each eccentric mass through the spur gear. . The vibration generating apparatus of claim 1, wherein the control unit includes a memory unit for storing operation conditions such as an origin setting value, an amplitude, and a frequency value, and uses the reference value when sorting similar parts, thereby shortening the alignment value stunting time. .