KR102648202B1 - Workpiece conveyance apparatus - Google Patents

Abstract

A work transport device capable of stably transporting a work by effectively reducing the jump of the work is provided.
A vibrating body 3A having a conveyance surface 331 for conveying a workpiece in a loaded state; By generating at least two modes, the conveying surface 331 is bent in the normal direction, thereby providing a vibration generating unit that generates vibrations that form an elliptical orbit at a point on the conveying surface 331 when viewed from the side.

Description

Work conveyance device {WORKPIECE CONVEYANCE APPARATUS}

The present invention relates to a workpiece transport device that transports workpieces by generating traveling waves on a transport surface.

As a conventional work transport device, there is one described in Patent Document 1, for example. The work transport device described in Patent Document 1 is track-type and has a transport surface on which the work is loaded, and traveling wave generation means for generating a traveling wave that circulates on this transport surface, and the traveling wave generated by the traveling wave generating means causes movement on the transport surface. It is configured to return work.

In such a workpiece transport device, bending occurs in the transport surface, so that the traveling wave becomes a bending traveling wave. When a bending traveling wave occurs, an elliptical motion viewed from the side based on the conveying direction occurs at each position on the conveying surface, and the work loaded on the conveying surface moves in the direction of the traveling wave by the horizontal velocity component of this elliptical motion. The product is returned in the reverse direction.

Patent Document 1 also proposes a configuration in which a plurality of slits extending in the width direction are formed on the conveyance surface in the circumferential direction (FIGS. 11 and 12 of Patent Document 1). By forming a slit in the conveyance surface in this way, the horizontal velocity component of the elliptical motion generated on the conveyance surface by the bending traveling wave can be increased.

In this way, in the conventional work transport device using bending traveling waves, the work jumps due to vibration in the vertical direction of the elliptical motion on the transport surface. In order to suppress jumping of the workpiece, it is desirable to increase the horizontal amplitude of the elliptical motion relative to the vertical amplitude (that is, to generate a lateral elliptical motion). As described above, the configuration in which a slit is formed on the conveyance surface is also a means for generating lateral elliptical motion. However, even with such a slit configuration, jumping suppression was not sufficient. Furthermore, in this configuration, as shown in FIG. 10, if the workpiece 103 is not very large relative to the slit 102, the workpiece 103 gets caught in the slit 102, that is, in the recess provided in the conveyance surface 101. As a result, the workpiece 103 did not move smoothly along the conveyance surface 101, and in that state, it received vibration in the vertical direction of the elliptical motion, and there were cases where the workpiece 103 jumped.

Japanese Patent Publication No. 2017-43431

Therefore, the object of the present invention is to provide a workpiece transport device that can stably transport a workpiece by effectively reducing the jump of the workpiece.

The present invention provides a vibrating body having a conveying surface for conveying a workpiece in a loaded state, and generating in the vibrating body a compact wave including compressive displacement and tensile displacement in a direction along the conveying direction of the workpiece in at least two modes. A work transport device is characterized by comprising a vibration generating unit that bends the transport surface in the normal direction to generate vibration that forms an elliptical orbit at a point on the transport surface when viewed from the side.

According to this configuration, in the vibrating body in which the small density wave is generated, a point on the conveyance surface generates vibration that forms an elliptical orbit when viewed from the side. For this reason, the elliptical axis ratio (ratio of horizontal amplitude to vertical amplitude) is large, and the shape of the motion trace (viewed from the side) is very horizontally long, making it possible to generate elliptical motion on the conveyance surface.

And, the vibration generator has a plurality of displacement generators that provide the compressive displacement and the tensile displacement to the vibrating body, and the plurality of displacement generators are divided into a number of groups corresponding to the number of modes. , the plurality of displacement generating units may be provided with a control unit that applies a sinusoidal wave with a frequency corresponding to the natural mode in which the small density wave is generated at a different phase in each of the above-mentioned groups.

According to this configuration, vibration can be generated on the conveyance surface by application of a sine wave to the displacement generation unit by the control unit.

According to the present invention, an elliptical motion in which the elliptical axis ratio is large and the shape of the motion trajectory is very horizontally long can be generated on the conveyance surface. For this reason, by effectively reducing the jump of the work, the work can be transported stably.

1 is a perspective view schematically showing the configuration of a workpiece transport device according to an embodiment of the present invention.
Fig. 2 is a perspective view schematically showing the vibrating body in the workpiece transport device.
Fig. 3 is a schematic diagram showing the configuration for exciting the vibrating body in the work transport device.
Fig. 4 is an explanatory perspective view showing an exaggerated standing wave of 0° mode generated in the vibrating body.
Fig. 5 is an explanatory perspective view showing an exaggerated standing wave of 90° mode generated in the vibrating body.
Figure 6 is an explanatory diagram showing the time change of the standing wave of the longitudinal wave (Internet homepage of Shinko Shupansha Keirinkan Co., Ltd. (URL: http://www.keirinkan.com/kori/kori_physics/kori_physics_1_kaitei/contents/ph The diagram published in -1/4-bu/t4-3.htm) was partially quoted and then processed for the sake of explanation).
Fig. 7 is an explanatory diagram viewed from the side showing that a lateral elliptical motion is occurring in the vibrating body, exaggerated to a length equivalent to one wavelength.
Fig. 8 is an explanatory diagram showing the movement of the workpiece on the conveyance surface of the vibrating body.
Fig. 9 is a perspective view schematically showing the configuration of a work transport device according to another embodiment of the present invention.
Fig. 10 is a schematic diagram showing a state in which a work is caught in a slit provided on a conveyance surface in a conventional work conveyance device.

The present invention will be described below with reference to one embodiment of the present invention along with the drawings. In addition, the vertical direction in the following description is assumed to be the vertical direction in the state shown in FIG. 1.

As shown in FIG. 1 which is a schematic diagram, the work transport device (parts feeder) 1 according to the present embodiment has a disk-shaped ball feeder 3 on a base portion 2 and a tangent line of the ball feeder 3. It is provided with a linear feeder (4) connected to extend in this direction. The ball feeder 3 and the linear feeder 4 convey each of a plurality of works (not shown) in a predetermined direction.

The ball feeder 3 is provided with a ball feeder side conveying portion 31 which is a disk-shaped member. This ball feeder side conveyance part 31 is fixed to the base part 2 by a fixing part 32 located in the center. As shown, the upper surface of the ball feeder side conveyance section 31 first descends from the center side and then rises toward the peripheral side. A plurality of works to be conveyed are placed in a recessed portion of the ball feeder side conveyance section 31 and temporarily stored therein. Then, they are sequentially returned one by one from the stored portions. The work is, for example, a tiny IC chip, but may be any number of objects. In the ball feeder 3, as a conveyance track for conveying the work, a spiral track 33, which is a spiral groove (conveyance groove), is provided on the upper surface of the ball feeder side conveyance section 31. It is formed from the inner circumference to the outer circumference. The spiral track 33 has a conveyance surface 331, which is a bottom surface that comes into contact with the workpiece as it is loaded, and is a surface along the direction in which the spiral track 33 extends. This transport surface 331 is deformed like a wave by the traveling wave generating means 5 (see Fig. 3), thereby transporting the work. A plurality of works may be conveyed aligned and adjacent to each other on the conveyance surface 331, or may be conveyed at intervals. The outer peripheral end 332 of the spiral track 33 is formed at a position where the work can be supplied to the main track 43 of the linear feeder 4. During operation of the ball feeder 3, the work moves upward along the spiral track 33 and is supplied to the main track 43.

The linear feeder 4 is provided with a linear feeder side conveying portion 41 that has an elliptical shape in plan view. This linear feeder side conveyance part 41 is fixed to the base part 2 by a fixing part 42 located at the center in the width direction. The conveyance track in the linear feeder 4 is composed of a main track 43 and a return track 44. The main track 43 has a straight groove extending in the long side direction on the upper surface of the linear feeder side conveyance section 41. The return track 44 has an oval groove located inside the width direction of the main track 43 on the upper surface of the linear feeder side conveyance section 41. The main track 43 and the return track 44 have conveyance surfaces 431 and 441, which are bottom surfaces with which the work contacts. These transport surfaces 431 and 441 are deformed like waves by the traveling wave generating means 5, thereby transporting the work.

In this embodiment, a part of the main track 43 and the return track 44 are formed in parallel, and the workpiece removed from the main track 43 is moved to the main track by a moving means (air nozzle, etc.) not shown. It moves from track 43 to return track 44.

Since the ball feeder 3 and the linear feeder 4 have a common mechanism for conveying the work, the ball feeder 3 will be described below.

The ball feeder 3 mainly includes a vibrating body 3A and a vibration generating portion 34. The vibrating body 3A is a part of the ball feeder side conveyance section 31 and includes an annular vibrating body 3A as shown in FIG. 2. Also, in Fig. 2, for the purpose of simple explanation, the spiral track 33 is shown in an endless circular shape. The vibrating body 3A of this embodiment is made of metal and is solid. That is, the vibrating body 3A is an elastic body and is made of a material that serves as a medium for transmitting waves. The vibrating body 3A has a conveyance surface 331 for conveying the workpiece in a loaded state. The conveyance surface 331 is flat and does not have recesses such as conventional slits where the workpiece during conveyance catches.

The vibration generating unit 34 generates a small density wave in the vibrating body 3A. This small-density wave is a wave containing compressive displacement and tensile displacement in the direction (circumferential direction) along the conveyance direction of the workpiece in the vibrating body 3A. In terms of the relationship between the amplitude direction of the wave and the moving direction of the medium, it is a transverse wave. It applies to a sect, not a sect. The vibration generating unit 34 generates the above-described small-density waves in at least two modes. In this embodiment, there are two modes: 0° mode and 90° mode. Thereby, vibration is generated by bending the conveyance surface 331 in the normal direction (vertical direction or vertical direction in this embodiment). Since the compact wave is a longitudinal wave, the bending of the transport surface 331 does not occur directly like a transverse wave, but occurs due to the Poisson effect, which will be described later. The vibration that occurs is a vibration in which a point on the conveyance surface 331 draws an elliptical orbit (see Figs. 7 and 8) when viewed from the side with respect to the conveyance direction.

As shown in FIGS. 4 and 5, the vibrating body 3A has a plurality of standing wave modes (eigenmodes) of longitudinal waves that are small and dense waves in which tensile displacement and compressive displacement occur alternately in the circumferential direction. In this embodiment, the standing wave in the 0° mode and the standing wave in the 90° mode are synthesized to form a traveling wave traveling in a certain direction (specifically, clockwise as shown in FIGS. 4 and 5). In addition, a “standing wave” is a wave (longitudinal wave) generated at a certain position in the circumferential direction of the vibrating body 3A. Among the plurality of standing wave modes, there are two standing wave modes whose natural frequencies are almost equal and whose spatial phases are shifted by 90°. There is a 0° mode shown in FIG. 4 and a 90° mode shown in FIG. 5.

Here, the standing wave of the longitudinal wave will be explained with reference to Figures 6 (a) to (d), which schematically show the movement of the medium. In Figure 6(a), a standing wave is not generated, and the position of the material (wave medium) constituting the vibrating body 3A in the circumferential direction (transverse direction shown) is constant. Figure 6(b) shows a state in which 1/4 time (t/4) has elapsed based on one cycle of vibration. At this point, tensile displacement in the circumferential direction is occurring at position A in the vibrating body 3A, and compressive displacement in the circumferential direction is occurring at position B.

Position A and position B are the positions of the “nodes” of the longitudinal wave, and at these positions the medium does not move in the circumferential direction. As can be understood from the spacing of the horizontally arranged circles shown, a tensile displacement occurs in the medium around position A, making the medium “small”, and a compressive displacement occurs in the medium around position B. As it occurs, the medium becomes “mil.” At the “node” position, the extension position (position A) and the contraction position (position B) appear alternately in the circumferential direction at half-wavelength (λ/2) intervals. That is, the amplitude phase at location A and location B is opposite. On the other hand, position C and position D are the positions of the “belly” of the longitudinal wave, and at these positions the medium moves the most.

As the vibrating body 3A expands and contracts in the circumferential direction, it also expands and contracts in the vertical direction with a change amount according to Poisson's ratio. From the definition of Poisson's ratio, the displacement in the vertical direction is inversely related to the displacement in the circumferential direction. That is, the vibrating body 3A is compressed in the vertical direction at position A, which is an extension position, and expanded in the vertical direction at position B, which is a contracted position. Accordingly, the conveyance surface 331 is concave downward at position A and protrudes upward at position B (see FIGS. 7 and 8).

Figure 6(c) shows a state in which 1/2 time (t/2) has elapsed based on one cycle of vibration. At this point, the positions A and B in the vibrating body 3A are in the same state as in Fig. 6(a). Figure 6(d) shows a state in which 3/4 of the time (3t/4) has elapsed based on one cycle of vibration. At this point, contrary to the state in FIG. 6(b), compressive displacement in the circumferential direction occurs at position A in the vibrating body 3A, and tensile displacement in the circumferential direction occurs at position B.

As shown in FIG. 3, the vibration generator 34 has a plurality of displacement generators 341...341 that provide the compressive displacement and the tensile displacement to the vibrating body 3A. In this embodiment, a plurality of displacement generating portions (piezoelectric elements) 341 constituting the vibration generating portion 34 are attached to the lower surface (or back surface) of the vibrating body 3A. Each piezoelectric element 341 is arranged as schematically shown in FIG. 3. Each piezoelectric element 341 is a standing wave of a longitudinal wave and is provided at the position of the “node” shown in Fig. 6 (a) to (d). As shown in FIG. 3, the plurality of piezoelectric elements 341 are arranged so that the polarization direction (“+” and “-” shown) changes at a pitch of 1/2 (λ/2) of the wavelength of the standing wave mode. The first group (first piezoelectric element group) 341A is arranged at a position offset in the circumferential direction by 1/4 wavelength (λ/4) from this first group 341A, and the first group 341A In the same way as above, it is composed of a second group (second piezoelectric element group) 341B arranged so that the polarization direction changes at a pitch of 1/2 of the wavelength of the standing wave mode. That is, the plurality of displacement generating portions 341...341 are divided into groups 341A and 341B corresponding to the number of modes (two in this embodiment).

The parts feeder 1 of this embodiment is provided with a control unit 6 that applies a sine wave with a frequency corresponding to the eigenmode in which a small and dense wave is generated to the displacement generating unit 341. The control unit 6 is connected to the vibration generating unit 34. The control unit 6 inputs sinusoidal waves of different phases from each of the plurality of groups 341A and 341B to the displacement generating unit 341 . Specifically, as shown in FIG. 3, the sinusoidal wave of the alternating voltage is divided into two systems, and the temporal phase of one system is shifted by a phase shifter. Although not shown, the control unit 6 can adjust the frequency of the sine wave to increase or decrease it. The original sinusoidal wave and the abnormal sinusoidal wave are each amplified by an amplifier and then applied to the piezoelectric elements 341 belonging to each group 341A and 341B. In this embodiment, the piezoelectric elements 341 belonging to each group 341A and 341B have a frequency that almost matches the natural frequency in the 0° mode and the 90° mode, and also has a frequency of 0° mode and 90° mode. A sinusoidal wave with a temporal phase difference is applied so that the standing wave is generated 90° out of temporal phase.

By the sinusoidal wave applied from the control unit 6 to the vibration generation unit 34, the piezoelectric elements 341 belonging to the first group 341A are moved to the joint position in the 0° mode (material constituting the vibrating body 3A ( The wave medium) is excited at a stationary position in the circumferential direction. And, the piezoelectric element 341 belonging to the second group 341B excites the node position in 90° mode.

Here, the arrangement of the piezoelectric element 341 itself is the same as the arrangement of the piezoelectric element for generating a bending traveling wave in a conventional workpiece transport device. However, in this embodiment, by driving the piezoelectric element 341 in response to the standing wave mode of a longitudinal wave, it is possible to generate a standing wave of a longitudinal wave rather than a transverse wave (in the case of a bending traveling wave) in the vibrating body 3A. And, as shown in FIGS. 4 and 5 , by generating standing waves in a plurality of standing wave modes (two in this embodiment) with spatial phases shifted, a wave is generated in the circumferential direction (FIGS. 4 and 5) to the vibrating body 3A. A traveling wave (clockwise) can be generated.

By longitudinal waves generated in the circumferential direction, the vibrating body 3A can be expanded and compressed in the vertical direction with a displacement amount according to the Poisson's ratio inherent in the material constituting the vibrating body 3A. In accordance with this, waves due to the expansion and compression are generated on the conveyance surface 331, and as shown in FIG. 8, a gap is formed between the workpiece W loaded on the conveyance surface 331 and the conveyance surface 331. The friction force F acting on generates a circumferential force with respect to the work W, and the work W is transported (detailed later). In this way, the workpiece transport device (parts feeder) 1 of the present embodiment transfers the workpiece by using a wave on the transport surface 331 output in response to the Poisson's ratio with respect to the longitudinal wave input to the vibrating body 3A. It is being used for.

In other words, the work transport device (parts feeder) 1 of the present embodiment is different from the work transport device using transverse waves (in the case of bending traveling waves) that the applicant of the present application has proposed in various ways so far. (1) has an essentially different mechanism as described above. Due to this difference in mechanism, the work transport device 1 of the present embodiment can dramatically and easily improve problems (specifically, work jumps) that had limitations in improvement with conventional work transport devices. there is.

In the vibrating body 3A configured as described above, the standing wave of the 0° mode (see FIG. 4), which is a standing wave of the longitudinal wave, and the standing wave of the 90° mode (see FIG. 5) are generated due to the excitation caused by the drive of the piezoelectric element 341. However, the temporal phase is shifted by 90° and occurs inside the vibrating body 3A. As a result, a longitudinal traveling wave (longitudinal traveling wave) is generated that progresses in the circumferential direction of the vibrating body 3A. In other words, this traveling wave is a longitudinal wave, which is a small-density wave, in a state in which it is traveling in one direction along the long side of the conveyance surface 331. According to the Poisson's ratio unique to the material constituting the vibrating body 3A, waves are generated as bending on the conveying surface 331 due to the compressive displacement and tensile displacement of the vibrating body 3A included in the small-density wave in each mode. , the waves of the two modes become traveling waves that travel in one direction along the long side of the conveyance surface 331.

Due to the generation of longitudinal traveling waves, horizontal vibration that expands and contracts occurs in the circumferential direction of the vibrating body 3A. Due to the Poisson effect, which states that when longitudinal deformation occurs, lateral deformation also occurs as a result of this, vibration of repeated expansion and contraction occurs in the vibrating body 3A also in the thickness direction (up and down direction). Since this vibration is caused by a traveling wave, unlike a standing wave, there are no nodes and occurs over the entire circumference of the vibrating body 3A.

One point of the conveyance surface 331 where the traveling wave is generated moves elliptically in a counterclockwise direction when viewed from the radial outer direction of the vibrating body 3A, as shown in the rotation trajectory R shown in FIG. 7 . At the center side of the range shown, tensile displacement in the circumferential direction occurs and the vibrating body 3A becomes smaller in the vertical direction, and on both left and right sides of the range, compressive displacement in the circumferential direction occurs and the vibrating body 3A becomes smaller. It is large in the vertical direction.

In Fig. 8, the state of the conveyance surface 331 at the moment when the vibrating body 3A expands in the vertical direction according to the compression displacement in the circumferential direction is shown in an exaggerated manner. The contact point 331p with respect to the work W on the conveyance surface 331 moves so as to draw a counterclockwise rotation trajectory R, as described above. Due to the movement of this contact point 331p, a frictional force F shown in the left direction is generated in the work W loaded on the conveyance surface 331. As a result, the work W is conveyed in the leftward direction Wm shown, which is the same as the traveling direction M of the traveling wave (and the moving direction of the upper half in the rotation trajectory R). When a traveling wave occurs, there are cases where air flows in the same direction as the traveling wave. In a conventional workpiece transport device, the air flow is opposite to the workpiece transport direction, so it can become a force that inhibits transport. On the other hand, in this embodiment, since the air flow and the transport direction of the work W are in the same direction, the transport of the work W is not hindered by the generated air flow.

Here, the vibration state in the longitudinal traveling wave is expressed by the following calculation formula.

The equation representing the displacement state of the traveling wave is shown in Equation 1. In the formula, x is the circumferential position of the vibrating body 3A, t is time, and u(x,t) is the circumferential displacement of the mass point at position x in the vibrating body 3A at time t. indicates. Additionally, A represents circumferential amplitude (horizontal amplitude), f represents frequency, and λ represents wavelength.

In Equation 1 below, a traveling wave traveling in one direction in the x direction is displayed.

In addition, the strain ε(x,t) in the circumferential direction of the vibrating body 3A at this time is expressed by the following equation 2.

Assuming that the Poisson's ratio of the vibrating body 3A is ν and the thickness (vertical dimension) is t _h , due to the Poisson effect, the vertical displacement w(x,t) of the conveyance surface 331 at position x is It is expressed as Equation 3 below.

From the above equation, it can be seen that the circumferential amplitude of the conveyance surface 331 is A, and the vertical amplitude of the conveyance surface 331 is πνt _h A/λ. Therefore, in a longitudinal traveling wave, the elliptical axis ratio, which is the ratio of the circumferential amplitude (horizontal amplitude) to the vertical amplitude, is expressed by the following equation 4.

In general, since the wavelength λ is a very large value compared to the plate thickness t _h , the elliptical axis ratio expressed in Equation 4 also becomes a large value. In this way, the work transport device 1 of this embodiment has a larger elliptical axis ratio compared to a conventional work transport device that generates a bending traveling wave, and the shape of the motion trajectory (shape viewed in the radial direction) shows a very horizontally long elliptical motion. It can occur on the conveyance surface 331. As can be seen from the presence of λ in the denominator of Equation 4, the longer the wavelength, the larger the elliptical axis ratio.

Incidentally, in the conventional work transport device, the shape of the motion trace is a vertically long elliptical motion (see Figure 5 of Patent Document 1), and even when a slit is formed on the transport surface, an elliptical motion slightly longer horizontally than the true circle (see Figure 5 of Patent Document 1). It only became (see FIG. 12 of Patent Document 1). For this reason, the workpiece transport device 1 of the present embodiment can significantly reduce the jumping force provided to the workpiece compared to the prior art because the vertical amplitude is very small compared to the horizontal amplitude. Moreover, since there is no need to form slits as in the past, the conveyance surface 331 can be made into a surface that does not have irregularities that are at least larger than the workpiece in the circumferential direction, so the cause of physically catching the workpiece can be eliminated, thereby eliminating the possibility of conveyance. The shape of face 331 does not cause jumping. And the workpiece transport device 1 of this embodiment can greatly increase the horizontal amplitude relative to the vertical amplitude, making it possible to transport the workpiece at high speed.

Although the present invention has been described above with reference to one embodiment, the present invention is not limited to the above embodiment, and various changes are possible without departing from the gist of the present invention.

For example, the vibrating body 3A can be made of various materials as long as it generates the Poisson effect. In addition, the shape of the vibrating body 3A is not limited to the annular shape as in the above-mentioned embodiment, and may be a disk shape integrally having the fixing portion 32 in the center. In addition, the external shape of the vibrating body 3A is not limited to the circular shape (ball feeder 3) or elliptical shape (linear feeder 4) as in the above embodiment. For example, the vibrating body 3A can be straight or curved with an end. In this case, the traveling wave does not go around but moves in one direction along the long side.

Additionally, as shown in FIG. 9, in the ball feeder 3, the piezoelectric element 341 may be installed on the side of the ball feeder side conveyance section 31 (vibrating body 3A). In this way, the installation position of the piezoelectric element 341 in the vibrating body 3A is not limited. Similarly, in the linear feeder 4, the piezoelectric element 442 may be installed on the side of the ball feeder side conveyance section 31 (vibrating body 3A). Additionally, although not shown, the piezoelectric element 341 may be embedded inside the vibrating body 3A.

In addition, in the above embodiment, the piezoelectric elements 341 belonging to the first group (first piezoelectric element group) 341A and the piezoelectric elements 341 belonging to the second group (second piezoelectric element group) 341B are surrounded by Although they are arranged alternately one by one in each direction, the arrangement mode is not limited to this. For example, the piezoelectric elements 341 belonging to the first group are collectively arranged on one side in the radial direction, and the piezoelectric elements 341 belonging to the second group are placed on the other side (the side 180° opposite to the circumferential direction from one side). You can also integrate and deploy.

Additionally, one or more displacement generating units 341 may be provided in each group with different temporal phases.

Additionally, in the above embodiment, the displacement generating portion 341 was a piezoelectric element. However, it is not limited to this, and various means (actuators) can be used. For example, magnetostrictive elements may be used, electromagnetic force may be used, or electrostatic force may be used.

In addition, in the above embodiment, the description was made with attention to the longitudinal wave. However, the vibrating body 3A in a vibrating state may contain mixed transverse waves rather than longitudinal waves alone.

1: Work transfer device, parts feeder
2: Base part
3: Ball feeder
3A: Vibrating screen
31: Ball feeder side conveyance part
32: Fixing part of ball feeder
33: Spiral track
331: Bansongmyeon
332: Peripheral end of spiral track
34: Vibration generating unit
341: Displacement generator, piezoelectric element
341A: Group 1 (First piezoelectric element group)
341B: 2nd group (2nd piezoelectric element group)
4: Linear feeder
41: Linear feeder side conveyance section
42: Fixed part of linear feeder
43: Main track
431: Conveyance surface of main track
44: return track
441: Conveyance surface of return track
5: Means of traveling wave generation
6: Control unit

Claims (2)

A vibrating body having a conveyance surface for conveying the work in a loaded state,
By generating at least two modes in the vibrating body, a coarse wave containing compressive displacement and tensile displacement in a direction along the conveying direction of the workpiece, the conveying surface is bent in the normal direction, so that a point on the conveying surface is lateral. Vibration generator that generates vibration that draws a boa elliptical orbit
A work transport device comprising: According to paragraph 1,
The vibration generator has a plurality of displacement generators that provide the compressive displacement and the tensile displacement to the vibrating body,
The plurality of displacement generating units are divided into groups corresponding to the number of modes,
A workpiece transport device comprising a control unit that applies a sinusoidal wave with a frequency corresponding to a natural mode in which the small density wave is generated to the plurality of displacement generating units at different phases in each of the groups.