TWI592349B - Piezoelectric resonance drive feeder with frequency adjustment - Google Patents

Description

Piezoelectric resonance driven feeder with frequency adjustment device

The invention relates to a piezoelectric resonance driven feeder with a frequency adjusting device, in particular to a piezoelectric resonance driven feeder with a frequency adjusting device capable of increasing the feeding stroke and adjusting the resonance frequency according to different material structures.

Part feeders are widely used in the transportation of various parts and are important components in automated production lines. Vibrating feeders can be divided into electromagnetic, piezoelectric, mechanical, hydraulic, and pneumatic types according to their excitation modes, especially electromagnetic and piezoelectric. The electromagnetic type cannot be too high because of the vibration frequency, so that the conveying precision is low, and there are disadvantages such as large noise, large heat generation, and magnetic interference. The piezoelectric type has the advantages of high conveying efficiency and high conveying precision, and is particularly suitable for Tiny workpiece transport, and the delivery rate is stable, there is no electromagnetic drive type noise, heat, magnetic interference and other issues. Although the piezoelectric feeder improves the electromagnetic shortcomings, it still has disadvantages such as small conveying distance and energy consumption.

In view of this, it is necessary to develop a technique that can solve the above disadvantages.

It is an object of the present invention to provide a piezoelectric resonance driven feeder with a frequency adjustment device, which has the advantages of increasing the feeding stroke and adjusting the resonance frequency according to different material structures. In particular, the problem to be solved by the present invention is that there is currently no problem with a piezoelectric resonance driven feeder having a frequency adjustment device.

The technical means for solving the above problems is to provide a piezoelectric resonance driven feeder with a frequency adjusting device, comprising: a fixing device having an X-axis and a Z-axis, and comprising: a base having a plurality of first fixing portions And at least one second fixing portion, the plurality of first fixing portions and the second fixing portion are respectively distributed on the base along the X axis; a plurality of vertical frames are disposed on the base along the X axis, and are spaced apart from each other a fixed distance, each of the vertical frames is adjacent to the corresponding first fixed portion, and each of the vertical frames has a fixed connecting portion, each of the fixed connecting portions facing in the same direction; a plurality of piezoelectric actuators Each of the piezoelectric actuators has a first piezoelectric fixing portion and a second piezoelectric fixing portion; the first piezoelectric fixing portion is configured to fix the piezoelectric actuator to the corresponding one a fixing portion; a feeding platform is disposed on the base and movable relative to the base substantially along the X axis, the feeding platform having a plurality of first platform fixing portions and at least one second platform fixing portion; a flexible device associated with the plurality of stand Each of the flexible devices has a first flexible member having a first connecting portion, a second connecting portion and a connecting point; the first connecting portion is for connecting the first flexible member The second piezoelectric fixing portion is configured to support the first platform fixing portion corresponding to the first flexible member; a second flexible member has a third connecting portion and a first connecting portion a fourth connecting portion, wherein the second connecting portion is connected to the connecting point, the fourth connecting portion is for the second flexible member to be coupled to the fixed connecting portion; At least one frequency adjusting device is coupled to the base and the feeding platform, and is interposed between two adjacent flexible devices, the frequency adjusting device has a virtual center point, and the frequency adjusting device comprises: a first adjuster The first adjusting connecting portion is configured to flexibly connect the first adjusting portion to the second fixing portion; the second adjusting device has a first adjusting portion The second adjusting connecting portion is configured to flexibly connect the second adjusting portion to the second platform fixing portion; the two adjusting members respectively pass through and fix the first railing portion The second rail portion is equidistant from the virtual center point, and the two adjusting members have a working distance therebetween, which is adjustable; a control unit electrically connects the two rails a plurality of piezoelectric actuators; wherein, when the control unit performs an inverse piezoelectric effect on the plurality of piezoelectric actuators, the piezoelectric actuator reciprocates in the Z-axis direction and transmits the flexible device Driving the feeding platform, the feeding platform is substantially along The X-axis reciprocates to feed, and when the working distance between the two adjustment members is adjusted, the feeding platform can be controlled to reciprocate at a resonance frequency to achieve the longest feeding stroke.

The above objects and advantages of the present invention will be readily understood from the following detailed description of the preferred embodiments illustrated herein.

The invention will be described in detail in the following examples in conjunction with the drawings:

10‧‧‧Fixed devices

11‧‧‧Base

111‧‧‧First Fixed Department

112‧‧‧Second fixed department

12‧‧‧ stand

121‧‧‧Fixed joints

12A‧‧‧shims

20‧‧‧ Piezoelectric Actuator

21‧‧‧First piezoelectric fixed part

22‧‧‧Second piezoelectric fixed part

30‧‧‧Feeding platform

31‧‧‧First Platform Fixed Department

32‧‧‧Second Platform Fixed Department

40‧‧‧Flexible device

41‧‧‧First flexure

411‧‧‧First connection

412‧‧‧Second connection

413‧‧‧ Connection point

42‧‧‧Second flexure

421‧‧‧ Third connection

422‧‧‧fourth connection

50‧‧‧frequency adjustment device

51‧‧‧First adjuster

511‧‧‧First adjustment connection

512‧‧‧First Track Department

52‧‧‧Second adjuster

521‧‧‧Second adjustment link

522‧‧‧Second track section

53‧‧‧Adjustment

60‧‧‧Control Department

70‧‧‧weight adjustment components

71‧‧‧With weight fixing department

72‧‧‧weight adjustment department

X‧‧‧ virtual center point

L1‧‧‧fixed distance

L2‧‧‧First working distance

L3‧‧‧Second working distance

L4‧‧‧ third working distance

H1‧‧‧ original distance

H2‧‧‧ action distance

11‧‧‧ original angle

Θ2‧‧‧ working angle

The first figure is a schematic view of a first embodiment of the present invention

The second figure is a schematic diagram of other states of the first figure

The third figure is a schematic diagram of the reciprocating vibration process of the present invention.

Figure 4A is a schematic view of a second embodiment of the present invention

The fourth B diagram is a schematic diagram of the amplification of the local device of the fourth A diagram

The fifth picture is a schematic diagram of the decomposition of the frequency adjustment device of the present creation.

The sixth, sixth, sixth, and sixth C diagrams are schematic diagrams for adjusting three different working distances between the two sets of frequency adjusting devices, respectively.

The seventh figure is a schematic diagram of the action principle of the third figure.

The eighth figure is a schematic diagram of the conveying principle of the feeder

Referring to the first and second figures, the present invention is a piezoelectric resonance driven feeder with a frequency adjusting device, comprising: a fixing device 10 having an X-axis and a Z-axis, and comprising: a base 11 having a plurality of first fixing portions 111 and at least one second fixing portion 112. The plurality of first fixing portions 111 and the second fixing portions 112 are respectively distributed on the base 11 along the X axis; a plurality of vertical frames 12, The X-axis is disposed on the base 11 at a fixed distance L1 from each other. Each of the vertical frames 12 is adjacent to the corresponding first fixing portion 111, and each of the vertical frames 12 has a fixed connecting portion 121. Each of the fixed connecting portions 121 faces in the same direction; a plurality of piezoelectric actuators 20 each having a first piezoelectric fixing portion 21 and a second piezoelectric fixing portion 22 The first piezoelectric fixing portion 21 is for the piezoelectric actuator 20 to be fixed to the corresponding first fixing portion 111; a feeding platform 30 is disposed on the base 10 and can move relative to the base 10 substantially along the X axis. The feeding platform 30 has a plurality of first platform fixing portions 31 and at least one second platform fixing portion 32; The plurality of flexible devices 40 are corresponding to the plurality of vertical frames 12, each flexible device 40 having a first flexible member 41 having a first connecting portion 411 and a second connecting portion 412 and a connection point 413; the first connecting portion 411 is for the first flexible member 41 to be coupled to the second piezoelectric fixing portion 22, and the second connecting portion 412 is for the first flexible member 41 to support the connecting phase Corresponding to the first platform fixing portion 31; a second flexible member 42 having a third connecting portion 421 and a fourth connecting portion 422; the third connecting portion 421 is connected to the second flexible member 42 The connection point 413 is configured to connect the second flexible member 42 to the fixed connection portion 121; at least one frequency adjustment device 50 is coupled to the base 10 and the feeding platform 30, and is adjacent to each other Between the two flexible devices 40, the frequency adjusting device 50 has a virtual center point X, and the frequency adjusting device 50 (see the The first adjustment device 51 has a first adjustment connection portion 511 and a first rail portion 512. The first adjustment connection portion 511 is for the flexible connection of the first adjuster 51. The second adjusting portion 112 has a second adjusting connecting portion 521 and a second rail portion 522. The second adjusting connecting portion 521 is for the second adjuster 52 to be flexable. Connecting the second platform fixing portion 32; the two adjusting members 53 respectively pass through to fix the first and second rail portions 512 and 522, the two adjusting members 53 are substantially equal to the virtual center point X, and the two adjusting members 53 have a working distance, which can be adjusted; a control unit 60 is electrically connected. The plurality of piezoelectric actuators 20; thereby, when the control portion 60 performs an inverse piezoelectric effect on the plurality of piezoelectric actuators 20, the piezoelectric actuator 20 is along the Z-axis direction (see the third figure). Reciprocating telescopic actuation, and driving the feeding platform 30 through the flexible device 40, the feeding platform 30 reciprocally vibrates substantially along the X axis to feed, and when the working distance between the two adjusting members 53 is adjusted, the system can be controlled The feed platform 30 reciprocates at a resonant frequency to achieve the longest feed stroke.

In practice, the piezoelectric resonance drive feeder with the frequency adjustment device can be one of an aluminum alloy structure and a spring steel structure.

The fixed connecting portion 121 has a gasket 12A disposed between the fixed connecting portion 121 and the fourth connecting portion 422 .

The piezoelectric actuator 20 can be a laminated piezoelectric actuator.

The feeding platform 30 is used to carry and transport materials.

Each of the flexible devices 40 has a Y-shaped structure.

The operation process of the present invention is as follows: Referring to the third figure, assuming that the first and second piezoelectric fixing portions 21 and 22 have an original distance H1, the first and second flexible members 41 and 42 There is an original angle θ1 between them (see the seventh figure for assuming 90 degrees). When the piezoelectric actuator 20 is subjected to an inverse piezoelectric effect through the control portion 60, the piezoelectric actuator 20 is extended and contracted along the Z axis, and when extended, the first and second Between the piezoelectric fixing portions 21 and 22, the original distance H1 is changed to an operating distance H2, and the first and second flexible members 41 and 42 are separated by the original angle θ1 (assumed to be 90 degrees). Shrink into A working angle θ2 (assumed to be 88 degrees, or smaller, all changes depending on the actual operating state). When the length is shortened, the first and second piezoelectric fixing portions 21 and 22 change back from the working distance H2 to the original distance H1, and between the first and second flexible members 41 and 42. The working angle θ2 is changed back to the original angle θ1, and the telescopic motion is repeated.

Therefore, the fourth connecting portion 422 and the fixed connecting portion 121 are fixed to each other without displacement, and the second connecting portion 412 is coupled to the feeding platform 30 through the first platform fixing portion 31. The feeding platform 30 is substantially along the X. The shaft is reciprocally vibrated to feed. The frequency adjuster 50 is coupled between the base 11 and the feeding platform 30. Therefore, when the two adjusting members 53 are adjusted to have an optimal working distance (depending on different structural materials, non-fixed data), The feeding platform 30 can be controlled to reciprocate at a resonant frequency (for example, a commercial frequency of 60 Hz) to achieve the longest feeding stroke.

That is, the piezoelectric actuator 20 generates a linear motion at the resonance frequency of the second piezoelectric fixing portion 22, and drives the flexible device 40 (Scott-Russell mechanism) to generate an amplified linear output at the second connecting portion 412. Movement, pushing the feeding platform 30 to reciprocate substantially along the X axis, can perform the conveying operation.

Refer to the sixth, sixth and sixth C diagrams and the following table 1. This is the data of the invention after computer simulation:

It is known from the above table that when the distance between the two adjustment members 53 is changed, the resonance frequency of the overall structure also changes.

Referring to FIG. 6A and Table 1, for example, in the first measurement, the two adjustment members 53 have a first working distance L2 (assumed to be 38 mm), and the measured resonance frequency is 126 Hz. .

Referring to FIG. 6B, during the second measurement, the two adjustment members 53 are retracted from the first working distance L2 to a second working distance L3 (assumed to be 29 mm), and the measurement is performed at this time. The resonance frequency is 64 Hz.

Then, the distance between the two adjusting members 53 is adjusted to be a third working distance L4 (as shown in FIG. C, assuming 20 mm), and the third measurement is performed, the resonance frequency may be measured as 41Hz.

The fourth and fifth measurement results are 28 Hz and 23 Hz, respectively.

Therefore, if the target is 60 Hz and the distance falls between 29 mm and 20 mm, the distance between the two adjustment members 53 can be calculated by conventional interpolation to be 27.4348 (of course, fine-tuning) .

Therefore, by adjusting the distance between the two adjustment members 53, the desired resonance frequency can be obtained.

In the unlikely event that, for example, the supplied power is not 60 Hz, but is slightly higher or lower, for example 60.3 Hz or 59.9 Hz, it can still be fine-tuned by the adjusting member 53 of the present invention to achieve the aforementioned purpose (resonance). .

In another special case, if the feed platform 30 (and its connections) is tested, the natural frequency is measured away from the target value (assuming the target value is 60 Hz) or falls within this target value ± 5% (or other predetermined range) )outer. There are two remedies available:

[a] Retry the size or material of the component, for example, change the material or size of the first flexure 41 and the second flexure 42 (for example, increase the cross-sectional width), and then try again if the target value is approached. (for example, 60 Hz) or falling within ± 5% of the target value, the subsequent adjustment by the adjusting member 53 of the present invention is carried out to achieve the aforementioned purpose (resonance).

[b] Use another optional weight adjustment unit to correct. Referring to the fourth and fourth B, the flexible device 40 has a Y-shaped structure, and is further provided with a weight adjusting assembly 70 having a weight fixing portion 71 and a weight adjusting portion 72 (including plural) The weight of the weight adjustment unit 72; the lightening of the weight adjustment unit 72 (reduction of the weight plate) and the weight change (increasing the weight plate) increase and decrease the natural frequency of the feeding platform 30 (increase and decrease) The change status should be based on the actual application, and the present case is only an example); thereby, the weight adjustment unit 72 first selects an appropriate weight to adjust the natural frequency of the feed platform 30 to within ±5% of 60 Hz. If it is not within the predetermined range, the weight of the weight adjusting portion 72 is changed until it falls within ±5% of 60 Hz. Thereafter, the adjustment member 53 is fine-tuned so that the natural frequency of the feeding platform 30 is 60 Hz.

Referring to the seventh figure, regarding the Scott-Russell mechanism design, which is a linear mechanism, when the second piezoelectric fixing portion 22 (the first connecting portion 411) is displaced, the first platform fixing portion 31 (the second connecting portion 412) The path is the correct straight line passing through the fixed connection portion 121 (fourth connection portion 422), and is often used for output amplification. When θ1 changes (for example, greater than 45 degrees), when the second piezoelectric fixing portion 22 (first connecting portion 411) is input, the first stage fixing portion 31 (the second connecting portion 412) generates an amplified displacement. According to the movement and dynamic characteristics of the feeder, the design can be appropriately placed. Large rate.

Referring to the eighth figure, the part to be specifically described here is that the feeder conveying principle can be explained by the relative movement of the parts on the conveying groove, which can be divided into Riding, Forward sliding, and backward sliding. (Backward sliding) and other three situations. The description is as follows:

(1) Stay: When the inertia force of the trough to the part is small or equal to the maximum static friction force, the part will stay on the trough, ie there is no relative motion ( a _{p /6} =0).

(2) Sliding: When the inertia force of the trough to the part is small or equal to the maximum static friction force, the part will start to slide. When sliding, the acceleration a _{p/6 of the} part ( a _p ) relative to the trough ( a ₆ ) can be obtained by kinetic analysis: a _{p /6} =- a ₆ ± μ _k g

When the acceleration of the trough ( a ₆ ) is negative and less than the negative value of the product of the static friction coefficient and the gravitational acceleration, the part will slide forward. Therefore, the negative acceleration of the trough is increased to improve the conveying efficiency. When the acceleration of the trough is positive and greater than the product of the static friction coefficient and the gravitational acceleration, the part will slide backwards.

Therefore, the design of the conveyor must be designed to increase the negative acceleration of the trough as much as possible to improve its transport efficiency. When the acceleration of the trough is positive, if it is greater than the product of the static friction coefficient and the gravitational acceleration, the parts will slide backwards and should be avoided as much as possible.

The advantages and functions of the present invention are as follows:

[1] can increase the feeding schedule. The invention is provided with a frequency adjuster between the feeding platform and the base, which can adjust the vibration frequency of the feeding platform to the natural frequency of the optimal resonance, so that the feeding platform reaches the longest feeding stroke at the resonant frequency. The feeding stroke can be increased.

[2] The resonance frequency can be adjusted according to different material structures. Frequency adjuster of the invention For adjustable type, it can be used with different structural materials to change the working distance of the frequency adjuster, so that the feeding platform of different knot structural materials can reach the longest feeding stroke by the resonant frequency. The resonance frequency can be adjusted according to different material structures.

The present invention has been described in detail with reference to the preferred embodiments of the present invention, without departing from the spirit and scope of the invention.

10‧‧‧Fixed devices

11‧‧‧Base

111‧‧‧First Fixed Department

112‧‧‧Second fixed department

12‧‧‧ stand

121‧‧‧Fixed joints

12A‧‧‧shims

20‧‧‧ Piezoelectric Actuator

21‧‧‧First piezoelectric fixed part

22‧‧‧Second piezoelectric fixed part

30‧‧‧Feeding platform

31‧‧‧First Platform Fixed Department

32‧‧‧Second Platform Fixed Department

40‧‧‧Flexible device

41‧‧‧First flexure

411‧‧‧First connection

412‧‧‧Second connection

413‧‧‧ Connection point

42‧‧‧Second flexure

421‧‧‧ Third connection

422‧‧‧fourth connection

50‧‧‧frequency adjustment device

51‧‧‧First adjuster

511‧‧‧First adjustment connection

512‧‧‧First Track Department

52‧‧‧Second adjuster

521‧‧‧Second adjustment link

522‧‧‧Second track section

53‧‧‧Adjustment

60‧‧‧Control Department

L1‧‧‧fixed distance

L2‧‧‧First working distance

X‧‧‧ virtual center point

Claims (7)

A piezoelectric resonance-driven feeder with a frequency adjusting device includes: a fixing device having an X-axis and a Z-axis, and comprising: a base having a plurality of first fixing portions and at least one second fixing portion, The plurality of first fixing portions and the second fixing portions are respectively distributed on the base along the X axis; a plurality of vertical frames are disposed on the base along the X axis at a fixed distance from each other, and each of the vertical frames Respectively adjacent to the corresponding first fixing portion, and each of the vertical frames has a fixed connecting portion, each of the fixed connecting portions facing in the same direction; a plurality of piezoelectric actuators, each of the piezoelectric bodies The actuator has a first piezoelectric fixing portion and a second piezoelectric fixing portion; the first piezoelectric fixing portion is configured to fix the piezoelectric actuator to the corresponding first fixing portion; a feeding platform, The utility model is disposed on the base and is movable relative to the base substantially along the X axis. The feeding platform has a plurality of first platform fixing portions and at least one second platform fixing portion; the complex array flexible device is coupled to the plurality Corresponding to each stand, each flexible device has: The first flexible member has a first connecting portion, a second connecting portion and a connecting point; the first connecting portion is configured to connect the first flexible member to the second piezoelectric fixing portion, the second connecting portion The first flexible member supports the first platform fixing portion; the second flexible member has a third connecting portion and a fourth connecting portion; the third connecting portion is for the The second flexible member is connected to the connecting point, the fourth connecting portion is configured to connect the second flexible member to the fixed connecting portion; at least one frequency adjusting device is coupled to the base and the feeding platform, and is adjacent to the two Between the flexible devices, the frequency adjustment device has a virtual center point, and the frequency adjustment device includes: a first adjuster having a first adjustment connection portion and a first track portion, the first adjustment connection The second adjuster is configured to flexibly fold the second adjuster; the second adjuster has a second adjustment joint and a second rail portion, wherein the second adjustment joint is for the first The two adjusters are flexibly connected to the second platform fixing portion; the two adjusting members respectively pass through and fix the first and second track portions, and the two adjusting members are equivalent to the virtual center point. a distance between the two adjustment members, which is adjustable; a control portion electrically connecting the plurality of piezoelectric actuators; thereby, when the control portion is to the plurality of piezoelectrics The actuator performs an inverse piezoelectric effect, the piezoelectric actuator reciprocates in the Z-axis direction, and drives the feeding platform through the flexible device, the feeding platform reciprocally vibrates substantially along the X-axis for feeding, and Adjust the working distance between the two adjustment members, The feed platform may be controlled to reciprocate the resonant frequency vibration, to achieve the longest feed stroke. A piezoelectric resonance drive feeder having a frequency adjustment device according to the first aspect of the invention, wherein the piezoelectric resonance drive feeder having the frequency adjustment device is an aluminum alloy structure. The piezoelectric resonance drive feeder with a frequency adjustment device according to the first aspect of the invention, wherein the piezoelectric resonance drive feeder with the frequency adjustment device is a spring steel structure. The piezoelectric resonance drive feeder with a frequency adjustment device according to the first aspect of the invention, wherein the fixed connection portion has a spacer for being placed on the fixed connection portion and the fourth connection portion between. A piezoelectric resonance driven feeder with a frequency adjusting device according to claim 1, wherein the feeding platform is used for carrying and conveying materials. A piezoelectric resonance drive feeder having a frequency adjustment device according to claim 1, wherein the flexible device has a Y-shaped structure. The piezoelectric resonance drive feeder with a frequency adjustment device according to claim 6, further comprising: a weight adjustment component having a weight fixing portion and a weight adjustment portion; the weight adjustment The lighter and heavier parts of the part increase and decrease the natural frequency of the feeding platform; thereby adjusting the weight adjusting part to the appropriate weight so that the natural frequency of the feeding platform is between ±60 Hz Within %, fine-tune the adjustment member so that the natural frequency of the feeding platform is 60 Hz.