WO2013008553A1 - 振動装置、物品搬送装置および物品分別装置 - Google Patents
振動装置、物品搬送装置および物品分別装置 Download PDFInfo
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- WO2013008553A1 WO2013008553A1 PCT/JP2012/064064 JP2012064064W WO2013008553A1 WO 2013008553 A1 WO2013008553 A1 WO 2013008553A1 JP 2012064064 W JP2012064064 W JP 2012064064W WO 2013008553 A1 WO2013008553 A1 WO 2013008553A1
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- base
- horizontal
- vibration
- elastic support
- support means
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- 230000005284 excitation Effects 0.000 claims abstract description 93
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Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/16—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
- B65G27/18—Mechanical devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B06—GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS IN GENERAL
- B06B—METHODS OR APPARATUS FOR GENERATING OR TRANSMITTING MECHANICAL VIBRATIONS OF INFRASONIC, SONIC, OR ULTRASONIC FREQUENCY, e.g. FOR PERFORMING MECHANICAL WORK IN GENERAL
- B06B1/00—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency
- B06B1/02—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy
- B06B1/06—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction
- B06B1/0603—Methods or apparatus for generating mechanical vibrations of infrasonic, sonic, or ultrasonic frequency making use of electrical energy operating with piezoelectric effect or with electrostriction using a piezoelectric bender, e.g. bimorph
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B07—SEPARATING SOLIDS FROM SOLIDS; SORTING
- B07B—SEPARATING SOLIDS FROM SOLIDS BY SIEVING, SCREENING, SIFTING OR BY USING GAS CURRENTS; SEPARATING BY OTHER DRY METHODS APPLICABLE TO BULK MATERIAL, e.g. LOOSE ARTICLES FIT TO BE HANDLED LIKE BULK MATERIAL
- B07B13/00—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices
- B07B13/10—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices using momentum effects
- B07B13/11—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices using momentum effects involving travel of particles over surfaces which separate by centrifugal force or by relative friction between particles and such surfaces, e.g. helical sorters
- B07B13/113—Grading or sorting solid materials by dry methods, not otherwise provided for; Sorting articles otherwise than by indirectly controlled devices using momentum effects involving travel of particles over surfaces which separate by centrifugal force or by relative friction between particles and such surfaces, e.g. helical sorters shaking tables
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/16—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
- B65G27/24—Electromagnetic devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/16—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude
- B65G27/26—Applications of devices for generating or transmitting jigging movements of vibrators, i.e. devices for producing movements of high frequency and small amplitude with elastic coupling between vibrator and load carrier
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G27/00—Jigging conveyors
- B65G27/10—Applications of devices for generating or transmitting jigging movements
- B65G27/32—Applications of devices for generating or transmitting jigging movements with means for controlling direction, frequency or amplitude of vibration or shaking movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B65—CONVEYING; PACKING; STORING; HANDLING THIN OR FILAMENTARY MATERIAL
- B65G—TRANSPORT OR STORAGE DEVICES, e.g. CONVEYORS FOR LOADING OR TIPPING, SHOP CONVEYOR SYSTEMS OR PNEUMATIC TUBE CONVEYORS
- B65G2812/00—Indexing codes relating to the kind or type of conveyors
- B65G2812/03—Vibrating conveyors
- B65G2812/0304—Driving means or auxiliary devices
- B65G2812/0308—Driving means
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T74/00—Machine element or mechanism
- Y10T74/18—Mechanical movements
- Y10T74/18856—Oscillating to oscillating
Definitions
- the present invention relates to an article conveying device that conveys an article on a movable table by vibration of the movable table, an article sorting device that sorts a plurality of articles on the movable table, and a vibration device that can be applied to these. .
- Patent Document 1 there is a type in which a large number of electrostatic actuators are arranged in a lattice shape on the conveyance surface of an article. This is because a large number of hook-shaped stators are provided on the conveying surface, the conveying elements are suspended through spring members, and the conveying electrodes are operated by operating the suction electrodes provided on the bottom and side surfaces in the stator. By controlling the operation of the child, the article on the carrier is moved.
- Patent Document 2 a large number of small rollers are arranged on the conveyance surface of the article so that the rotation axis is parallel to the conveyance surface, and the rotation and direction of these rollers are controlled, so that the articles placed on them are controlled.
- a technique for controlling the transport direction is disclosed.
- Patent Document 3 discloses that rollers having rotation axes orthogonal to each other are alternately arranged on the conveyance surface, and the conveyance direction of the article is controlled by controlling the rotation of these rollers.
- elliptical vibration is generated by applying vibrations having the same frequency in the vertical and horizontal directions to a movable body (movable base) having a track for conveying an article, and each of the movable bodies has a corresponding friction coefficient.
- a technique is disclosed in which the conveyance direction is changed by setting the phase difference of the vibration in the direction.
- the transport surface on the movable table can be configured as a flat surface, articles of various shapes and sizes can be transported.
- the article transporting apparatus can easily be configured with both the vibration device as the mechanical device unit and the control system for controlling the vibration of the vibration device, there are many advantages in terms of downsizing and manufacturing costs.
- the article transport apparatus can control the transport direction in accordance with the friction coefficient of the article, the article is for separating a plurality of types of articles having different friction coefficients by changing only the control system. It can also be used as a sorting device. Even in this case, as in the case of the article conveying apparatus, since it can be configured simply, there are many advantages in terms of downsizing and manufacturing costs.
- the above-described article transporting device and the article sorting device are collectively referred to as an article moving device, which includes one having functions of either or both of article transport and sorting.
- a mechanical device that can be used in common with these is referred to as a vibration device.
- the vibration device described above causes elliptical vibration to occur in the movable table having the conveyance surface by making the phase difference between the vibrations in the two directions different, and this is used to convey or separate the article. Since the direction of elliptical vibration is limited, the degree of freedom in the direction in which the article is moved is low.
- the vibration device described in Patent Document 4 is further developed so that the movable table having the transfer surface can be vibrated in three dimensions independently in three different directions, not only in two directions. It is conceivable to increase the degree of freedom in the moving direction of the article.
- a vibration isolation spring is provided on the lower surface of the base so that this vibration does not propagate to the installation surface, and the entire vibration device is elastically supported with respect to the installation surface. It is common to make it a state. By doing so, it is possible to suppress the transmission of vibrations to peripheral devices and the generation of noise and maintain the surrounding environment appropriately.
- the first invention in the present application is capable of effectively elastically supporting the movable base and reducing the height to the conveyance surface while having a simple configuration. It is an object of the present invention to provide a vibration device capable of suppressing pitching and rolling, and an article conveying device and an article sorting device as an article moving device excellent in controllability using the vibration device.
- the second invention in the present application is capable of generating more stable vibration in the movable table by stabilizing the posture of the base when applying an excitation force to the movable table, while having a simple configuration. It is an object of the present invention to provide a vibration device and an article conveying device or an article sorting device as an article moving device having excellent controllability using the vibration device.
- the vibration device of the first invention includes a base, a movable base elastically supported with respect to the base, first horizontal vibration means for vibrating the movable base in a first horizontal direction,
- a vibration device comprising: a second horizontal vibration unit that vibrates the movable table in a second horizontal direction intersecting the first horizontal direction; and a vertical vibration unit that vibrates the movable table in a vertical direction.
- a first intermediate base and a second intermediate base between the base and the movable base, and the base, the first intermediate base, the second intermediate base, and the movable base are sequentially connected to the first base.
- a first horizontal elastic support means elastically connected in the horizontal direction, the second horizontal direction and the vertical direction; a second horizontal elastic support means; and a vertical elastic support means.
- the horizontal elastic support means makes the thickness direction substantially coincide with the first horizontal direction.
- the first plate-like spring member is disposed in the horizontal direction in the longitudinal direction
- the second horizontal elastic support means substantially matches the thickness direction to the second horizontal direction and the longitudinal direction is horizontal.
- a third plate-like spring member comprising a second plate-like spring member arranged in a direction, wherein the vertical elastic support means substantially matches the thickness direction with the vertical direction, and the longitudinal direction is arranged in a horizontal direction. It is characterized by comprising.
- these plate-shaped spring members are each in directions other than the plate
- these plate-like spring members are arranged in the direction in which the longitudinal direction is horizontal, the height from the base to the movable base can be suppressed, and rolling and pitching of the movable base can be suppressed. It becomes possible.
- the base and the base are elastically supported.
- a vibration device comprising a horizontal vibration means and a vertical vibration means for vibrating the movable table in a vertical direction, wherein a first intermediate table and a second intermediate table are provided between the base and the movable table.
- a first horizontal elastic support for elastically connecting the base, the first intermediate base, the second intermediate base and the movable base in order to the first horizontal direction, the second horizontal direction and the vertical direction.
- first horizontal elastic support means is constituted by a first plate-like spring member having a thickness direction substantially matching the first horizontal direction and having a longitudinal direction arranged horizontally.
- the horizontal elastic support means is constituted by a second plate spring member having a thickness direction substantially matching the second horizontal direction and having a longitudinal direction arranged in a horizontal direction,
- the vertical elastic support means is composed of a third plate spring member whose thickness direction is substantially matched to the vertical direction and whose longitudinal direction is arranged in a horizontal direction, and each of the first to third plate spring members. It is preferable that at least one of the plurality is provided in parallel at a predetermined distance.
- a vibration device comprising a vibration means and a vertical vibration means for vibrating the movable table in a vertical direction, comprising a first intermediate table and a second intermediate table between the base and the movable table.
- First horizontal elastic support means for elastically connecting the base, the first intermediate base, the second intermediate base and the movable base in order to the first horizontal direction, the second horizontal direction and the vertical direction;
- the first horizontal elastic support means comprises a first plate spring member having a thickness direction substantially matching the first horizontal direction and a longitudinal direction arranged in a horizontal direction
- 2 horizontal elastic support means is composed of a second plate-like spring member whose thickness direction is substantially matched with the second horizontal direction and whose longitudinal direction is arranged in a horizontal direction
- the vertical elastic support means is in the thickness direction.
- the third plate spring member is disposed in the horizontal direction in the longitudinal direction, and the first and second horizontal vibration means and the vertical vibration means are the first vibration means.
- Piezoelectric elements affixed to at least one surface of the first to third plate-like spring members, and applying the sine voltage to these piezoelectric elements to cause periodic elongation, the first to third To vibrate the plate spring member It is preferable to growth.
- a vibration device comprising: a second horizontal vibration unit that vibrates the movable table in a second horizontal direction intersecting the first horizontal direction; and a vertical vibration unit that vibrates the movable table in the vertical direction.
- a first intermediate base and a second intermediate base are provided between the base and the movable base, and the base, the first intermediate base, the second intermediate base, and the movable base are sequentially arranged on the first base.
- Elastic in the horizontal, second horizontal and vertical directions The first horizontal elastic support means, the second horizontal elastic support means, and the vertical elastic support means to be connected are provided, and the first horizontal elastic support means changes the thickness direction to the first horizontal direction.
- the second horizontal elastic support means substantially matches the thickness direction with the second horizontal direction, and is constituted by a first plate-like spring member that is substantially matched and has a longitudinal direction arranged in a horizontal direction.
- a third plate in which the vertical elastic support means substantially matches the thickness direction with the vertical direction and the longitudinal direction is arranged in the horizontal direction.
- a plurality of the first to third plate-like spring members are provided in parallel at a predetermined distance, and the first and second horizontal excitation means And the vertical excitation means Piezoelectric elements pasted on at least one surface of the first to third plate-like spring members, and by applying a sine voltage to these piezoelectric elements to cause periodic elongation, It is preferable that the plate spring member 3 is configured to vibrate.
- each plate spring member it is preferable to be able to change the effective length of each plate spring member so that the natural frequency in each direction can be easily adjusted to be separated or close.
- a spring seat is provided between each member and the position of the spring seat can be changed with respect to the longitudinal direction of the first and second plate spring members. .
- a vibration device comprising a base supported on a grounding surface via an anti-vibration spring, a movable base elastically supported with respect to the base, and the movable base as a first horizontal First horizontal vibration means for vibrating in the direction, second horizontal vibration means for vibrating the movable table in a second horizontal direction intersecting the first horizontal direction, and vibrating the movable table in the vertical direction And a first intermediate base and a second intermediate base between the base and the movable base, and the base, the first intermediate base, and the first intermediate base.
- a movable base is elastically supported in three directions of a horizontal 2 direction and a perpendicular direction and it can vibrate in each direction, it can produce a three-dimensional vibration in a movable base, and it is horizontal.
- the rotational moment generated by the vibration of the vibration is suppressed, the posture of the base is stabilized, and the movable table can be vibrated accurately. Furthermore, it is possible to suppress the propagation of vibration to the installation surface, and it is possible to improve the working environment by preventing the generation of noise and vibration.
- a vibration device comprising: a second horizontal vibration unit that vibrates in a second horizontal direction intersecting a direction; and a vertical vibration unit that vibrates the movable table in a vertical direction, the base and the movable table
- a first intermediate base and a second intermediate base, and the base, the first intermediate base, the second intermediate base, and the movable base are sequentially arranged in the first horizontal direction and the second horizontal direction.
- the entire apparatus is constituted by the first horizontal elastic support means and the second horizontal elastic support means.
- each horizontal elastic support means are substantially the same in the vertical direction.
- a base supported on the ground surface via a vibration isolating spring and the base A movable base that is elastically supported, first horizontal vibration means for vibrating the movable base in a first horizontal direction, and a second horizontal direction that intersects the first horizontal direction with the movable base.
- a vibration device comprising second horizontal vibration means for vibrating and vertical vibration means for vibrating the movable table in a vertical direction, wherein the first intermediate table and the first intermediate table are interposed between the base and the movable table.
- a plurality of intermediate bases, and a plurality of the base, the first intermediate base, the second intermediate base, and the movable base are sequentially elastically connected in the first horizontal direction, the second horizontal direction, and the vertical direction.
- First horizontal elastic support means and a plurality of second horizontal bullets A first mass body and a second mass body, each having a support means and a plurality of vertical elastic support means, with the entire apparatus as a boundary between the first horizontal elastic support means and the second horizontal elastic support means.
- the third mass bodies, the center of gravity positions of these mass bodies are made substantially the same in the vertical direction and the horizontal direction, and the plurality of vertical elastic support means are provided on the mass bodies. It is provided so as to be symmetric with respect to each excitation direction with the center of gravity as the center, and a counterweight for the movable base is provided at a symmetric position across these vertical elastic support means. It is preferable to configure.
- a grounding surface is provided via a vibration isolation spring.
- a vibration device comprising: a second horizontal vibration means that vibrates in a second horizontal direction that intersects the horizontal direction of the first vertical vibration means; and a vertical vibration means that vibrates the movable base in a vertical direction.
- a first intermediate base and a second intermediate base are provided between the movable base and the base, the first intermediate base, the second intermediate base, and the movable base in order of the first horizontal direction, second base
- the positions of the centers of gravity of these mass bodies are substantially the same in the vertical direction and the horizontal direction, and the mass bodies
- the mounting positions of the horizontal elastic support means are substantially the same in the vertical direction, and the plurality of vertical elastic support means are arranged to be excited with respect to the center of gravity positions of the mass bodies.
- the counterweight is provided so as to be symmetric with respect to the direction, and a counterweight for the movable table is provided at a position that is symmetric with respect to the vertical elastic support means.
- a vibration device comprising a horizontal vibration means for vibrating in a direction and a vertical vibration means for vibrating the movable base in a vertical direction, comprising an intermediate base between the base and the movable base, and the base
- a plurality of horizontal elastic support means and a plurality of vertical elastic support means for elastically connecting the intermediate stage and the movable base in order in the horizontal direction and the vertical direction, and the entire apparatus is bounded by the horizontal elastic support means
- the center of gravity of these mass bodies is configured to be substantially the same in the vertical direction and the horizontal direction.
- the center of gravity of the mass body connected through the horizontal elastic support means and relatively moving in the horizontal direction is made substantially the same in the vertical direction, so that it is incidentally caused by the horizontal excitation force.
- the generated rotational moment is suppressed, the posture of the base is stabilized, and the movable table can be vibrated accurately.
- propagation of vibration to the installation surface can be suppressed, and it becomes possible to improve the working environment by preventing generation of noise and vibration.
- a supported base a movable base elastically supported by the base; horizontal vibration means for vibrating the movable base in a horizontal direction; and vertical vibration means for vibrating the movable base in a vertical direction.
- a plurality of horizontal elastic members that include an intermediate base between the base and the movable base, and that elastically connect the base, the intermediate base, and the movable base in order in a horizontal direction and a vertical direction.
- the center of gravity of these mass bodies is perpendicular to the vertical direction.
- Yo becomes substantially the same in the horizontal direction, and wherein it is preferable that the center of gravity of each mass body and the mounting position of each horizontal elastic support means is configured to be substantially the same in the vertical direction.
- a vibration device comprising: a movable table elastically supported; horizontal vibration means for vibrating the movable table in a horizontal direction; and vertical vibration means for vibrating the movable table in a vertical direction.
- a plurality of horizontal elastic support means and a plurality of vertical elastic support means for providing an intermediate base between the base and the movable base, and elastically connecting the base, the intermediate base and the movable base sequentially in the horizontal direction and the vertical direction;
- the positions of the centers of gravity of these mass bodies are made substantially the same in the vertical direction and the horizontal direction.
- the plurality of vertical elastic support means are provided so as to be symmetric with respect to each excitation direction around the center of gravity of each mass body, and are symmetrical with respect to the vertical elastic support means. It is preferable that a counterweight for the movable table is provided at a certain position.
- a grounding surface is provided via a vibration isolation spring.
- a base supported above, a movable base elastically supported by the base, horizontal excitation means for vibrating the movable base in a horizontal direction, and vertical excitation for vibrating the movable base in a vertical direction A plurality of vibration devices including an intermediate table between the base and the movable table, and elastically connecting the base, the intermediate table and the movable table in the horizontal direction and the vertical direction sequentially.
- each mass body and the mounting position of each horizontal elastic support means are substantially the same in the vertical direction, and the plurality of vertical elastic support means Is provided so as to be symmetric with respect to each excitation direction with the center of gravity of each mass body as a center, and a counterweight with respect to the movable table is provided at a position symmetric with respect to the vertical elastic support means. It is preferable to configure as provided.
- a peripheral wall portion raised from the vicinity of the outer peripheral edge of the base is provided, and the peripheral wall portion is configured to surround the elastic support means and the excitation means.
- the center of gravity adjustment member for adjusting the position of the center of gravity of the base is configured.
- an article conveying apparatus that conveys an article placed on the movable table by vibration of the movable table.
- the periodic vibration force generated by any of the vibration devices described above and a plurality of vibration means included in the vibration device is generated at the same frequency at the same time while having a phase difference.
- Vibration control means for controlling each of the excitation means so as to generate a vibration trajectory, and vibration switching means for switching the amplitude and phase difference of the periodic excitation force by each of the excitation means. Is preferred.
- an article sorting apparatus with excellent controllability capable of sorting a plurality of articles on the movable table according to a friction coefficient
- a plurality of items placed on the movable table by vibration of the movable table are used.
- An article separation apparatus for separating articles wherein the periodic vibration force generated by any of the vibration devices described above and a plurality of vibration means included in the vibration device is generated at the same frequency while having a phase difference.
- Vibration control means for controlling each of the excitation means so as to generate a three-dimensional vibration locus on the movable table, and a periodic excitation force by the horizontal excitation means and a periodic excitation force by the vertical excitation means.
- the movable table can be elastically supported effectively in three directions independently with a simple configuration, and the height to the conveying surface is small. It is possible to provide a vibration device that can suppress pitching and rolling, and an article conveyance device and an article separation device that are excellent in controllability using the vibration device. Further, according to the second invention, in order to more effectively suppress the rotational moment generated when the excitation force is applied to the movable base, the base is supported even in the form in which the base is supported via the vibration isolation spring. It is possible to stabilize the posture and to stabilize the vibration of the movable table supported by this to improve the operation accuracy, and to suppress the propagation of vibration to the installation surface and prevent noise and vibration. Thus, it is possible to provide a vibration device that can improve the work environment, and an article conveyance device and an article separation device that are excellent in controllability using the vibration device.
- FIG. 1 is a system configuration diagram of a vibration device according to a first embodiment of the present invention and an article conveyance device using the vibration device.
- the perspective view of the vibration apparatus. The exploded perspective view of the vibration device.
- the perspective view which shows the principal part of the vibration apparatus.
- the top view which shows the principal part of the vibration apparatus.
- the front view which shows the principal part of the vibration apparatus.
- the top view which shows a time when the movable stand in the vibration apparatus moved to the 1st horizontal direction.
- the front view which shows when the movable stand in the vibration apparatus moves to the perpendicular direction.
- the conceptual diagram which shows the excitation direction of the vibration apparatus.
- goods The figure which shows the relationship between the phase difference between the periodic exciting forces to each direction in the vibration apparatus, the conveyance speed of an article
- the top view which illustrated the conveyance locus at the time of conveying goods using the vibration device.
- the system block diagram of the vibration apparatus which concerns on 2nd Embodiment of this invention, and the goods sorting apparatus using the vibration apparatus.
- FIG. 25 is an AA cross-sectional arrow view in FIG. 24.
- FIG. 25 is a sectional view taken along the line BB in FIG. 24.
- FIG. 34 is an AA cross-sectional arrow view in FIG. 33.
- FIG. 38 is a cross-sectional view taken along the line AA in FIG.
- FIG. 1 shows a configuration in which a vibration device 2 according to the first embodiment of the present invention and a control system unit 3 for controlling the vibration device 2 are added to form an article transport apparatus 1 that is one of the article moving apparatuses. .
- control system unit 3 controls the piezoelectric elements 81, 82, and 83 incorporated in the vibration device 2 so that the vibration device 2 has X as the first horizontal direction and the second horizontal direction.
- the vibration is generated by applying a periodic excitation force in each direction of Y as a vertical direction and Z as a vertical direction.
- FIG. 2 shows the vibration device 2 as actually used.
- the cover 42 installed on the base 4 covers the front, back and side surfaces.
- a rectangular conveying table 63 that constitutes a part of the movable table 6 is provided on the upper surface, and an upper surface 63a of the conveying table 63 can carry an article 9 to be conveyed as a conveying surface. Yes.
- FIG. 3 shows a state in which the transport table 63 is removed from the vibration device 2 described above.
- the vibration device 2 includes a movable pedestal 61 as a rectangular parallelepiped block elastically supported in the three axial directions of X, Y, and Z therein.
- a rectangular plate-like movable plate 62 is connected by countersunk screws 62a to 62a (only two are shown in the figure).
- the transfer plate 63 is provided on the upper surface of the movable plate 62, and the movable plate 62 and the transfer table 63 are fastened by using screw holes 62b to 62b and screws 63b to 63b provided in the vicinity of the four corners. Yes.
- movable pedestal 61, movable plate 62, and conveying table 63 are integrated as a movable table 6 and elastically supported inside the vibration device 2, and are also vibrated by a vibration means described later.
- FIG. 4 shows a state in which the cover 42, the movable plate 62, and the transport table 63 are removed.
- the configuration of the vibration device 2 according to the present embodiment will be described in detail with reference to FIG.
- the vibration device 2 is configured to elastically support the movable pedestal 61 with respect to the base 2 in three directions of X, Y, and Z.
- the base 4 as a rigid body portion
- the intermediate plate 52 and the movable pedestal 61 are sequentially connected so that the first plate-like spring members 71 and 71 as the first horizontal elastic support means and the second plate-like shape as the second horizontal elastic support means.
- Spring members 72 and 72 and third plate spring members 73 and 73 as vertical elastic support means are provided. Since the plate spring members 71 to 73 are arranged so that the plate thickness directions thereof are the X, Y, and Z directions, it is easy to elastically deform in the directions.
- first to third piezoelectric elements 81 to 83 are provided as vibration means for vibrating the movable base 61 in three directions of X, Y, and Z.
- the base 4 is configured as a rectangular plate, and four holes are formed with bolt holes for installation on an external device (not shown) or on the floor. If an elastic body having a small spring constant such as an anti-vibration rubber (not shown) is attached below the base 4, it is preferable that the reaction force from the installation surface can be reduced.
- the mounting blocks 41 are provided so as to be arranged in four rectangular shapes at positions slightly closer to the center than the four corners. Although not shown in this figure, as shown in FIG. 5, each mounting block 41 is fixed to the base 4 using screws.
- each of the mounting blocks 41 is formed as a block having an L-shaped cross section, and one side forming the L shape is in contact with the base 4, and the other side is formed. Is standing up. The upstanding sides form a YZ plane orthogonal to the X direction. And the 1st plate-shaped spring members 71 and 71 are provided so that it may connect to the attachment blocks 41 and 41 which adjoin and make a pair in a Y direction. Since the first plate-like spring members 71 and 71 are attached to the YZ plane of each of the attachment blocks 41 to 41, the plate thickness direction is the X direction and the longitudinal direction is the Y direction.
- first plate-like spring members 71 and 71 are respectively provided in the two pairs of mounting blocks 41 to 41, two first plate-like spring members 71 and 71 are provided in parallel at a predetermined distance in the X direction.
- both end portions of the first plate-like spring members 71 and 71 are screwed (not shown) so as to be sandwiched between rectangular spring retainers 71d to 71d and the YZ planes of the mounting blocks 41 to 41. Since it is fixed using, it supports so that a deflection angle may be controlled.
- the first intermediate stands 51 and 51 are connected to the longitudinal center of the first plate spring members 71 and 71 through spring seats 71c to 71c, respectively.
- the first intermediate platform 51 is formed in a rectangular parallelepiped shape extending in the Y direction.
- Two spring seats 71c to 71c are provided on each of the first plate-like spring members 71 and 71, and spring retainers 71e to 71e are provided so as to face the respective spring seats 71c to 71c. Yes.
- the first plate-like spring members 71 and 71 have their deflection angles regulated so as to be sandwiched between the opposing spring seats 71c to 71c and the spring retainers 71e to 71e, and at these portions, the first plate spring members 71 and 71 are screwed (see FIG. 5). 1 is connected to an intermediate platform 51, 51.
- the first intermediate bases 51 and 51 are divided into two parts, but are connected by second plate spring members 72 and 72 described later, and therefore operate as a unit.
- the first intermediate bases 51 and 51 are formed in a rectangular parallelepiped shape as described above, and are arranged so that each of the six surfaces is orthogonal to the respective surfaces of the X, Y, and Z axes. And the two 2nd plate-shaped spring members 72 and 72 are provided so that between each XZ surface orthogonal to the Y-axis which each has may be connected.
- the two second plate-like spring members 72 and 72 are such that the plate thickness direction is perpendicular to the Y axis and the longitudinal direction is in the X direction. They are arranged parallel to each other at a predetermined distance in the Y direction.
- the second plate-like spring members 72 and 72 are screwed at the ends so that both ends are sandwiched between the rectangular spring holders 72d to 72d and the XZ plane of the first intermediate stage 51 and 51. Since it is fixed by (refer FIG. 5), it supports so that a deflection angle may be controlled.
- a second intermediate stage 52 is connected via spring seats 72c to 72c.
- Two spring seats 72c to 72c are provided on each of the second plate-like spring members 72 and 72, and spring retainers 72e to 72e are provided so as to face the respective spring seats 72c to 72c. Yes.
- the deflection angle of the second plate-like spring members 72 and 72 is regulated so as to be sandwiched between the opposing spring seats 72c to 72c and the spring retainers 72e to 72e. 2 is connected to the intermediate stage 52.
- the second intermediate stage 52 is configured by combining four rectangular parallelepiped blocks each having six surfaces orthogonal to the X, Y, and Z directions. ing.
- a long hole is formed in each of the spring seats 72c to 72c and the spring retainers 72e to 72e as shown in FIG. 6, and the second intermediate base 52 is connected to the second intermediate stand 52 by a screw inserted through the long hole as shown in FIG.
- Two plate-like spring members 72, 72 are connected.
- the spring seats 72c to 72c and the spring retainers 72e to 72e can move in the X direction corresponding to the long holes, that is, in the longitudinal direction of the second plate-like spring members 72 and 72.
- the second plate-like spring members 72, 72 can change the effective length acting as a spring.
- long holes are formed in the spring seats 71c to 71c and the spring retainers 71e to 71e for connecting the first plate spring members 71 and 71 to the first intermediate bases 51 and 51, respectively. Since the long hole can move in the Y direction, the effective length of the first plate-like spring members 71 and 71 can also be changed.
- the first plate-like spring members 71 and 71 and the second plate-like spring members 72 and 72 change the spring constant and the natural frequency, respectively, by changing the effective length. Can be made.
- a total of four third plate spring members 73 to 73 are provided on each of the upper surface and the lower surface of the second intermediate base 52 configured as a rectangular frame. Yes.
- the third plate-like spring members 73 to 73 are respectively formed as upper and lower surfaces of portions located at two sides parallel to the Y direction among the sides constituting the rectangle forming the second intermediate stage 52.
- the XY planes are provided so as to be connected in the X direction.
- the third plate-like spring members 73 to 73 are screwed at these portions so that both ends are sandwiched between the rectangular spring supports 73c to 73c and the XY plane of the second intermediate stage 52 (see FIG. 5) and is supported so that the deflection angle is regulated.
- third plate spring members 73 and 73 connected to the upper surface of the second intermediate stand 52 and third plate spring members 73 and 73 connected to the lower surface of the second intermediate stand 52 (see FIG. 5). ) In the vicinity of the center portion is provided with an inter-spring block 73e in the gap in order to maintain the distance therebetween.
- a spring retainer 73e is provided below the inter-spring block 73e with third plate spring members 73 and 73 connected to the lower surface of the second intermediate stage 52 interposed therebetween.
- the spring retainer 73e can be fixed using screws (not shown) in a state in which the two third plate spring members 73 and 73 are sandwiched between the lower surface of the second intermediate stage 52.
- the above-described movable base 61 is provided above the inter-spring block 73e with the third plate spring members 73 and 73 connected to the upper surface of the second intermediate base 52 interposed therebetween.
- the movable pedestal 61 is fixed using screws in the form shown in FIG. 5 in a state where the two third plate spring members 73 and 73 are sandwiched between the upper surface of the second intermediate stage 52. be able to. Since the movable plate 62 is attached to the upper surface of the movable pedestal 61 as shown in FIG. 3, the above screws are designed so that the head does not protrude.
- the first intermediate bases 51, 51 are elastically moved in the X direction with respect to the base 4 using the first plate spring members 71, 71.
- the second intermediate stage 52 is elastically supported in the Y direction with respect to the first intermediate stage 51, 51 using the second plate spring member 72, and the movable base 61 is supported with respect to the second intermediate stage 52.
- the movable base 6 is elastically supported with respect to the base 4 in each of the X, Y, and Z directions.
- Each of the plate-like spring members 71 to 73 has elasticity in the X, Y, and Z directions, which are the plate thickness directions, respectively, and has sufficient rigidity in the width direction and the longitudinal direction perpendicular thereto. Therefore, support in each direction can be considered to be independent.
- first to third plate-like spring members 71 to 73 are provided in parallel to each direction and are supported in pairs, so that they are configured as a part of the parallel link. Yes. As a result, the plate-like spring members 71 to 73 can be displaced without a twisting motion while maintaining a constant gap between the paired members.
- the vibration device of the present embodiment includes first horizontal vibration means 81, second horizontal vibration means 82, and vertical vibration means 83 that are independent in the X, Y, and Z directions.
- the first horizontal vibration means which is the vibration means in the X direction, is a total of four first pieces, each two affixed to the surface of the two first plate spring members 71, 71. It comprises piezoelectric elements 81-81.
- the first piezoelectric elements 81 to 81 are expanded or contracted in the Y direction when a voltage is applied thereto, and are displaced in the X direction by bending the first plate spring members 71 and 71. It is possible to make it.
- the first plate-like spring members 71, 71 are connected from a base side connection point 71a positioned by a spring retainer 71d at the end to a first intermediate base side connection point 71b positioned by a central spring seat 71c and a spring retainer 71e.
- a spring retainer 71d at the end
- a first intermediate base side connection point 71b positioned by a central spring seat 71c and a spring retainer 71e.
- the first piezoelectric elements 81 to 81 are provided at the same positions from the end portions, and the same deformation can be caused by adjusting the output. By doing so, as shown in FIG. 7, the first plate spring members 71, 71 separated in the X direction can be similarly deformed while maintaining the interval therebetween, and the first intermediate stage 51, 51 can be displaced only in the X direction while maintaining a horizontal state.
- the second horizontal vibration means that is the vibration means in the Y direction is the same as the first horizontal vibration means described above, and the two second plate spring members 72. , 72, a total of four second piezoelectric elements 82 to 82, each of which is affixed to the surface of each of the two.
- the second piezoelectric elements 82 to 82 are expanded or contracted in the X direction when a voltage is applied thereto, and the second plate spring members 72 and 72 are bent to cause a displacement in the Y direction. It is possible.
- the second piezoelectric elements 82 to 82 are also mounted at the same positions as the first piezoelectric elements 81 to 81. By doing so, the second plate separated in the Y direction as shown in FIG.
- the second springs 72 and 72 can be deformed in the same manner while maintaining the interval between the spring members 72 and 72, and the second intermediate stage 52 can be displaced only in the Y direction while maintaining the horizontal state.
- the vertical vibration means which is the vibration means in the Z direction, has two plate spring members on the upper side among the two plate spring members 73 to 73 provided at the top and bottom.
- the third piezoelectric elements 83 to 83 are expanded or contracted in the X direction when a voltage is applied thereto, and the third plate spring members 73 and 73 are bent to generate a displacement in the Z direction. It is possible.
- the third piezoelectric elements 83 to 83 are also mounted at the same positions as the first piezoelectric elements 81 to 81 and the second piezoelectric elements 82 to 82.
- the third plate-like spring members 73 and 73 separated from each other can be similarly deformed while maintaining the distance therebetween, and the movable base 61 can be displaced only in the Z direction while maintaining the horizontal state.
- the third piezoelectric elements 83 to 83 can be provided on the two third plate-like spring members 73 and 73 provided on the lower side, and a total of four third elements on the upper side and the lower side are provided.
- the plate-like spring members 73 to 73 can also be provided.
- a periodic excitation force is applied to the movable base 61 in each direction. Can do.
- the control system unit 3 shown in FIG. 1 applies a sinusoidal control voltage to the first piezoelectric element 81, the second piezoelectric element 82, and the third piezoelectric element 83 with respect to the vibration device 2 configured as described above.
- a periodic excitation force for generating vibrations in the X, Y, and Z directions is generated.
- the control system unit 3 includes an oscillator 34 that generates a sine voltage.
- the sine voltage is amplified by the amplifier 35 and then output to each of the piezoelectric elements 81, 82, and 83.
- the control system unit 3 has vibration control means 31 for adjusting the control voltages in the X, Y, and Z directions in detail.
- the frequency of the vibration generated by the oscillator 34 is set to a frequency that resonates with any vibration system in the X, Y, and Z directions, thereby amplifying the vibration and saving power.
- the natural frequencies in each direction may be separated. In that case, the natural frequency in each direction is separated by, for example, about ⁇ 10% to + 10%.
- the effective lengths of the first plate spring members 71 and 71 and the second plate spring members 72 and 72 are changed by the spring seats 71c to 71c and 72c to 72c, respectively. Is possible. Therefore, the natural frequency in the X direction and the Y direction can be changed and adjusted so as to have appropriate values with the natural frequency in the Z direction as a reference.
- the vibration control means 31 mainly includes an amplitude adjustment circuit 31a for adjusting the amplitude of the control voltage in each of the X, Y, and Z directions, and a phase adjustment circuit 31b for adjusting each phase difference.
- the amplitude adjustment circuit 31a corresponding to each of the X, Y, and Z control voltages is provided, and the control voltage of the control voltage is set so as to have a predetermined phase difference with respect to the phase of the control voltage in the Z direction.
- a phase adjustment circuit 31b for adjusting the phase is provided for each of the X and Y control voltages.
- the control system unit 3 includes a conveyance path determination unit 33 for determining a conveyance path and a conveyance speed according to the article 9 to be conveyed, and each amplitude adjustment circuit 31a and each phase according to the determined conveyance path and the conveyance speed. And a vibration switching means 32 for issuing a command for changing a specific control value to the adjustment circuit 31b.
- the transport path determination means 33 stores a plurality of transport path and transport speed data corresponding to the article 9 to be transported, and selects a transport path and a transport speed according to an external instruction (not shown). Above, a command is given to the vibration switching means 32 so as to switch the vibration mode in accordance with the transport path and transport speed selected there.
- the vibration switching means 32 determines specific control values of the amplitude adjustment circuits 31a and the phase adjustment circuits 31b so that the conveyance path and the conveyance speed become the commanded target values, and sets the control values. Output instructions to switch.
- the article conveying apparatus 1 configured as described above specifically operates as follows, and conveys and separates the article 9 placed on the movable table 6.
- the movable base 6 is elastically supported by the elastic bodies 74, 75, and 76 in the X, Y, and Z directions with respect to the base 4.
- the case where the direction vibration means 84, 85, and 86 are provided is assumed. With this configuration, the movable base 6 can be moved in three directions by the vibration means 84, 85, 86 provided in the three directions X, Y, and Z.
- the elastic bodies 74 to 76 in the schematic diagram of FIG. 10 correspond to the first to third plate-like spring members 71 to 73 (see FIG. 4), and the vibration means 84 to 86 are the first and second vibration members, respectively. This corresponds to first to third piezoelectric elements 81 to 83 (see FIG. 4) as horizontal vibration means and vertical vibration means.
- Z 0 represents the amplitude in the Z direction
- ⁇ represents the angular frequency
- t represents time.
- X 0 and Y 0 are the amplitudes in the X direction and Y, respectively
- ⁇ x and ⁇ y are the phase differences of the vibrations in the X direction and the Z direction, respectively, with respect to the vibration in the Z direction.
- the movable table 6 can generate a three-dimensional vibration in which these are combined.
- the right side on the XZ plane is two-dimensionally.
- a vibration having an elliptical trajectory is generated, and a vibration having an elliptical trajectory with the right side down on the YZ plane is generated.
- an elliptical orbit in a three-dimensional space is generated as shown in the lower right in the figure.
- the size and orientation of the two-dimensional elliptical orbit in the XZ plane and YZ plane can be changed.
- the size and orientation can be changed freely.
- the control is performed by applying a periodic excitation force in each direction.
- the moving speed component in the X direction can be controlled by the elliptical orbit in the XZ plane
- the moving speed component in the Y direction can be controlled by the elliptical orbit in the YZ plane. That is, by changing the amplitude and phase difference of the vibrations in the X direction and the Y direction with reference to the vibration component in the Z direction, the moving speed component in the X and Y directions is changed and transported in an arbitrary direction. It becomes possible.
- the movement speed is changed as follows.
- the moving speed Vx (Yy) of the article 9 draws a curve similar to a sine wave due to the phase difference ⁇ x ( ⁇ y). Change. Therefore, when the phase difference of the vibration component in the X direction with respect to the vibration component in the Z direction is set to ⁇ 12 in FIG. 10, the article 9 is conveyed in a direction in which X is positive. Further, when the phase difference is set to ⁇ 14, the article 9 is conveyed in the direction in which X becomes negative. On the other hand, when the phase difference is set to ⁇ 11 and ⁇ 13, the moving speed Vx is 0, and the article 9 is stationary in the X direction.
- the speed in the positive direction and the negative direction can be increased or decreased, respectively.
- the movement direction and the movement speed can be changed by setting a phase difference with respect to the vibration component in the Z direction.
- the curve showing the relationship between the phase difference shown in FIG. 11 and the moving speed Vx (Yy) of the article 9 is shown in FIG. 6 and the relationship shown in FIG. That is, when the friction coefficients between the two types of articles W11 and W12 and the movable stage 6 are ⁇ 11 and ⁇ 12, respectively, and there is a relationship of ⁇ 11 ⁇ 12, the graph of the moving speed at W12 shows the moving speed at W11. The curve is shifted in the direction in which the phase difference is positive. Therefore, when an article 9 having a different friction coefficient is placed on the movable table 6 that performs elliptical vibration, the moving speed and the moving direction are different.
- W11 does not move and W12 moves in the negative direction.
- W11 can be moved in the positive direction and W12 can be moved in the negative direction.
- ⁇ 12 is set, only W11 can be moved in the positive direction without moving W12. If set between ⁇ 12 and ⁇ 14, both W11 and W12 can be moved in the positive direction, but the speeds of W11 and W12 can be switched with ⁇ 13 as a boundary.
- the phase difference is finely changed in the range of ⁇ 12 to ⁇ 14, the speed ratio between W11 and W12 can also be changed.
- phase difference is ⁇ 14, only W12 can be moved in the positive direction without moving W11. Furthermore, if the phase difference is set between ⁇ 14 and ⁇ 15, W12 can be moved in the positive direction and W11 can be moved in the negative direction. If the phase difference is set to ⁇ 15, only W11 can be moved in the negative direction without moving W12. When the phase difference is in the range of ⁇ 15 to ⁇ , both W11 and W12 can be moved in the negative direction, and by changing the phase difference within this range, the ratio of the moving speeds of both can be changed. You can also.
- the relationship between the phase difference ⁇ x ( ⁇ y) and the moving speed Vx (Yy) of the article 9 is expressed by the amplitude X 0 ( It is also changed by changing Y 0 ). That is, a sine wave-like curve that is the moving speed Vx (Yy) of the article 9 with respect to the phase difference ⁇ x ( ⁇ y) changes approximately in proportion to the amplitude X 0 (Y 0 ) of the vibration displacement. From this, when it is desired to double the moving speed Vx (Yy) of the article 9, the amplitude of the vibration displacement in the X (Y) direction may be approximately doubled. For that purpose, the amplitude of the control voltage may be changed in order to give a corresponding excitation force.
- the elliptical vibration in the XZ plane is changed by changing the amplitude and phase of the periodic excitation force generated by the control voltage in the X direction and the Y direction on the basis of the periodic excitation force generated by the control voltage in the Z direction. If the component and the elliptical vibration component in the YZ plane are respectively changed, the moving speed components in the X direction and the Y direction can be given to the article 9 in accordance with the relationship shown in FIGS.
- the article 9 is moved in the X direction from the initial time point (T 0 ), and in the Y direction from a certain time point (T 1 ).
- a moving speed component can also be added to change the direction of movement.
- the transport destination may be changed according to the type of the article 9, or the article 9 may be judged as a defective product based on inspection data from a separately provided camera and transported outside the line.
- the conveyance route determination means 33 in FIG. 1 receives the type of the article 9 to be conveyed from outside as the article-related data, and the article 9 based on the data stored in the interior in advance.
- the conveyance path and the conveyance speed corresponding to the above are selected, or the conveyance direction and the conveyance speed are determined based on the inspection data as the object-related data and output to the vibration switching means 32.
- the vibration switching means 32 determines whether or not it is necessary to switch the vibration mode in each direction corresponding to the conveyance direction and the conveyance speed, and if switching is necessary, the amplitude of the periodic excitation force in each direction. In order to adjust the phase, a specific control value is commanded to each amplitude adjustment circuit 31a and phase adjustment circuit 31b.
- the conveyance path change is determined at any time and the amplitude and phase are adjusted by the vibration switching means 32, the article 9 is moved while drawing a free trajectory in the XY directions as shown in FIG. It becomes possible to make it.
- the determination of the transfer path change may be based on a preset timing or may be performed according to an external signal.
- the initial stage (T 0 ) is conveyed in the same direction in one direction. It is also possible to branch and move in different directions from the time (T 1 ). In this case, in the initial stage (T 0 ), the X direction is vibrated with the phase difference ⁇ 13 in FIG. 12, the Y direction is not caused to vibrate, and the vibration is also caused in the Y direction from the time point T 1. The vibration phase difference in the Z direction is switched between ⁇ 11 and ⁇ 12 or between ⁇ 14 and ⁇ 15.
- the vibration phase difference with respect to the Z direction is also shifted from ⁇ 13 in the X direction speed to switch the speed difference in the X direction between the articles 9a and 9b.
- the conveyance path determination means 33 in FIG. 1 determines an appropriate conveyance path and conveyance speed according to the set timing or based on the object-related data input from the outside, Based on this, a command to change the conveyance direction and conveyance speed is issued to the vibration switching means 32. Then, the vibration switching means 32 determines specific control values of the amplitude and phase in each direction corresponding to the commanded transport direction and transport speed, and sends the control value to each amplitude adjustment circuit 31a and phase adjustment circuit 31b. Command to change to.
- the transport path and the transport speed of the articles 9a and 9b are independently controlled simultaneously in the XY plane as shown in FIG. 14 (f). It becomes possible.
- the vibration device 2 includes the base 4, the movable table 6 elastically supported by the base 4, and the X direction in which the movable table 6 is the first horizontal direction.
- First horizontal vibration means 81 for vibrating in the first horizontal direction
- second horizontal vibration means 82 for vibrating the movable base 6 in the Y direction as a second horizontal direction intersecting the first horizontal direction
- the movable And a vertical excitation means 83 that vibrates the base 6 in the Z direction as a vertical direction, the first intermediate bases 51, 51 and the second intermediate base between the base 4 and the movable base 6.
- the first horizontal elastic support means comprises a first plate spring member 71 having a thickness direction substantially matching the first horizontal direction and a longitudinal direction arranged in a horizontal direction, and the second horizontal elastic support means.
- the support means includes a second plate spring member 72 having a thickness direction substantially matching the second horizontal direction and a longitudinal direction arranged in a horizontal direction, and the vertical elastic support means has a thickness direction perpendicular to the vertical direction.
- the third plate spring member 73 is configured to substantially match the direction and the longitudinal direction thereof is arranged in a horizontal direction.
- the first to third plate spring members 71 to 73 as elastic support means for elastically supporting the movable base 6 are easily elastically deformed in the X, Y, and Z directions. Since each plate spring member 71 to 73 has a large rigidity in a direction different from the plate thickness direction, the movable base 6 is elastically supported independently in each direction. Can do. Therefore, when vibration is caused in each direction by the first horizontal vibration means 81, the second horizontal vibration means 82, and the vertical vibration means 83, the vibration is controlled independently without affecting each other direction. Can be made. Further, since these plate-like spring members 71 to 73 are arranged in the direction in which the longitudinal direction is horizontal, the height from the base 4 to the movable base 6 can be suppressed. Rolling can be suppressed.
- each plate-like spring member 71 to 73 is connected to the parallel link. Therefore, it is easy to be displaced while maintaining a constant interval in each direction. For this reason, since the plate-like spring members 71 to 73 are prevented from being deformed in a twisted form, the support in the above three directions can be more stably performed.
- each of the vibration means is a piezoelectric element 81 to 83 attached to at least one surface of the first to third plate spring members 71 to 73, and applies a sine voltage to these piezoelectric elements 81 to 83. Since the first to third plate-like spring members 71 to 73 are configured to vibrate by causing periodic elongation, the plate-like spring members 71 to 73 serving as elastic support means By integrating the vibration means 81 to 83, the configuration can be simplified and the size can be reduced.
- spring seats 71c to 72c are provided between the first intermediate base 51 and the first plate spring member 71 and between the second intermediate base 52 and the second plate spring member 72, respectively. are provided so that the positions of the spring seats 71c to 72c can be changed with respect to the longitudinal direction of the first and second plate spring members 71 and 72, respectively.
- the natural frequency of the plate spring members 71, 72 can be easily changed. As a result, it is possible to easily adjust the natural frequency in each direction to be separated or close.
- the article conveying apparatus 1 conveys the article 9 placed on the movable table 6 by the vibration of the movable table 6, and has the above-described vibrating device 2 and the vibrating device 2.
- the respective excitation means 81 so that the periodic excitation force by the plurality of excitation means 81 to 83 is simultaneously generated at the same frequency while having a phase difference to generate a three-dimensional vibration locus on the movable table 6.
- vibration switching means 32 for switching the amplitude and phase difference of the periodic excitation force by the respective excitation means 81 to 83.
- FIG. 15 shows a second embodiment in which the vibration device 2 of the present invention is used as an article sorting apparatus 101 which is one of the article moving apparatuses.
- the same parts as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.
- the configuration as the vibration device 2 is the same as that in the first embodiment, and the control system unit 103 for controlling this is different. Specifically, there is no vibration switching means 32 and transport path determination means 33 that the control system unit 3 in the first embodiment has as shown in FIG. 1, and instead of these, a phase difference input as shown in FIG. Part 132.
- the phase difference input unit 132 receives the respective phase differences in the X direction and the Y direction on the basis of the phase of the control voltage in the Z direction, and corresponds to the X and Y directions so as to set the phase difference. A command is issued to each phase adjustment circuit 31b.
- the principle of operation of the article sorting apparatus 101 in the present embodiment is the same as that described with reference to FIGS. 10 to 13 in the first embodiment, and the friction coefficient between the movable table 6 and the article 9
- the moving speed and moving direction of the article 9 are changed according to the phase difference and amplitude of the vibration in the direction.
- the article 9 is sorted as follows.
- the movement speed Vx (Yy) of the article 9 will draw a curve similar to a sine wave due to the phase difference ⁇ x ( ⁇ y) according to FIG. 16 with reference to FIG. It changes with the coefficient of friction between the article 9 and the movable table 6 as well. That is, when the friction coefficients between the three types of articles W21, W22, W23 and the movable table 6 are ⁇ 21, ⁇ 22, and ⁇ 23, respectively, and there is a relationship of ⁇ 21 ⁇ 22 ⁇ 23, the moving speed graph at W22 is The movement speed curve at W21 is shifted in the direction in which the phase difference is positive, and the movement speed graph at W23 is further shifted in the direction in which the phase difference is positive. Therefore, when an article 9 having a different friction coefficient is placed on the movable table 6 that performs elliptical vibration, the moving speed and the moving direction are different.
- phase difference ⁇ 21 shown in FIG. 16 W21 proceeds in the positive direction, and W22 and W23 proceed in the same negative direction, but W23 has a higher moving speed than W22.
- W21 advances in the positive direction W22 advances in the positive direction at a speed smaller than W21, and W23 advances in the negative direction.
- W21 advances in the negative direction W22 advances in the positive direction
- W23 advances in the positive direction at a speed greater than W22.
- phase difference is set to ⁇ 24
- W21 proceeds in the negative direction
- W22 proceeds in the negative direction at a speed smaller than W21
- W23 proceeds in the positive direction.
- Phases other than ⁇ 21 to ⁇ 24 can be arbitrarily set, and all of W21 to W23 can be moved in the forward direction or the reverse direction, and the order of the moving speeds can be changed.
- the relationship between the phase difference ⁇ x ( ⁇ y) and the moving speed Vx (Yy) of the article 9 also changes by changing the amplitude X 0 (Y 0 ). That is, a sine wave-like curve that is the moving speed Vx (Yy) of the article 9 with respect to the phase difference ⁇ x ( ⁇ y) changes approximately in proportion to the amplitude X 0 (Y 0 ) of the vibration displacement. From this, when it is desired to double the moving speed Vx (Yy) of the article 9, the amplitude of the vibration displacement in the X (Y) direction may be approximately doubled. For that purpose, the amplitude of the control voltage may be changed in order to give a corresponding excitation force.
- the speed at which such an article is moved on the movable stage 6 can be considered by being decomposed into an X-direction moving speed component Vx and a Y-direction moving speed component Vx.
- Vx and Vy are respectively in the XZ plane. It can be controlled by an elliptical orbit and an elliptical orbit in the YZ plane, and each has the relationship of FIG.
- the areas are divided into upper, lower, left, and right as shown in FIG.
- the moving direction can be set to any one of these regions.
- the X-direction moving velocity components Vx of W21, W22, and W23 are positive ( +), Negative ( ⁇ ), and negative ( ⁇ ) values
- the Y-direction moving speed component Vy has positive (+), positive (+), and negative ( ⁇ ) values, respectively. That is, in the area shown in FIG. 17, W21 is about to move to the D area, W22 is about to move to the C area, and W23 is about to move to the A area. As a result, as shown in FIG. Move while being sorted into each area.
- the articles 9 having different friction coefficients can be moved in different directions, and each can be changed to an arbitrary moving direction.
- the article 9 is sorted using the article sorting apparatus 101 as follows. Hereinafter, description will be made with reference to FIGS. 15 and 16.
- the respective phase differences ⁇ x and ⁇ y of the vibration component in the X direction and the Y direction with respect to the vibration component in the Z direction are input from the phase difference input unit 132.
- the phase difference input unit 132 commands the corresponding phase adjustment circuits 31b and 31b to shift the phase of vibration in the X and Y directions by ⁇ x or ⁇ y, respectively.
- the phase adjustment circuit 31b shifts the phase by ⁇ x or ⁇ y from the original signal of the oscillator 34 and applies it as a control voltage to the first piezoelectric element 81 and the second piezoelectric element 82, thereby making a phase difference from the vibration component in the Z direction.
- the articles 9 can be sorted as described in the respective tables.
- the friction coefficient at which the moving speed becomes 0 when the phase difference for performing the above classification is set is defined as the reference friction coefficient. That is, the reference friction coefficient corresponding to the phase differences ⁇ 21 and ⁇ 23 in FIG. 16 is ⁇ a, and the reference friction coefficient corresponding to ⁇ 22 and ⁇ 24 is ⁇ b.
- setting the phase difference to ⁇ 23 sets the reference friction coefficient to ⁇ a as a boundary for separation, while the article 9 having a larger friction coefficient is in a positive direction and the article 9 having a smaller friction coefficient is negative. It is synonymous with setting to advance in the direction.
- setting the phase difference to ⁇ 22 sets the reference friction coefficient to ⁇ b as a boundary for separation, while the article 9 having a larger friction coefficient is in the negative direction and the article 9 having a smaller friction coefficient is positive. It is synonymous with setting to advance in the direction of.
- the phase difference input unit 132 does not input the phase difference itself as a reference for sorting in the X and Y directions, but the reference friction coefficient for the X and Y directions and the friction for the reference friction coefficient.
- the phase difference is automatically set based on the graph of FIG. It is also possible to configure so as to output the output.
- the present article sorting apparatus 101 not only sorts into areas corresponding to the four corners of the movable table 6, but also performs more detailed area setting such as the middle of those areas and sorts into four or more types. It is also possible.
- the article sorting apparatus 101 sorts the plurality of articles 9 placed on the movable table 6 by the vibration of the movable table 6, and includes the above-described vibration device 2 and the vibrations.
- Periodic excitation forces generated by the plurality of excitation means 81 to 83 included in the apparatus 2 are simultaneously generated at the same frequency while having a phase difference, and each of the excitation vibrations is generated so as to generate a three-dimensional vibration trajectory on the movable base 6.
- Vibration control means 31 for controlling the vibration means 81 to 83, and the phase difference between the periodic vibration force by the first horizontal vibration means 81 and the periodic vibration force by the vertical vibration means 83, and Friction that each article 9 has a phase difference between the periodic excitation force by the second horizontal excitation means 82 and the periodic excitation force by the vertical excitation means 83 with a predetermined reference friction coefficient as a boundary.
- the magnitude relation of the coefficient to the reference friction coefficient It based that each article is set to move in different directions, which is constituted so as to separate the plurality of articles 9 placed on the movable table 6 at the same time.
- FIG. 21 shows a vibration device 202 having a different form instead of the vibration device 2 common to the first embodiment and the second embodiment described above.
- the same portions as those in the first embodiment and the second embodiment are denoted by the same reference numerals, and description thereof is omitted.
- the second intermediate base 252 connected via the second plate-like spring member 72 and the spring seat 72c has a rectangular parallelepiped block shape.
- the third plate spring members 73 to 73 are provided so as to extend from the upper surface and the lower surface of the second intermediate base 252 toward both sides in the X direction, respectively.
- 71 and 71 are connected to spring-to-spring blocks 273e and 273e formed as rectangular parallelepiped blocks, which are arranged on the outer sides of 71 and 71, respectively.
- a pair of third plate spring members 73 to 73 arranged so as to be spaced apart and parallel to each other in the Z direction are connected to the inter-spring blocks 273e and 273e, respectively.
- the pressers 273d to 273d are fixed so as to be sandwiched between the movable bases 261 and 261 from above.
- the movable bases 261 and 261 are separated from each other in the X direction, so that the transport base 63 can be moved directly without the movable plate 62 (see FIG. 3).
- the bases 261 and 261 can be fixed.
- the movable pedestal 61 is in the vicinity of the center as in the vibration device 1 described in FIG. 3, the movable pedestal 61 and the transfer pedestal are arranged to avoid providing a screw near the center of the transfer pedestal 63. It is necessary to provide a movable plate 62 between the screw 63 and the screw position. Therefore, when compared with such a configuration, the configuration of the present embodiment makes it possible to reduce the weight of the movable part.
- the vibration device 202 of the present embodiment can be used and combined with the control system unit 3 to be configured as an article conveying device.
- the same effects as those of the article conveying apparatus described in the embodiment can be obtained.
- FIG. 22 shows a configuration in which a vibration device 302 according to the fourth embodiment of the present invention and a control system unit 3 for controlling the vibration device 302 are added to form an article transport device 301 that is one of the article moving devices. .
- the vibration device 302 shown in this figure is in a state in which a mounting table and a peripheral wall portion, which will be described later, are removed, and the drive unit 325 is exposed.
- the drive unit 325 is elastically supported on the base 304, and In this, piezoelectric elements 381, 382 and 383 are provided as vibration means. Further, the base 304 is elastically supported on the fixed base 321.
- the control system unit 3 controls the voltage applied to the piezoelectric elements 381, 382, and 383, so that the vibration device 302 has X as the first horizontal direction, Y as the second horizontal direction, and Y as the vertical direction.
- a vibration is generated by applying a periodic excitation force in each direction of Z.
- FIG. 23 is a perspective view showing the vibration device 302 actually used
- FIG. 24 is a plan view thereof.
- the above-described peripheral wall portion 342 installed along the outer peripheral edge of the base 304 covers the four surfaces of the front surface, the back surface, and the side surface.
- a rectangular mounting table 363 that constitutes a part of the movable table 306 is provided on the upper surface, and the upper surface 363a of the mounting table 363 can serve as a mounting surface on which the article 9 to be conveyed can be mounted. It has become.
- the peripheral wall part 342 has a function of covering and protecting the four surfaces of the drive part 325 (see FIG. 22) and a function of adjusting the position of the center of gravity while increasing the weight of the base 304, and is formed in a block shape.
- the lower weights 342a to 342b and the upper weights 342c to 342d are combined.
- the base 304 is elastically supported on the fixed base 321 via vibration-proof springs 322 to 322 arranged at the four corners of the lower surface, and the fixed base 321 can be installed on an arbitrary installation surface. Since the fixed base 321 is provided with a pair of grips 323 and 323 that are separated from each other in the X direction, the vibration device 302 can be easily transported by gripping the grips 323 and 323.
- the base 304 is elastically supported via the anti-vibration springs 322 to 322, even when vibration is generated in the movable base 306, propagation of the vibration to the fixed base 321 is suppressed. Thus, it is possible to prevent transmission of vibration to the installation surface.
- a fixed base 321 is provided on the lower side of the base 304 for easy transportation and installation.
- the vibration device 302 is directly installed on the installation surface via the anti-vibration springs 322 to 322. It is also possible. That is, in the present embodiment, the fixed base 321 is provided from the viewpoint of portability.
- the fixed base 321 is not an essential component from the gist of the present invention, and the fixed base 321 is the same as the installation surface. It is possible to see.
- the present invention is characterized in that the mass of the entire apparatus is regarded as a plurality of mass bodies connected, and the position of the center of gravity between these mass bodies is related.
- the mass of the entire device here indicates the total mass of the portion of the base 304 or higher elastically supported by the vibration-isolating springs 322 to 322, and the mass of the fixed base 321 described as not essential in the present invention. Mass is not considered.
- FIG. 25 shows a state in which a part of the movable table 306, the lower weights 342a to 342b, a part of the upper weights 342c to 342d, and the handles 323 and 323 are removed from the vibration device 302 of FIG. .
- the vibration device 302 has a movable pedestal 361 that is elastically supported in the three axial directions of X, Y, and Z, and the movable pedestal 361 is formed as a rectangular parallelepiped block.
- the mounting table 363 (see FIG. 23) described above is installed.
- the movable pedestal 361 constitutes a movable pedestal 306 integrally with the mounting table 363, is elastically supported with respect to the base 304 inside the vibration device 302, and is given vibration by a vibration means described later.
- anti-vibration springs 322 to 322 for elastically supporting the base 304 with respect to the fixed base 321 are arranged at the four corners of the base 304.
- the anti-vibration springs 322 to 322 are provided so as to protrude from the base 304, and their tips are connected to lower weights 342a and 342a arranged so as to extend in the Y direction. Through these, the base 304 is elastically supported.
- FIG. 3 is a sectional view taken along the line BB in FIG.
- the vibration-isolating spring 322 one having a general form can be used.
- a cylindrical elastic portion is provided at the center, and disc-shaped plates are provided on both sides of the elastic portion, and both sides of the plate are provided on both sides. What protruded the screw parts 322a and 322a is used.
- the anti-vibration spring 322 fixes the screw portion 322a to the hole portion 321a formed in the fixing base 321 using a nut, with one end face contacting the upper surface of the fixing base 321. Further, the opposite end surface is threaded into the threaded portion 322a until it is in contact with the lower surface of the lower weight 342a with the hole 304b formed in the base 304 inserted.
- the vibration-proof spring 322 can elastically support the base 304 connected to the lower weight 342a with respect to the fixed base 321.
- the anti-vibration spring 322 is arranged directly on the installation surface by using the anti-vibration spring 322 that does not have the screw portion 322a at the lower end. What is necessary is just to make it a structure.
- FIG. 26 shows a state where the peripheral wall portion 342 is further removed from the vibration device 302 in the state of FIG. Originally, by removing the peripheral wall portion 342, the base 304 loses its support and cannot be kept separated from the fixed base 321, but in this figure, the base 304 is in a normal positional relationship in which the base 304 is elastically supported. It is described.
- the vibration device 302 has a movable pedestal 361 X, Y, and Z with respect to a base 304 that is elastically supported by using the above-described anti-vibration spring 322 on a fixed base 321 that can be almost identical to the installation surface.
- the base 304, the first intermediate base 351, 351, the second intermediate base 352, and the movable base 361 as the rigid body portion are connected in order, and the first horizontal First plate spring members 371 and 371 as elastic support means, second plate spring members 372 and 372 as second horizontal elastic support means, and third plate spring member as vertical elastic support means 373 and 373 are provided. Since the plate-like spring members 371 to 373 are arranged so that the plate thickness directions are the X, Y, and Z directions, respectively, it is easy to perform elastic deformation in the directions.
- first piezoelectric elements 381 to 381 as first horizontal vibration means for vibrating the movable base 361 in three directions of X, Y, and Z, and second piezoelectric elements 382 as second horizontal vibration means.
- second piezoelectric elements 382 as second horizontal vibration means.
- third piezoelectric elements 383 to 383 as vertical vibration means.
- the fixing base 321 and the base 304 are each formed as a rectangular plate, and the base 304 is elastically supported on the fixing base 321 by the anti-vibration springs 322 to 322 provided at the four corners as described above.
- the anti-vibration springs 322 to 322 use weak spring characteristics having a spring constant of about 1/10 as compared with the plate spring members 371 to 373 installed in each direction. Thus, the propagation of vibration to the installation surface is suppressed, and the reaction force from the installation surface is reduced to stabilize the posture of the base 304.
- the entire apparatus on the base 304 vibrates with respect to the fixed base 321 with respect to the resonance frequencies in the X, Y, and Z directions in the form in which the movable base 306 vibrates in the opposite phase to the base 304.
- the resonance frequency in the Z direction is limited to 1/10 or less so that the base 304 can be stabilized even when the movable table 306 is vibrated.
- mounting blocks 341 are fixed so as to be arranged in four rectangular positions at positions slightly closer to the center than the anti-vibration rubbers 322 to 322.
- Each of the mounting blocks 341 is formed as a block having an L-shaped cross section. When one side forming the L shape is in contact with the base 304, the other side stands up. ing. The upstanding sides form a YZ plane orthogonal to the X direction.
- the 1st plate-shaped spring members 371 and 371 are provided so that it may connect to the attachment blocks 341 and 341 which make a pair in the Y direction, and adjoin. Since the first plate spring members 371 and 371 are attached to the YZ plane of each of the attachment blocks 341 to 341 described above, the plate thickness direction is the X direction and the longitudinal direction is the Y direction.
- first plate-like spring members 371 and 371 are respectively provided in the two pairs of mounting blocks 341 to 341, two first plate-like spring members 371 and 371 are provided in parallel with a predetermined distance in the X direction.
- both ends of the first plate spring members 371 and 371 are bolted so as to be sandwiched between the rectangular spring retainers 371d to 371d and the YZ planes of the mounting blocks 341 to 341. Therefore, the deflection angle is supported so as to be regulated.
- the first intermediate bases 351 and 351 are connected to the longitudinal center of the first plate spring members 371 and 371 via spring seats 371c, respectively.
- the first intermediate stage 351 is formed in a rectangular parallelepiped shape extending in the Y direction.
- spring retainers 371e and 371e are provided so as to face the respective spring seats 371c and 371c.
- the first plate-like spring members 371 and 371 have their deflection angles regulated so as to be sandwiched between the opposing spring seats 371c and 371c and the spring retainers 371e and 371e, respectively, and are bolted at these portions, so that The first intermediate stands 351 and 351 are connected.
- the first intermediate bases 351 and 351 are divided into two parts, but are connected by second plate spring members 372 and 372, which will be described later. The operation is integrated.
- the first intermediate bases 351 and 351 are formed in a rectangular parallelepiped shape as described above, and are arranged so that each of the six surfaces is orthogonal to the respective surfaces of the X, Y, and Z axes. ing.
- Two second plate-like spring members 372 and 372 are provided so as to connect the XZ planes orthogonal to the Y-axis of each.
- the two second plate-like spring members 372 and 372 are such that the plate thickness direction is perpendicular to the Y axis and the longitudinal direction is in the X direction. They are arranged parallel to each other at a predetermined distance in the Y direction.
- the second plate-like spring members 372 and 372 are arranged such that both ends are sandwiched between the rectangular spring holders 372d to 372d and the XZ plane of the first intermediate stage 351 or 351 so that the bolts Since it is fixed by the stopper, it is supported so that the deflection angle is regulated.
- a second intermediate base 352 is connected to the vicinity of the center in the longitudinal direction of the second plate spring members 372 and 372 via spring seats 372c and 372c. Further, spring retainers 372e and 372e are provided so as to face the respective spring seats 372c and 372c.
- the second plate-like spring members 372 and 372 have their deflection angles regulated so as to be sandwiched between the opposing spring seats 372c and 372c and the spring retainers 372e to 372e, respectively, and are bolted at these portions, so that Connected to the second intermediate stage 352.
- the second intermediate stage 352 is configured as a rectangular frame and is formed by combining four rectangular parallelepiped blocks having six faces orthogonal to the X, Y, and Z directions. ing.
- the effective lengths of the first plate spring members 371 and 371 and the second plate spring members 372 and 372 are changed by changing the sizes of the spring seats 371c to 371c and the spring retainers 371e to 371e.
- the spring constant can be changed and the natural frequency can also be changed by using different thicknesses and widths.
- FIG. 28 An AA cross-sectional arrow view in FIG. 24 is shown in FIG. 28, and the description will be continued using FIG. 28 in addition to FIG.
- a total of four third plate-like spring members 373 to 373 are provided on each of the upper surface and the lower surface of the second intermediate base 352 configured as a rectangular frame.
- the third plate-like spring members 373 to 373 are formed as upper and lower surfaces of portions of two sides parallel to the Y direction among the sides forming the rectangle forming the second intermediate base 352.
- the planes are provided so as to be connected in the X direction.
- Both end portions of the third plate spring members 373 to 373 are fixed by bolting so as to be sandwiched between the rectangular spring retainers 373c to 373c and the XY plane of the second intermediate base 352. Therefore, this portion is supported so that the deflection angle is regulated.
- the third plate spring members 373 and 373 connected to the upper surface of the second intermediate table 352 and the vicinity of the center of the third plate spring members 373 and 373 connected to the lower surface of the second intermediate table 352 Is provided with an inter-spring block 373d in order to maintain the distance therebetween.
- a spring retainer 373e is provided below the inter-spring block 373d with third plate spring members 373 and 373 connected to the lower surface of the second intermediate base 352 interposed therebetween.
- the spring retainer 373e can be fixed using a screw (not shown) in a state where the two third plate spring members 373 and 373 are sandwiched between the lower surface of the second intermediate base 352.
- the above-described movable base 361 is provided above the inter-spring block 373d with the third plate spring members 373 and 373 connected to the upper surface of the second intermediate base 352 interposed therebetween.
- the movable base 361 can be fixed using screws in a state where the two third plate spring members 373 and 373 are sandwiched between the upper surfaces of the second intermediate bases 352.
- a movable plate 362 formed in a rectangular plate shape is attached to the upper surface of the movable base 361, and the mounting table 363 is screwed together with the frame member 364 to the upper surface.
- the upper surface of the mounting table 363 serves as a mounting surface 363a for placing an article.
- the mounting table 363, the frame member 364, and the movable plate 362 constitute the above-mentioned movable table 306 (see FIG. 24) together with the movable table 361.
- counterweights 373f and 373f formed in a block shape are provided so as to project to the left and right of the spring presser 373e, and the third plate spring members 373 and 373 are balanced with the movable base 306.
- the position of the center of gravity of the entire movable table 306 side supported by is set to be substantially the same in the horizontal direction and the vertical direction with respect to the center between the third plate spring members 373 and 373.
- this barycentric position is referred to as “the barycentric position of the movable table 306”.
- the “center of gravity position on the movable table 306” is positioned at the center in the horizontal direction and the vertical direction between the third plate spring members 373 and 373, so that the X direction with respect to the movable table 306, Even when vibration in the Y direction is generated, it is possible to suppress a so-called swinging phenomenon in which the movable base 306 is tilted by the influence of inertial force.
- the first intermediate bases 351 and 351 are elastically supported in the X direction by the first plate spring members 371 and 371 with respect to the base 304.
- the second intermediate base 352 is elastically supported in the Y direction by the second plate spring members 372 to 372 with respect to the first intermediate bases 351 and 351
- the movable base 361 is the first intermediate base 352 with respect to the first intermediate base 351 and 351.
- 3 plate spring members 373 to 373 are elastically supported in the Z direction.
- the movable base 306 is elastically supported in the X, Y, and Z directions with respect to the base 304.
- the plate spring members 371 to 373 have elasticity in the X, Y, and Z directions, which are the plate thickness directions, respectively, and have sufficient rigidity in the width direction and the longitudinal direction perpendicular thereto. Therefore, support in each direction can be considered to be independent.
- first to third plate spring members 371 to 373 are provided in parallel to each direction, and are supported in a pair so as to constitute a part of the parallel link. Yes. As a result, the plate-like spring members 371 to 373 can be displaced while maintaining a constant gap between the paired members without twisting motion.
- the position of the center of gravity of the fixed member is adjustable.
- this barycentric position is referred to as “the barycentric position in the base 304”.
- the center of gravity of the base 304 can be easily adjusted to a high position. In this way, the position of the center of gravity of the base 304 is set to a position that is substantially the same as the position of the center of gravity of the movable table 306 in the horizontal and vertical directions.
- the peripheral wall portion 342 has a structure in which a lower weight 342a to 342b composed of four blocks and an upper weight 342c to 342d similarly composed of four blocks are connected to each other in the vertical direction.
- the position of the center of gravity in the direction and the vertical direction can be finely adjusted.
- the upper weights 342c to 342d can be easily replaced because they appear to the outside, and balance adjustment with an additionally connected device such as an inspection machine, or of an article to be conveyed It is possible to immediately respond to various condition changes such as apparatus conditions and use conditions such as balance adjustment with weight.
- the base 304 has a mass about 10 times the mass of the movable table 306. In this way, even when an excitation force is applied to the movable table 306 in each of the X, Y, and Z directions, the vibration displacement generated in the base 304 due to the reaction force can be reduced. Therefore, the position of the base 304 can be stabilized even during operation, and the movable table 306 can be vibrated with higher accuracy.
- peripheral wall portion 342 when the peripheral wall portion 342 is viewed from the viewpoint of protecting the driving portion 325, at least the plate-like spring members 371 to 373 as elastic support means and the piezoelectric elements 381 to 383 provided thereon are covered from the outside. It is preferable that it is comprised.
- first plate-like spring members 371 to 371 and the second plate-like spring members 372 to 372 Rigid portions positioned between the first plate spring members 371 to 371 and the second plate spring members 372 to 372 relative to the “center of gravity position of the base 304” defined as described above are referred to as “first The rigid body portion located between the second plate-like spring members 372 to 372 and the third plate-like spring members 373 to 373 is referred to as “the center of gravity position of the intermediate stand 351”. It shall be called.
- the first plate-like spring members 371 to 371 and the second plate-like spring members 372 to 372 are provided at substantially the same mounting positions in the Z direction, and are equally arranged around the movable table 306 as a center.
- both of “the center of gravity position of the first intermediate base 351” and “the center of gravity position of the second intermediate base 352” are both in relation to the “center of gravity position of the movable base 306” and “the center of gravity position of the base 430”. It is comprised so that it may become substantially the same with respect to a horizontal direction and a vertical direction.
- the plate-like spring members 371 to 373 are divided and provided in the Z direction, it is sufficient to consider the position of the center as the mounting position.
- the mass of the entire device elastically supported using the vibration-isolating springs 322 to 322 is calculated from the first plate-like spring members 371 to 371 and the second plate-like members from the base 304 side. Assuming that the first mass body, the second mass body, and the third mass body are sequentially connected via the spring members 372 to 372, the center positions of these mass bodies are substantially the same in the horizontal and vertical directions. It is in a relationship.
- the gravity center positions of these two mass bodies are substantially the same in both the horizontal direction and the vertical direction.
- the portion on the first intermediate base 351 side is united and vibration is generated in the X direction, no rotation moment is generated between both mass bodies, so that the base 304 side is inclined. Therefore, the posture is stabilized, and as a result, the operation of the movable table 306 can be stabilized.
- a mass body (first mass body + second mass body) on the first intermediate stage 351 side in which the entire apparatus is elastically connected in the Y direction via second plate-like spring members 371-371, 2 When considered as two mass bodies with a mass body (third mass body) on the intermediate stage 352 side, the center of gravity positions of these two mass bodies are substantially the same in both the horizontal direction and the vertical direction. . Therefore, the same effect as described above can be obtained in the Y direction.
- the vibration device 302 according to the present embodiment shown in FIG. 26 has independent vibration means 381 to 383 in the X, Y, and Z directions.
- first horizontal vibration means which are vibration means in the X direction
- the first piezoelectric elements 381 to 381 are configured.
- the first piezoelectric elements 381 to 381 expand or contract in the Y direction when a voltage is applied thereto, and cause displacement in the X direction by bending the first plate spring members 371 and 371. It is possible to make it.
- the first plate-like spring member 371 is located between a base side connection point 371a positioned by an end spring presser 371d and a first intermediate base side connection point 371b positioned by a center spring seat 371c and a spring presser 371e.
- a base side connection point 371a positioned by an end spring presser 371d
- a first intermediate base side connection point 371b positioned by a center spring seat 371c and a spring presser 371e.
- the first piezoelectric elements 381 to 381 are provided at the same positions from the end portions, and the same deformation can be caused by adjusting the output. In this way, the first plate spring members 371 and 371 spaced apart in the X direction can be similarly deformed while maintaining the distance between them, and the first intermediate stands 351 and 351 are placed in a horizontal state. It can be displaced only in the X direction while keeping it.
- the second horizontal vibration means that is the vibration means in the Y direction is similar to the first horizontal vibration means described above in the vicinity of both ends of the two second plate spring members 372 and 372.
- a total of eight second piezoelectric elements 382 to 382 each having two pieces attached on the front and back sides are formed.
- the second piezoelectric elements 382 to 382 are expanded or contracted in the X direction when a voltage is applied thereto, and the second plate spring members 372 and 372 are bent to generate a displacement in the Y direction. It is possible.
- the second piezoelectric elements 382 to 382 are also attached at the same positions as the first piezoelectric elements 381 to 381, and in this way, the second plate spring members 372 and 372 separated in the Y direction are used.
- the second intermediate stage 352 can be displaced only in the Y direction while maintaining the horizontal state.
- the vertical vibration means which is the vibration means in the Z direction, is provided in the vicinity of both ends of the upper two plate spring members 373 and 373 among the two plate spring members 373 to 373 provided at the top and bottom.
- the third piezoelectric elements 383 to 383 are expanded or contracted in the X direction when a voltage is applied thereto, and the third plate spring members 373 and 373 are bent to generate a displacement in the Z direction. It is possible.
- the third piezoelectric elements 383 to 383 are also mounted at the same positions as the first piezoelectric elements 381 to 381 and the second piezoelectric elements 382 to 382. In this way, the third piezoelectric elements 383 to 383 are separated in the Z direction.
- the plate-like spring members 373 and 373 can be deformed in the same manner while maintaining the distance between them, and the movable base 361 can be displaced only in the Z direction while maintaining the horizontal state.
- the third piezoelectric elements 383 to 383 can be provided on the two third plate spring members 373 and 373 provided on the lower side, and a total of four third elements on the upper side and the lower side are provided.
- the plate-like spring members 373 to 373 can also be provided.
- a periodic excitation force is applied to the movable base 361 in each direction. Can do.
- the control system unit 3 is configured as shown in FIG. 22 as in the first embodiment, and the first piezoelectric element 381 and the second piezoelectric element 382 are configured.
- a sinusoidal control voltage to each of the third piezoelectric elements 383, a periodic excitation force for generating vibrations in the X, Y, and Z directions is generated.
- the control system unit 3 is the same as that described in the first embodiment, and can control the vibration device 302 in the same manner. This constitutes an article transporting device 301 that is one of the two.
- the article 9 placed on the movable table 306 is conveyed and separated. It can be performed.
- the vibration device 302 of the present embodiment can be schematically represented as shown in FIG. 10 as shown in FIG. 11 to FIG. 13 as in the case of the first embodiment. Characteristics can be obtained. Then, by using such characteristics, the article 9 can be transported and separated on the movable platform 6 (306) as described with reference to FIGS. 14A to 14F as the first embodiment. It is possible.
- the article 9 can be conveyed in an arbitrary direction by configuring the article conveying apparatus 301 as the article moving apparatus using the vibration device 302 in the present embodiment. Furthermore, since the vibration device 302 according to the present embodiment has the center-of-gravity positional relationship of the first to third mass bodies as described above, the vibration device 302 in the X direction via the first plate spring members 371 to 371.
- the gravity center position of the elastically connected portion is substantially the same in the horizontal direction and the vertical direction, and the gravity center of the portion elastically connected in the Y direction via the second plate spring members 372 to 372
- the position is configured substantially the same in the horizontal direction and the vertical direction, and it is possible to suppress the generation of rotational moment between the base 304 side and the movable base 306 side during vibration in the X direction and the Y direction. It becomes. By doing so, although the base 304 is elastically supported on the fixed base 321 by the anti-vibration springs 322 to 322, it is possible to keep the posture stable without causing an inclination.
- first plate-like spring members 371 to 371 and the second plate-like spring members 372 to 372 are provided so as to be substantially the same in the vertical direction with respect to the gravity center positions of the first to third mass bodies. Therefore, the exciting force in the X direction and Y direction by the first piezoelectric elements 381 to 381 and the second piezoelectric elements 382 to 382 acts in the direction of the center of gravity. Therefore, the postures of the first to third mass bodies can be stabilized, and the operation of the movable base 306 can be further stabilized.
- counterweights 373f and 373f are provided on the movable base 306 constituting a part of the third mass body described above, and the center of gravity of the movable base 306 is set to the third plate spring. It is configured to be substantially the same as the center between the members 373 to 373. Therefore, when vibration is generated in the X and Y directions, the movable table 306 is tilted due to the action of inertial force, so that no so-called swinging occurs, and the movable table 306 can be vibrated more stably. Thus, it is possible to perform a more accurate operation.
- the drive portion 325 can be protected, and the mass on the base 304 side can be increased to reduce the displacement of the base 304 due to the reaction force of the excitation force. Therefore, the operational stability of the movable table 306 can be further improved.
- the vibration device 302 includes the base 304 supported on the ground surface via the vibration isolation spring 322, the movable base 306 elastically supported with respect to the base 304, First piezoelectric elements 381 to 381 that vibrate the movable base 306 in the X direction, second piezoelectric elements 382 to 382 that vibrate the movable base 306 in the Y direction, and a third that vibrates the movable base 306 in the Z direction.
- the vibration device 302 includes piezoelectric elements 383 to 383, and includes a first intermediate base 351, 351 and a second intermediate base 352 between the base 304 and the movable base 306, and the base 304, A plurality of first plate spring members 37 that elastically connect the first intermediate bases 351, 351, the second intermediate base 352, and the movable base 306 sequentially in the X direction, the Y direction, and the Z direction. 371, a plurality of second plate-like spring members 372 to 372, and a plurality of third plate-like spring members 373 to 373, and the entire apparatus includes the first plate-like spring members 371 to 371.
- the positions of the center of gravity of these mass bodies are the vertical direction and the horizontal direction. Are configured to be substantially the same.
- the position of the movable base 306 is set to two horizontal directions. Vibration can be generated while being more stable.
- the plurality of third plate-like spring members 373 to 373 are provided so as to be symmetric with respect to each excitation direction around the center of gravity of each mass body. Since the counterweights 373f and 373f for the movable base 306 are provided at positions symmetrical with respect to the shaped spring members 373 to 373, unexpected swinging of the movable base 306 during operation is unexpected. It is also possible to suppress vibration.
- a peripheral wall portion 342 raised from the vicinity of the outer peripheral edge of the base 304 is provided, and the peripheral wall portion 342 is configured to surround the plate spring members 371 to 373 and the piezoelectric elements 381 to 383, and Since the center of gravity adjustment member that adjusts the position of the center of gravity is configured, the center of gravity of the base 304 is increased so that the center of gravity of each mass body can be easily aligned and the drive unit 325 is protected. It can function as a cover.
- the article transporting apparatus 301 as the article moving apparatus according to the present embodiment includes a vibration device 302 configured as described above and periodic elements 381 to 383 as a plurality of vibration units included in the vibration device 302.
- Vibration control means 31 for controlling the piezoelectric elements 381 to 383 so as to generate a three-dimensional elliptical vibration locus on the movable base 306 by simultaneously generating an exciting force at the same frequency with a phase difference.
- the vibration switching means 32 for switching the amplitude and phase difference of the periodic excitation force by the respective excitation means is provided. Therefore, it is possible to effectively configure the article transport apparatus 301 with excellent controllability that can transport the article 9 on the movable table 306 in an arbitrary direction.
- an article sorting apparatus 401 which is one of the article moving apparatuses, is configured using the same vibration device 302 as that in the fourth embodiment.
- the same parts as those in the fourth embodiment are denoted by the same reference numerals, and description thereof is omitted.
- the configuration as the vibration device 302 is the same as that in the fourth embodiment, and the control system unit 103 for controlling this is different.
- the control system unit 103 is the same as that shown in FIG. 15 as the second embodiment.
- the article sorting apparatus 401 as the article moving apparatus includes the above-described vibration device 302 and periodic vibrations by the piezoelectric elements 381 to 383 as a plurality of vibration means included in the vibration device 302.
- Vibration control means 31 for controlling the piezoelectric elements 381 to 383 so that a force is generated at the same frequency at the same frequency while having a phase difference to generate a three-dimensional vibration locus on the movable table 306.
- the phase difference between the periodic excitation force by the piezoelectric elements 381 and 382 as the vibration means and the periodic excitation force by the piezoelectric element 383 as the vertical vibration means is determined for each article with a predetermined reference friction coefficient as a boundary.
- the sixth embodiment is configured as a vibration device 502 different from those in the first to fifth embodiments.
- the same portions as those in the first to fifth embodiments are denoted by the same reference numerals, and description thereof is omitted.
- the vibration device 502 can generate an arbitrary elliptical vibration locus in the XZ plane by applying excitation forces in the X direction and the Z direction to the movable base 506.
- the article moving device 501 By adding a control system unit 3 (see FIGS. 1 and 22) similar to that in the embodiment and the fourth embodiment, the article moving device 501 provided with the same moves the article in the forward and reverse directions of X. It can be configured as an article conveying device.
- the same control system unit 103 see FIGS. 15 and 30
- the article moving device 501 provided with the control system unit 103 can be used in the forward and reverse directions of X. It can also be configured as an article sorting device for sorting articles.
- the excitation force in the Y direction is applied from the control system unit 3 in FIG. 1 or FIG. 22 or the control system unit 103 in FIG. 15 or FIG. It is only necessary to omit the phase adjustment circuit 31b, the amplitude adjustment circuit 31a, and the amplifier 35 for control.
- a base 504 is elastically supported on an upper portion of a fixed base 521 formed in a rectangular plate shape via vibration-proof springs 322 to 322. ing.
- the movable base 506 is elastically supported in the X direction and the Z direction with respect to the base 504, and a peripheral wall portion 542 is formed along the outer peripheral edge of the base 504 so as to cover these support portions. Is provided.
- the peripheral wall portion 542 is configured by forming lower weights 542a to 542b composed of four blocks as a rectangular frame, and providing upper weights 542c and 542c composed of two blocks on the upper portion thereof.
- a mounting table 563 extending in the X direction is provided on the upper part of the movable table 506, and the upper surface of the mounting table 563 is configured to be able to mount the article 9 as a mounting surface 563a. Further, step portions 563b and 563b are provided in the forward and reverse directions of Y so as to sandwich the placement surface 563a in the width direction, and the movement of the article 9 placed on the placement surface 563a in the Y direction is restricted. ing.
- FIG. 32 shows a state where a part of the mounting table 563 and the peripheral wall portion 542 are removed from the state of FIG.
- the basic structure of the elastic support means and the vibration means centered on the movable base 506 is substantially the same as that of the vibration device 302 in the fourth embodiment shown in FIG. It can be said that the spring members 372 and 372 and the second piezoelectric elements 382 to 382 are removed, and the third plate spring members 373 and 373 are directly supported by the first intermediate stage 351 and 351.
- two base plate spring members 571 and 571 configured to be elastically displaceable with respect to the base 504 in the X direction which is the horizontal direction are used.
- the intermediate table 551 is elastically supported.
- the movable base 561 is elastically supported via four third plate spring members 573 to 573 configured to be elastically displaced in the Z direction which is the vertical direction with respect to the intermediate base 551.
- FIG. 34 shows a cross-sectional view taken along the line AA in FIG.
- the third plate-like spring members 573 to 573 are arranged in parallel vertically with the inter-spring block 573d interposed therebetween, and further, the third plate-like spring member 573 is interposed therebetween.
- the movable pedestal 561 is provided with a spring seat 573e at the lower portion with a third plate spring member 573 interposed therebetween.
- the movable pedestal 561 is provided with a mounting table 563 at an upper portion thereof, and is integrated with the movable table 563 to form a movable table 506.
- the spring seat 573e is provided with counterweights 573f and 573f.
- the counterweight 573f, 573f is balanced with the movable base 506 and is elastically connected via third plate spring members 573 to 573.
- the overall center of gravity is configured to have substantially the same relationship in the horizontal and vertical directions with respect to the center position between the third plate-like spring members 573 to 573.
- the center positions of the third plate spring members 573 to 573 are set to be the same in the vertical direction with respect to the position of the center of gravity.
- the intermediate bases 551 and 551, the first plate spring members 571 and 571, and the third plate spring members 573 to 573 are all symmetric with respect to the X, Y, and Z directions around the center of gravity. It is provided to become. Therefore, the position of the center of gravity of the entire mass on the intermediate platform 551, 551 side supported by the first plate spring members 571, 571 is in the horizontal and vertical directions from the center between the third plate spring members 573-573. The positions are substantially the same.
- the position of the center of gravity on the base 504 side can be adjusted.
- the position of the center of gravity on the base 504 side is also substantially the same in the horizontal and vertical directions as the center between the third plate-like spring members 573 to 573.
- the entire apparatus is considered to be replaced with two mass bodies consisting of a mass body on the base 504 side and a mass body on the intermediate base 551 side with the first plate spring members 571 and 571 as the boundary.
- the positions of the center of gravity of these mass bodies are in substantially the same position in the horizontal and vertical directions.
- the first plate-like spring members 571, 571 and the third plate-like spring members 573 to 573 which are positioned above the piezoelectric elements 581, 581, 583, 583 is provided and can be excited in each direction by controlling it with voltage.
- the article moving apparatus 501 using the vibration device 502 is configured as an article conveying apparatus as in the first embodiment or the fourth embodiment
- the article moving apparatus 501 is placed on the placement surface 563a as shown in FIG. It becomes possible to carry the article 9 in an arbitrary direction of the forward direction or the reverse direction of X and further changing the speed.
- the article 9 is an article 9a or 9b having a different friction coefficient
- the other is moved in the positive direction of X while the other is moved. It is also possible to separate the two by moving them in the opposite direction.
- the posture of the base 504 can be stabilized and the vibration of the movable base 506 can be generated with high accuracy.
- counterweights 573f and 573f are attached to the movable table 506 and the center of gravity is optimized, the swinging phenomenon of the movable table 506 is also suppressed, and the accuracy is further improved.
- the peripheral wall portion 542 is provided with respect to the base 504, so that the drive portion 525 can be protected, and the weight of the base 504 is increased so that the operation of the base 504 due to the reaction force against the excitation force can be performed. The above effect can be further enhanced by reducing the size.
- the vibration device 502 includes the base 521 supported on the ground surface via the anti-vibration springs 322 to 322, and the movable base 506 elastically supported with respect to the base 521.
- the vibrating device includes first piezoelectric elements 581 to 581 that vibrate the movable table 506 in the horizontal direction and third piezoelectric elements 583 to 583 that vibrate the movable table 506 in the vertical direction, and the base 521. And a plurality of first plate springs that elastically connect the base 521, the intermediate table 551, and the movable table 506 sequentially in the horizontal direction and the vertical direction.
- the seventh embodiment is configured as a vibration device 602 different from those in the first to sixth embodiments.
- the same portions as those in the first to sixth embodiments are denoted by the same reference numerals, and description thereof is omitted.
- the vibration device 602 can generate an arbitrary elliptical vibration locus in the XZ plane by applying excitation forces in the X direction and the Z direction to the movable base 606. Compared to the case of the vibration device 502 (see FIG. 31) of the sixth embodiment, it is configured to be larger in the height direction (Z direction) and smaller in the machine width direction (Y direction). It is. Also in this vibration device 602, as in the case of the sixth embodiment, the same control system unit 3 (see FIGS. 1 and 22) as that in the first embodiment and the fourth embodiment is added, so that an article provided with the same.
- the moving device 601 can be configured as an article conveying apparatus that conveys an article in the forward and reverse directions of X, and a control system unit 103 (see FIGS. 15 and 30) similar to that in the second and fifth embodiments.
- the article moving apparatus 601 provided with this can be configured as an article sorting apparatus that sorts articles in the forward and reverse directions of X.
- the vibration device 602 in the present embodiment has a base 604 disposed on an upper part of a fixed base 621 formed in a rectangular plate shape extending in the X direction via vibration-proof springs 322 to 322. Elastically supported.
- the movable table 606 is elastically supported with respect to the base 604 in the X direction and the Z direction, and a peripheral wall portion 642 is formed along the outer peripheral edge of the base 604 so as to cover these support portions. Is provided.
- the peripheral wall portion 642 is configured as a rectangular frame body by weight members 642a to 642b including four blocks.
- a mounting table 663 extending in the X direction is provided on the upper part of the movable table 606, and the upper surface of the mounting table 663 is configured to be able to mount the article 9 as a mounting surface 663a. Then, step portions 663b and 663b are provided in the forward and reverse directions of Y so as to sandwich the placement surface 663a, and the movement of the article 9 placed on the placement surface 663a in the Y direction is restricted.
- FIG. 36 shows a state in which a part of the mounting table 663 and the peripheral wall portion 642 are removed from the state of FIG.
- the basic structure of the elastic support means and the vibration means centered on the movable base 606 is substantially the same as that of the vibration device 502 in the sixth embodiment shown in FIG.
- the mounting directions of the first plate spring members 571 and 571 for elastically supporting in the X direction and the configurations of the intermediate stands 551 and 551 are different.
- first, a pair of first plate spring members 671 and 671 are arranged in parallel to the base 604 while being spaced apart from each other in the X direction, and rise in the Z direction. It is installed. And two blocks 651a and 651a constituting a part of the intermediate base 651 are connected to the upper part thereof. By doing so, these blocks 651 a and 651 a are elastically supported in the X direction with respect to the base 604.
- a pair of third plate-like spring members 671 and 671 are arranged across the blocks 651a and 651a so as to face each other while facing the normal direction in the Z direction.
- the movable base 661 is elastically supported in the Z direction.
- Blocks 651b and 651b are provided between the end portions of the pair of third plate spring members 671 and 671 so that the parallelism between the third plate spring members 671 and 671 can be maintained.
- a pair of plates 651c, 651c are provided as reinforcing members, and are configured to be sandwiched between them.
- the blocks 651a and 651a, the blocks 651b and 651b, and the plates 651c and 651c constitute one intermediate base 651 as a rigid body so as to maintain a substantially constant shape.
- FIG. 38 shows an AA cross-sectional view in FIG.
- the third plate spring members 673 and 673 are arranged in parallel vertically with the inter-spring block 673d interposed therebetween, and further, the third plate spring member 673 is sandwiched between the third plate spring members 673 and 673.
- the movable pedestal 661 is provided with a spring seat 673e on the lower side with a third plate-like spring member 673 interposed therebetween.
- the movable pedestal 661 is provided with a mounting table 663 at an upper portion thereof, and is integrated with the movable table 661 to form a movable table 606.
- the spring seat 673e is provided with a counterweight 673f.
- the counterweight 673f is balanced with the movable table 606, and is elastically connected via the third plate-like spring members 673 and 673.
- the center of gravity is configured to have substantially the same relationship in the horizontal and vertical directions with respect to the center position between the third plate spring members 673 and 673.
- the relationship of the center of gravity position between the masses with the first plate spring members 671 and 671 as the boundary and the relationship between the center positions of the mass with the third plate spring members 673 and 673 as the boundary are also the sixth.
- the configuration is the same as in the embodiment.
- the difference from the sixth embodiment is that the center between the third plate spring members 673 and 673 and the center between the first plate spring members 671 and 671 are slightly shifted in the Z direction. It can only be said.
- the movable table 606 can be vibrated in the X and Z directions, and the article moving apparatus can be added with the control system unit. By configuring as 601, it is possible to convey and separate articles.
- the vibration device 602 in this embodiment has the same center-of-gravity position relationship as in the sixth embodiment, so that the posture of the base 604 during operation is stabilized and vibration of the movable base 606 is generated with high accuracy. It becomes possible to make it. Further, since the counterweight 673f is attached to the movable base 606 and the center of gravity position is optimized, the swinging phenomenon is also suppressed, and the operation accuracy is further improved. Furthermore, the peripheral wall 642 is provided with respect to the base 604, so that the drive unit 625 can be protected, and the weight of the base 604 is increased, and the operation of the base 604 due to the reaction force against the excitation force is increased. The above effect can be further enhanced by reducing the size.
- each unit is not limited to the first to seventh embodiments described above.
- the excitation means 81 to 83 in each direction are configured to apply excitation forces in the directions of X, Y, and Z orthogonal to each other.
- the vibration trajectory synthesized in (1) can be generated and changed, it is not always necessary to make them orthogonal to each other.
- the first to third piezoelectric elements 81 to 83 to be attached to the first to third plate-like spring members 71 to 73 are unimorph type provided on either side, It is possible to further increase the excitation force as a bimorph type provided on both sides. These points are the same in the other second to seventh embodiments, and any of the unimorph type and the bimorph type can be configured.
- the first to third piezoelectric elements 81 to 83 are attached to the outer halves of the first to third plate spring members 71 to 73, respectively.
- this can be configured to be affixed to the inner half, or can be configured to be provided on each of the outer half and the inner half.
- the piezoelectric elements 81 to 83 are attached to the outer halves of the plate-like spring members 71 to 73.
- the piezoelectric elements 81 to 83 may be attached to the inner halves by reversing them. It is also possible to configure so as to be provided in each of the inner halves. These points can be said to be the same in the other second to seventh embodiments.
- the first to third plate-like spring members 71 to 73 are configured to support the other members at the center while supporting the first to third plate-like spring members 71 to 73, respectively. It is also possible to configure as two plate spring members. This can be said to be the same in the other second to seventh embodiments.
- the first to third plate-like spring members 71 to 73 for elastic support and the first to third vibration means 81 to 83 for exciting in each direction are used.
- an electromagnet can be used as the vibration means and can be configured independently of the plate spring members 71 to 73. . This point is also the same in the other second to seventh embodiments, and an electromagnet can be used.
- the control circuit adjusts the phase of the periodic excitation force in the X direction and the periodical excitation force in the Y direction based on the phase of the periodic excitation force in the Z direction.
- the phase difference between the periodic excitation force in the Z direction and each of the periodic excitation forces in the X and Y directions can be a predetermined value
- the phase of the periodic excitation force in the direction is You may comprise so that it may change.
- the anti-vibration spring 322 shown in the fourth embodiment is an elastic body such as rubber, even if it has a metal spring configuration as long as it has a sufficiently low spring constant with respect to the plate spring members 371 to 373. Even if it is the structure by, it can be used conveniently without any problem. This is the same in the other fifth to seventh embodiments.
- the movable base can be effectively elastically supported while having a simple configuration, and the height to the conveying surface is small, so that the movable base can be pitched or rolled. It is possible to provide a vibration device that can suppress the vibration, and an article conveyance device and an article separation device that are excellent in controllability using the vibration device. According to the second aspect of the invention, since the rotational moment generated when the excitation force is applied to the movable table can be suppressed, the posture of the base is stabilized even in the form in which the base is supported via the vibration isolation spring.
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Abstract
Description
前記垂直弾性支持手段が厚み方向を前記垂直方向にほぼ合致させるとともに長手方向を水平な向きに配された第3の板状バネ部材より構成され、前記第1~第3の板状バネ部材の少なくともいずれかが、所定距離離して平行に複数個設けられているように構成することが好適である。
<第1実施形態>
<第2実施形態>
と各方向の振動の位相差および振幅によって、物品9の移動速度と移動方向を変更するものである。
<第3実施形態>
<第4実施形態>
<第5実施形態>
<第6実施形態>
<第7実施形態>
2…振動装置
3…制御システム部
4…ベース
6…可動台
9、9a、9b…物品
31…振動制御手段
32…振動切替手段
33…搬送経路決定手段
34…発振機
35…制御電圧増幅器
42…カバー
51…第1中間台
52…第2中間台
61…可動台座
62…可動板
63…搬送台
71…第1の板状バネ部材(第1の水平弾性支持手段)
72…第2の板状バネ部材(第2の水平弾性支持手段)
71…第3の板状バネ部材(垂直弾性支持手段)
81…第1圧電素子(第1の水平加振手段)
82…第2圧電素子(第2の水平加振手段)
83…第3圧電素子(垂直加振手段)
101…物品分別装置(物品移動装置)
132…位相差入力部
322…防振バネ
373f…カウンタウエイト
Claims (16)
- ベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する第1の水平弾性支持手段と、第2の水平弾性支持手段と、垂直弾性支持手段とを具備しており、
前記第1の水平弾性支持手段が厚み方向を前記第1の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第1の板状バネ部材より構成され、
前記第2の水平弾性支持手段が厚み方向を前記第2の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第2の板状バネ部材より構成され、
前記垂直弾性支持手段が厚み方向を前記垂直方向にほぼ合致させるとともに長手方向を水平な向きに配された第3の板状バネ部材より構成されていることを特徴とする振動装置。 - ベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する第1の水平弾性支持手段と、第2の水平弾性支持手段と、垂直弾性支持手段とを具備しており、
前記第1の水平弾性支持手段が厚み方向を前記第1の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第1の板状バネ部材より構成され、
前記第2の水平弾性支持手段が厚み方向を前記第2の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第2の板状バネ部材より構成され、
前記垂直弾性支持手段が厚み方向を前記垂直方向にほぼ合致させるとともに長手方向を水平な向きに配された第3の板状バネ部材より構成され、
前記第1~第3の板状バネ部材の少なくともいずれかが、所定距離離して平行に複数個設けられていることを特徴とする振動装置。 - ベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する第1の水平弾性支持手段と、第2の水平弾性支持手段と、垂直弾性支持手段とを具備しており、
前記第1の水平弾性支持手段が厚み方向を前記第1の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第1の板状バネ部材より構成され、
前記第2の水平弾性支持手段が厚み方向を前記第2の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第2の板状バネ部材より構成され、
前記垂直弾性支持手段が厚み方向を前記垂直方向にほぼ合致させるとともに長手方向を水平な向きに配された第3の板状バネ部材より構成され、
前記第1及び第2の水平加振手段並びに前記垂直加振手段が前記第1~第3の板状バネ部材の少なくとも片面に貼設された圧電素子であり、これらの圧電素子に正弦電圧を付与して周期的な伸びを生じさせることで、前記第1~第3の板状バネ部材を振動させることを特徴とする振動装置。 - ベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する第1の水平弾性支持手段と、第2の水平弾性支持手段と、垂直弾性支持手段とを具備しており、
前記第1の水平弾性支持手段が厚み方向を前記第1の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第1の板状バネ部材より構成され、
前記第2の水平弾性支持手段が厚み方向を前記第2の水平方向にほぼ合致させるとともに長手方向を水平な向きに配された第2の板状バネ部材より構成され、
前記垂直弾性支持手段が厚み方向を前記垂直方向にほぼ合致させるとともに長手方向を水平な向きに配された第3の板状バネ部材より構成され、
前記第1~第3の板状バネ部材の少なくともいずれかが、所定距離離して平行に複数個設けられており、
さらに、前記第1及び第2の水平加振手段並びに前記垂直加振手段が前記第1~第3の板状バネ部材の少なくとも片面に貼設された圧電素子であり、これらの圧電素子に正弦電圧を付与して周期的な伸びを生じさせることで、前記第1~第3の板状バネ部材を振動させることを特徴とする振動装置。 - 前記ベースと前記第1中間台の少なくともいずれかと前記第1の板状バネ部材との間、および、前記第1中間台と前記第2中間台の少なくともいずれかと前記第2の板状バネ部材との間に各々バネ座が設けられており、当該バネ座の位置が各々前記第1および第2の板状バネ部材の長手方向に対して変更可能に構成されていることを特徴とする請求項1~4のいずれかに記載の振動装置。
- 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する複数の第1の水平弾性支持手段と、複数の第2の水平弾性支持手段と、複数の垂直弾性支持手段とを具備しており、
装置全体を前記第1の水平弾性支持手段と第2の水平弾性支持手段とを境界とする第1質量体、第2質量体および第3質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となるように構成したことを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する複数の第1の水平弾性支持手段と、複数の第2の水平弾性支持手段と、複数の垂直弾性支持手段とを具備しており、
装置全体を前記第1の水平弾性支持手段と第2の水平弾性支持手段とを境界とする第1質量体、第2質量体および第3質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となり、かつ、前記各質量体の重心位置と各水平弾性支持手段の取付位置とが垂直方向に略同一となるように構成したことを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する複数の第1の水平弾性支持手段と、複数の第2の水平弾性支持手段と、複数の垂直弾性支持手段とを具備しており、
装置全体を前記第1の水平弾性支持手段と第2の水平弾性支持手段とを境界とする第1質量体、第2質量体および第3質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となるようにされており、さらに、
前記複数の垂直弾性支持手段が前記各質量体の重心位置を中心として各加振方向に対して対称となるように設けられているとともに、これらの垂直弾性支持手段を挟んで対称となる位置に前記可動台に対するカウンタウエイトが設けられていることを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を第1の水平方向に振動させる第1の水平加振手段と、前記可動台を第1の水平方向と交差する第2の水平方向に振動させる第2の水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台との間に第1中間台と第2中間台とを備えるとともに、前記ベース、前記第1中間台、前記第2中間台および前記可動台を順次前記第1の水平方向、第2の水平方向および垂直方向に弾性的に接続する複数の第1の水平弾性支持手段と、複数の第2の水平弾性支持手段と、複数の垂直弾性支持手段とを具備しており、
装置全体を前記第1の水平弾性支持手段と第2の水平弾性支持手段とを境界とする第1質量体、第2質量体および第3質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となり、かつ、前記各質量体の重心位置と各水平弾性支持手段の取付位置とが垂直方向に略同一となるようにされており、さらに、
前記複数の垂直弾性支持手段が前記各質量体の重心位置を中心として各加振方向に対して対称となるように設けられているとともに、これらの垂直弾性支持手段を挟んで対称となる位置に前記可動台に対するカウンタウエイトが設けられていることを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を水平方向に振動させる水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台の間に中間台を備えるとともに、前記ベース、中間台および前記可動台を順次水平方向および垂直方向に弾性的に接続する複数の水平弾性支持手段と複数の垂直弾性支持手段とを具備しており、
装置全体を前記水平弾性支持手段を境界とする2個の質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となるように構成したことを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を水平方向に振動させる水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台の間に中間台を備えるとともに、前記ベース、中間台および前記可動台を順次水平方向および垂直方向に弾性的に接続する複数の水平弾性支持手段と複数の垂直弾性支持手段とを具備しており、
装置全体を前記水平弾性支持手段を境界とする2個の質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となり、かつ、前記各質量体の重心位置と各水平弾性支持手段の取付位置とが垂直方向に略同一となるように構成したことを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を水平方向に振動させる水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台の間に中間台を備えるとともに、前記ベース、中間台および前記可動台を順次水平方向および垂直方向に弾性的に接続する複数の水平弾性支持手段と複数の垂直弾性支持手段とを具備しており、
装置全体を前記水平弾性支持手段を境界とする2個の質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となるようにされており、さらに、
前記複数の垂直弾性支持手段が前記各質量体の重心位置を中心として各加振方向に対して対称となるように設けられているとともに、これらの垂直弾性支持手段を挟んで対称となる位置に前記可動台に対するカウンタウエイトが設けられていることを特徴とする振動装置。 - 防振バネを介して接地面上に支持されたベースと、当該ベースに対して弾性的に支持された可動台と、当該可動台を水平方向に振動させる水平加振手段と、前記可動台を垂直方向に振動させる垂直加振手段とを備えた振動装置であって、
前記ベースと前記可動台の間に中間台を備えるとともに、前記ベース、中間台および前記可動台を順次水平方向および垂直方向に弾性的に接続する複数の水平弾性支持手段と複数の垂直弾性支持手段とを具備しており、
装置全体を前記水平弾性支持手段を境界とする2個の質量体と想定したとき、これらの質量体の各重心位置が垂直方向および水平方向に略同一となり、かつ、前記各質量体の重心位置と各水平弾性支持手段の取付位置とが垂直方向に略同一となるようにされており、さらに、
前記複数の垂直弾性支持手段が前記各質量体の重心位置を中心として各加振方向に対して対称となるように設けられているとともに、これらの垂直弾性支持手段を挟んで対称となる位置に前記可動台に対するカウンタウエイトが設けられていることを特徴とする振動装置。 - 前記ベースの外周縁近傍より立ち上げた周壁部を設けており、
前記周壁部が前記弾性支持手段および前記加振手段を囲むように構成されているとともに、前記ベースの重心位置を調整する重心調整部材として構成されていることを特徴とする請求項6~13のいずれかに記載の振動装置。 - 可動台の振動により可動台上に載せられた物品を搬送する物品搬送装置であって、
請求項1~14のいずれかに記載の振動装置と、当該振動装置が有する複数の加振手段による周期的加振力を、位相差を有しつつ同一の周波数で同時に発生させ前記可動台に三次元の振動軌跡を生じさせるように前記各加振手段を制御する振動制御手段と、前記各加振手段による周期的加振力の振幅と位相差を切り替える振動切替手段とを備えることを特徴とする物品搬送装置。 - 可動台の振動により可動台上に載せられた複数の物品を分別する物品分別装置であって、
請求項1~14のいずれかに記載の振動装置と、当該振動装置が有する複数の加振手段による周期的加振力を、位相差を有しつつ同一の周波数で同時に発生させ前記可動台に三次元の振動軌跡を生じさせるように前記各加振手段を制御する振動制御手段とを備え、
前記水平加振手段による周期的加振力と前記垂直加振手段による周期的加振力との位相差を、所定の基準摩擦係数を境界として個々の物品が有する摩擦係数の前記基準摩擦係数に対する大小関係に基づき各物品が異なる方向に移動するように設定することで、前記可動台上に載せられた複数の物品を同時に分別することを特徴とする物品分別装置。
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US14/129,489 US9315330B2 (en) | 2011-07-08 | 2012-05-31 | Vibration device, article conveyance device, and article sorting device |
KR1020137034435A KR101945558B1 (ko) | 2011-07-08 | 2012-05-31 | 진동 장치, 물품 반송 장치 및 물품 분별 장치 |
KR1020187026002A KR101968461B1 (ko) | 2011-07-08 | 2012-05-31 | 진동 장치, 물품 반송 장치 및 물품 분별 장치 |
CN201280034042.6A CN103648930B (zh) | 2011-07-08 | 2012-05-31 | 振动装置、物品输送装置及物品区分装置 |
KR1020187026000A KR101968460B1 (ko) | 2011-07-08 | 2012-05-31 | 진동 장치, 물품 반송 장치 및 물품 분별 장치 |
HK14106770.7A HK1193386A1 (zh) | 2011-07-08 | 2014-07-04 | 振動裝置、物品輸送裝置及物品區分裝置 |
US14/832,266 US9745138B2 (en) | 2011-07-08 | 2015-08-21 | Vibration device, article conveyance device, and article sorting device |
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JP2011271098A JP6182827B2 (ja) | 2011-12-12 | 2011-12-12 | 振動装置および物品移動装置 |
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KR20180104169A (ko) | 2018-09-19 |
KR101945558B1 (ko) | 2019-02-07 |
KR101968460B1 (ko) | 2019-04-11 |
US9745138B2 (en) | 2017-08-29 |
CN103648930B (zh) | 2015-09-23 |
TWI591005B (zh) | 2017-07-11 |
KR101968461B1 (ko) | 2019-04-11 |
US20150360873A1 (en) | 2015-12-17 |
US9315330B2 (en) | 2016-04-19 |
CN103648930A (zh) | 2014-03-19 |
TW201311528A (zh) | 2013-03-16 |
HK1193386A1 (zh) | 2014-09-19 |
US20140190791A1 (en) | 2014-07-10 |
KR20180104170A (ko) | 2018-09-19 |
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