JP2644931B2 - Transfer ultrasonic actuator and transfer device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to the transfer of multi-layered sheets and cards used for card readers in storage sections of printers, copiers, printing machines, facsimile machines, automatic cash handling machines and the like. The present invention relates to a transfer ultrasonic actuator and a transfer device for transferring an object.

[0002]

2. Description of the Related Art Conventionally, when an object to be transferred such as paper is transferred inside a printer, a copying machine, a printing machine, a facsimile, an automatic cash handling machine, or the like, a roller is driven to rotate by an electromagnetic motor, and another roller is driven by the roller. The rollers are driven to rotate, and the object to be transferred is sent between the rollers to be transferred by friction.

[0003] On the other hand, as a transporting device for transporting paper using ultrasonic vibration, a device using a piezoelectric ceramic vibrator having a round bar shape and a strip electrode (strip electrode) on the outer peripheral surface is used. (Refer to the Japanese Industrial Technology Promotion Association's collection of lectures, "Ultra-precision positioning and solid actuators", pp. 3-13.) The vibrator used in the transfer device also serves as a drive shaft of the transfer mechanism, and has a cylindrical rubber roller (movable element) at both ends of the vibrator to constitute an ultrasonic motor. The ultrasonic motor is used to transport paper and cards.

Next, the vibration operation of the vibrator will be described. FIG. 2 is a perspective view of a piezoelectric ceramic vibrator, and FIG. 3 is a diagram showing the relationship between applied voltage and generated distortion. FIG. 3A shows a state in which distortion is generated in the vertical direction, and FIG. 3B shows a state in which distortion is generated in the horizontal direction. In FIG. 2, reference numeral 1 denotes a strip electrode.
Are arranged. Reference numeral 2 denotes a piezoelectric ceramic round bar. As shown in FIGS. 3A and 3B, when the adjacent four strip electrodes 1 are connected to each other and an AC voltage is applied by two methods, the four strip electrodes 1 are polarized as indicated by broken arrows. An electric field is generated as indicated by the solid arrow. In the method (A), the upper and lower portions of the strip electrode 1 repeat the expansion and contraction in the length direction of the left and right portions in the method (B).

FIG. 4 is a diagram showing a state in which excitation is performed in a vibration mode. In the drawing, reference numeral 1 denotes a strip electrode, and when an AC voltage having a frequency equal to the resonance frequency of the bending vibration of the piezoelectric ceramic round bar 2 is applied, the vibrator vibrates in the direction of the arrow. FIG. 5 is a drive circuit diagram for performing continuous excitation.

In the figure, reference numerals 1a to 1d denote strip electrodes, and T1 and T2 denote transformers. When an AC voltage is applied to the strip electrodes 1a to 1d with a phase difference of 90 °, two expansion and contraction operations, that is, bending vibrations are continuously excited. An elliptical motion is generated at both ends of the vibrator due to the combination of the two bending vibrations. That is, the conventional ultrasonic motor uses the elliptical motion to rotate the cylindrical rubber rollers installed at both ends of the vibrator.

Referring to FIGS. 6 and 7, a paper or card conveying device will be described. FIG. 6 is a perspective view of a one-point inscribed ultrasonic motor, and FIG. 7 is a perspective view of a one-point inscribed ultrasonic motor. In FIG. 6, 11 is a support ring, 12 is a vibrator, 13 is a drive roller, and 14 is an auxiliary roller. The edge portion of the end of the vibrator 12 is circumscribed at one point outside the drive roller 13, and when elliptical motion occurs at both ends of the vibrator 12, the drive roller 13 rotates and the auxiliary roller 14 is rotated. Assist the rotation. The paper or card is conveyed while being sandwiched between the driving roller 13 and the auxiliary roller 14.

In FIG. 7, both ends of a vibrator 12 are rotated by contacting the inner peripheral surface of a cup-shaped drive roller 13 rotatably supported. Then, the drive roller 13 that is inscribed at one point with the vibrator 12 rotates by the elliptical motion generated at both ends, and the auxiliary roller 14 assists the rotation. Paper and cards are driven by the driving roller 13 and the auxiliary roller 14.
It is transported sandwiched between.

Since the above-mentioned conveying device uses an ultrasonic motor, it is small and does not generate electromagnetic wave noise, and a conventional rubber roller can be used for the conveying section as it is.
Further, since the ultrasonic motor uses the vibrator 12 made of a round bar-shaped piezoelectric ceramic as a method of synthesizing bending vibration, it is easy to match the resonance frequencies of the two vibration modes, The shift due to the change is the same for both.

Furthermore, since a common node is formed in the two vibration modes, the vibrator 12 can be stably supported.

[0011]

However, in the transfer ultrasonic actuator and the transfer device having the above-mentioned structure, the vibrator 12 using the piezoelectric ceramic round bar 2 is not used.
It is necessary to polarize the inside of the vibrator 12 multiple times so as to be excited in two vibration modes. Therefore, even if the resonance frequency of the two vibration modes can be matched with the shape of the vibrator 12, a shift may occur at the stage of polarization, and the resonance frequency may not be matched.

When the vibrator 12 is excited in two vibration modes, a pair of electrodes having the same polarity is provided in two orthogonal directions, and a bending vibration is generated in two directions by switching the phase difference to 90 °. As a result, the driving circuit becomes complicated. In addition, as described above, if the resonance frequencies cannot be matched, the driving circuit is further complicated.

The common node of the two vibration modes in the vibrator 12 is supported by the support ring 11 as shown in FIGS. 6 and 7, but by combining the two vibration modes, Because the elliptical motion is generated at both ends of the, three-dimensional distortion occurs in the common node,
The support ring 11 cannot provide sufficiently stable support.

The present invention solves the problems of the above-described conventional transfer ultrasonic actuator and transfer device, and can simplify the drive circuit without using two vibration modes, and furthermore, the oscillator can be used. It is an object of the present invention to provide a transfer ultrasonic actuator and a transfer device that can be supported in a stable state.

[0015]

For this purpose, the ultrasonic actuator for transfer according to the present invention is made of an elastic body, and forms two nodes of vibration when excited to generate secondary longitudinal bending vibration. The main vibrator, which is made of an elastic body, is formed by integrally protruding from both ends of the main vibrator, has a smaller cross-sectional area than the main vibrator, and vibrates at a coupling portion with the main vibrator when excited. Two sub-vibrators that form a node to generate a primary longitudinal flexural vibration; support means for supporting two vibration nodes of the main vibrator; and And a piezoelectric element for generating a secondary longitudinal flexural vibration on the main vibrator and a primary longitudinal flexural vibration on the sub-vibrator on one plane when driven. In the transfer device of the present invention, the main vibrator, which is made of an elastic body and forms two nodes of vibration when excited to generate secondary longitudinal bending vibration, and the elastic body, The main vibrator is formed so as to protrude integrally at both ends, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to generate primary longitudinal bending vibration. Two sub-vibrators to be driven, supporting means for supporting two nodes of vibration of the main vibrator, and two main vibrators which are disposed on the main vibrator and which are driven by the main vibrator on one plane when driven. A piezoelectric element for generating a next longitudinal flexural vibration, and a primary longitudinal flexural vibration in the sub-vibrator;
A drive roller rotatably disposed in contact with the surface of the sub-vibrator. Then, the center point of the drive roller is located at a position shifted from the vibration direction of the sub vibrator.

In another transfer device of the present invention, the main vibrator which is made of an elastic body, forms two nodes of vibration when excited to generate secondary longitudinal bending vibration, and is made of an elastic body. The main vibrator is formed so as to be integrally protruded from both ends thereof, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to have a primary length. Two sub-vibrators for generating directional bending vibration and the main vibrator, and when driving, apply a secondary longitudinal bending vibration to the main vibrator on one plane; 1 in
A piezoelectric element for generating the next longitudinal bending vibration, a transferred object support fixed to two vibration nodes of the main vibrator, and supporting a transferred object, and supporting the sub vibrator; A vibrator unit support. The vibration direction of the sub vibrator is inclined from the vertical direction.

[0017]

According to the present invention, as described above, the ultrasonic actuator for transfer is made of an elastic body and forms two nodes of vibration when excited to generate secondary longitudinal bending vibration. A main vibrator and an elastic body, which are integrally formed so as to protrude from both ends of the main vibrator and have a smaller cross-sectional area than the main vibrator. Forming two primary vibrating vibrations, generating a primary longitudinal bending vibration, supporting means for supporting two vibration nodes of the main vibrator, and being disposed on the main vibrator;
A piezoelectric element for generating a secondary longitudinal flexural vibration on the main vibrator and a primary longitudinal flexural vibration on the sub-vibrator when driven.

In this case, when an AC voltage is applied to the piezoelectric element in a state where the two vibration nodes of the main vibrator are supported by the support means, two main nodes are applied to the main vibrator on one plane.
The next longitudinal bending vibration is generated, and the primary longitudinal bending vibration is generated in the sub vibrator. In the transfer device of the present invention, the main vibrator, which is made of an elastic body and forms two nodes of vibration when excited to generate secondary longitudinal bending vibration, and the elastic body, The main vibrator is formed so as to protrude integrally at both ends, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to generate primary longitudinal bending vibration. Two sub-vibrators to be driven, supporting means for supporting two nodes of vibration of the main vibrator, and two main vibrators which are disposed on the main vibrator and which are driven by the main vibrator on one plane when driven. A piezoelectric element for generating a primary longitudinal flexural vibration in the sub-vibrator, and a drive roller rotatably disposed in contact with the surface of the sub-vibrator. Have. Then, the center point of the drive roller is located at a position shifted from the vibration direction of the sub vibrator. In this case, when an AC voltage is applied to the piezoelectric element in a state where the two vibration nodes of the main vibrator are supported by the support means, a secondary longitudinal bending vibration is applied to the main vibrator on one plane, First-order longitudinal bending vibrations are respectively generated in the sub-vibrators, and the driving rollers are rotated.

In another transfer device of the present invention, the main vibrator is formed of an elastic body, and forms two nodes of vibration when excited to generate a secondary longitudinal bending vibration, and the elastic body. The main vibrator is formed so as to be integrally protruded from both ends thereof, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to have a primary length. Two sub-vibrators for generating directional bending vibration and the main vibrator, and when driving, apply a secondary longitudinal bending vibration to the main vibrator on one plane; 1 in
A piezoelectric element for generating the next longitudinal bending vibration, a transferred object support fixed to two vibration nodes of the main vibrator, and supporting a transferred object, and supporting the sub vibrator; A vibrator unit support. The vibration direction of the sub vibrator is inclined from the vertical direction. In this case, when the piezoelectric element is driven, a secondary longitudinal bending vibration is generated in the main vibrator and a primary longitudinal bending vibration is generated in the sub-vibrator on one plane. The object support is reciprocated.

[0020]

Embodiments of the present invention will be described below in detail with reference to the drawings. In this embodiment, a transfer ultrasonic actuator and a transfer device for transferring a sheet or a card including recycled paper will be described. FIG. 1 is a perspective view of a vibrator used for a drive unit of a transfer ultrasonic actuator according to the present invention.

In the figure, 20 is an I-shaped vibrator, 21
Is a main vibrator made of an elastic body, and 22 and 23 are main vibrators 2
The first and second sub-vibrators 24, which are formed by projecting from both ends of the first and made of an elastic body, are support fixing holes. The main vibrator 21 and the first and second sub vibrators 22 and 23 are integrally formed. The main vibrator 21 has a prismatic shape, whereas the first and second sub-vibrators 22 and 23 have a cylindrical shape. The reason why the main vibrator 21 is formed in a prismatic shape is to make it easy to bond and fix a piezoelectric element used as a drive element of the transfer ultrasonic actuator. The reason why the cylindrical shape is adopted is to satisfy a driving condition for obtaining an output as a transfer ultrasonic actuator.

FIG. 8 is an explanatory diagram of each dimension of the vibrator. (A) of the figure shows the front (X-Z plane), and (b) shows the right side (YZ plane). In the figure, 2
1 is a main vibrator, 22 and 23 are first and second sub vibrators, 2
4 is a support fixing hole. A ₁ is the diameter of the main oscillator 21, b ₁ is the width of the main oscillator 21 in the Y-axis direction, L ₁ is the length of the main oscillator 21, L ₂ is the length of the first sub-oscillator 22. , L ₃
Is the length of the second sub-vibrator 23 and R ₂ is the first sub-vibrator 2
2, R ₃ is the diameter of the second sub-vibrator 23, and m is the distance between the support fixing hole 24 and the end of the main vibrator 21. Then, the values ( a ₁ , b ₁ , L ₁ ,
L ₂ , L ₃ , R ₂ , R ₃ , and m) are set so that excitation can be performed in a vibration mode described later. When the sectional area of the main vibrator 21 is S, the sectional area of the first sub-vibrator 22 is S ₁ , and the sectional area of the second sub-vibrator 23 is S ₂ , S> S ₁ = S ₂ and then, also the length L ₂ of the first sub-vibrator 22 is the length L ₃ of the second sub-transducers 23 and L ₂ = L _3. Further, the length L ₁ of the main vibrator 21 and the first,
The lengths L ₂ and L ₃ of the second sub vibrators 22 and 23 are set to １ ／ ≦ L ₂ / L ₁ = L ₃ / L ₁ ≦ 1/2. This condition is set so that the first and second sub-vibrators 22 and 23 do not become loads with respect to the vibration energy of the main vibrator 21, and the vibration displacement of the main vibrator 21 is enlarged.

[0023] The length L ₃ between the length L ₁ of the main resonator 21 and the length L ₂ of the first sub-vibrator 22 second sub-transducer 23
The dimensional ratio of 5: 1: 1, and the width b ₁ of the Y-axis direction of the main oscillator 21 and the diameter R ₂ of the first sub-transducer 22 dimensions of diameter R ₃ of the second sub-transducer 23 If the ratio is 2: 1: 1, 2
Can be excited at a resonant frequency in the range of 0~40kH _Z, the driving efficiency is improved.

Further, the cross-sectional shape of the main vibrator 21 in the YZ plane is square, and the central axis in the longitudinal direction of the main vibrator 21 is set to the length of the first and second sub-vibrators 22 and 23. If it is made to coincide with the central axis of the direction, the manufacture of the vibrator 20 becomes easy. The cylindrical surfaces of the first and second sub-vibrators 22 and 23 are subjected to the same processing as the main vibrator 21, but in consideration of the driving method of the ultrasonic actuator for transfer, a wear-resistant material is bonded or vapor-deposited. It is good to provide on the surface.

Next, an I-shaped vibrator unit including the vibrator 20 having the above-described structure will be described. FIG. 9 is a configuration diagram of an I-shaped vibrator unit. (A) of FIG.
(B) shows the right side surface (YZ plane). In the figure, 30 is a transducer unit, 21
Is a main vibrator, 22 is a first sub vibrator, 23 is a second sub vibrator, 25 is a mounting bolt, 26 is a mounting base, 27 is a frame, 28 is a piezoelectric element for vibration excitation, and 29 is an output pickup. Element. Also, t ₁ is the piezoelectric element 28
, The input terminal of t, t ₂ is the output terminal of the piezoelectric element 29,
t ₃ is a ground terminal of the frame 27.

FIG. 10 is a view for controlling the vibrator unit.
It is a block diagram of a drive control circuit. In the figure, 31 is
An oscillator, 32 is a power amplifier, and 33 is a controller. Terminal
t ₁Is connected to the piezoelectric element 28 of FIG._TwoFigure 9
Is connected to the piezoelectric element 29. Also, a of the controller 33 is
Terminal t₁Terminal for inputting the pickup voltage from
A terminal for outputting a signal for controlling the output voltage of the oscillator 31,
c outputs a signal for controlling the output frequency of the oscillator 31
Terminal.

In the above embodiment, the vibrator unit 30 is formed by bonding the piezoelectric elements 28 and 29 to the vibrator 20 shown in FIG. 1, but the piezoelectric element alone has the shape shown in FIG. May be formed. In this case, in consideration of the fact that the first and second sub-vibrators 22 and 23 at both ends have a cylindrical shape, the entire vibrator 20 is formed into a cylindrical shape and electrodes polarized in the vibration direction are applied. Is also good.

Next, the vibration mode of the vibrator 20 in the transfer ultrasonic actuator of the present invention will be described.
FIG. 11 is a view showing a vibration mode of the vibrator in the ultrasonic actuator for transfer of the present invention. In the figure, 2
1 ′, 21 ″ are the state of the excited main oscillator 21 and 2
2 ′, 22 ″ indicate the state of the excited first sub-oscillator 22;
23 ', 23 "indicates the state of the second sub-transducer 23 which is excited. Also, a node of vibration in the A deflection secondary longitudinal occurring in the X direction of the main vibrator 21 vibrating, B ₁ is The main oscillator 21 and the first sub-oscillator 22 are connected to each other.
Since the secondary longitudinal bending vibration generated in the first X direction and the primary longitudinal bending vibration generated in the X direction of the first sub-vibrator 22 are continuous, they are nodes of vibration. B ₂ is a coupling portion between the main vibrator 21 and the second sub vibrator 23, and the secondary longitudinal bending vibration generated in the X direction of the main vibrator 21 and the X of the second sub vibrator 23 The primary longitudinal flexural vibrations occurring in the direction are continuous, and are nodes of vibration.

Then, the origin O is excited to O 'or O "
Move to the position indicated by. The solid line indicates the mode when vibration is not performed, the broken line indicates the mode when (T / 4) × n (T: period, n = 1, 2,...), And the dashed line indicates (3T / 4) × n.
The time mode (T: period, n = 1, 2,...) Is shown. In the transfer ultrasonic actuator of the present invention, the support fixing hole 24 shown in FIG. 1 is provided at the node A of the vibration, and the vibrator 20 is supported and fixed through the mounting bolt 29 shown in FIG. That is, a force is applied in the Y direction orthogonal to the vibration direction using the node A of the vibration in the secondary longitudinal flexure in the X direction generated in the main vibrator 21 of the vibrator 20 in the XZ plane. The vibrator 20 is restrained and supported. Therefore, the vibrator 20 can be stably supported without affecting the vibration mode.

The main vibrator 21 and the first sub vibrator 22
Binding portion B ₁ and a main oscillator 21 and the second sub-transducer 23
The coupling portion B ₂ and has to match the section of each of the vibration. Therefore, the amplitude of the vibration generated by the piezoelectric element 28 in FIG. 9, the section of each of the vibration (coupling portion B _1,
B ₂ ), the first and second sub-oscillators 2 are enlarged.
It is transmitted to the tip of 2,23.

Here, the amplitude of the vibration generated at the tip of the vibrator 20 of the transfer ultrasonic actuator of the present invention, that is, at the origins O, O ', and O "in FIG.
8 can be controlled linearly by the voltage applied. This utilizes the relationship between the voltage and the displacement of the piezoelectric element 28. The amplitude is a factor for determining the transfer force and transfer speed of the transfer ultrasonic actuator of the present invention. Therefore, the transfer force and the transfer speed can be linearly controlled by the voltage applied to the piezoelectric element 28.

Next, the driving principle of the transfer ultrasonic actuator of the present invention will be described. FIG. 12 is a principle diagram of a mechanism for generating a transfer force in the transfer ultrasonic actuator of the present invention. In the figure, 21 is a main vibrator, 22 is a first sub vibrator, 25 is a mounting bolt, 26 is a mounting base, 27 is a frame, 28 is a piezoelectric element for exciting vibration, 29 is a piezoelectric element for output pickup, Reference numeral 35 denotes a rotating body to be transferred. Θ is the contact angle between the center point of the first sub-vibrator 22, that is, the direction (Z direction) in which vibration occurs at the origin O, and the contact point Q of the transferred rotary member 35, and u _Z is the vibration displacement , U _Z is represented by u _Z = U _Z · sin ωt. The vibration displacement u _Z is indicated by a dotted line on the Z axis in the figure. ω is the resonance frequency of the vibrator 20 input from the oscillator 31 (FIG. 10), f (t) is the vibration force generated at the contact point Q, and P is the pressing force from the first sub-vibrator 22 to the transferred rotary member 35. force (= f (t) · cosθ ), F is the transfer force (= μ · P), μ is the coefficient of friction between the object to be transported rotator 35 first sub vibrator 22, O _R is the transfer rotary member 35 is the center point.

As described above, in the transfer ultrasonic actuator of the present invention, the main vibrator 21 of the vibrator unit 30 is used.
When the first and second sub-transducers 22 and 23 to generate a longitudinal flexural vibration in the X direction, vibrating the first sub-vibrator 22 in the vibration displacement u _Z. And this time, the center point O _R of the transfer rotary member 35 is a direction in which the first sub-vibrator 22 vibrates, i.e. Yes shifted from the Z-axis, the first sub-transducer in contact angle θ with respect to the Z axis since that is in contact with the 22, the vibration force to the contact point Q on the cylindrical surface of the first sub-vibrator 22 f (t) is generated, as a result, the direction of the center point O _R of the transfer rotary member 35 , A pressing force P is generated. Here, the first sub-vibrator 2
Since the friction coefficient between 2 and the transferred rotating body 35 is μ,
Due to the pressing force P, a frictional force, that is, a transfer force F is generated in a tangential direction passing through the contact point Q, that is, in the transfer direction.

If the vibration displacement u _Z is in the positive direction of the Z axis, the transfer force F is generated in the direction shown in FIG. That is, the transfer force F of the transferred rotary member 35 is represented by F = μ · P. The transfer force F around the center point O _R,
It is a rotational force for rotating the transferred rotary member 35 in the direction of arrow C.

Next, when the vibration displacement u _Z is in the negative direction of the Z axis, the first sub-vibrator 22 stops contacting the transferred rotary member 35, and no transfer force F is generated. Therefore, the transferred rotating body 35 does not rotate. In this case, the transferred rotating body 35
Position of the center point O _R of is fixed. FIG. 13 is a vibration locus diagram of a contact point between the sub-vibrator and the transferred rotary member. Again, the position of the center point O _R of the transfer rotary member 35 is fixed.

In the figure, reference numeral 22 denotes a first sub-vibrator;
The object transport rotary member, O _R is the center point of the transfer rotary member 35, theta
Is the contact angle, and the origin O is the vibration center of the first sub-vibrator 22. If, when there is no object to be transported rotator 35, the contact point Q is the vibration trajectory line indicated by a broken line _{(Q-D 0 -Q-E} 0 -
Move by drawing Q). However, actually, the transferred rotating body 3
5 is in contact with the first sub-vibrator 22 at the contact angle θ, the contact point Q is represented by a vibration trajectory line (Q-D ₁ -E ₁₎ indicated by a solid line.
−Q).

[0037] Thus, the transfer rotary member 35 receives a transport force F shown in Figure 12 in Q-D ₁ of the section in contact with the first sub-transducer 22, rotates in the direction of arrow C, D ₁ -E ₁ -Q
In the section of, since it does not contact the first sub-vibrator 22, it keeps rotating in the same arrow C direction. Then, the rotation continues by repeating the vibration of the vibration trajectory line (QD ₁ -E ₁ -Q). FIGS. 12 and 13 show the first sub-vibrator 22 in the coordinate system (YZ plane, origin O).
The case where the center point of the sub-vibrator 22 is vibrated in the Z-axis direction and the transferred rotating body 35 is brought into contact with the first sub-vibrator 22 in the second quadrant is described.

FIG. 14 is a diagram showing the relationship between the position of the transferred rotary member and the direction of rotation. With the center point of the first sub-vibrator 22 as the origin O, the transferred rotating body 35 (35a to 35d) is positioned in each quadrant from the first quadrant to the fourth quadrant in the coordinate system,
The first sub-vibrator 22 is brought into contact with the first sub-vibrator 22,
2 is vibrated in the Z direction. In the figure, the transferred rotating bodies 35a to 35d are arranged in all quadrants for the sake of explanation, but if they are actually within the range of the driving capability of the ultrasonic actuator for transfer, they may be arranged as shown in the figure. It is possible.

O₁~ O_FourAre the transferred rotary members 35a to 35
center point of d, θ₁₁~ Θ₁₄Is the contact angle, Q₁₁~ Q₁₄Is contact
Point, C₁~ C_FourIs the direction of rotation. First sub-vibrator 22
For each quadrant of the coordinate system in which the vibration direction of
Rotation direction C of transfer rotating bodies 35a to 35d₁~ C_FourIs fixed
You can see that By the way, in the above embodiment,
Center point O of the transfer rotating body 35 (35a to 35d)_R(O₁
~ O_Four) Describes the case where the position is fixed
I have. However, an ultrasonic transfer actuator is used.
The vibration area to be used is the ultrasonic vibration area, and the
The transfer force F acting on the rotating body 35 is the vibration of the vibrator 20.
If the two conditions of being less than power are met
Is the center point O_R(O₁~ O _Four) To fix the position
Instead, the transferred rotating body 35 is made to jump using the same driving principle.
Can be rotated.

Therefore, instead of the rotating body 35 to be transferred,
Also vibrates flat objects such as sheets and cards
From the first sub-vibrator 22 at a contact angle θ from
A transfer force F can be generated at the contact point. FIG.
FIG. 3 is a diagram illustrating a relationship between a position of a flat object to be transferred and a transfer direction. Figure
, 22 is a first sub-vibrator, and 36a to 36d are flat
Planar transferred object, θ _{twenty one}~ Θ_{twenty four}Is the contact angle, Q_{twenty one}~ Q_{twenty four}Is
The point of contact. The transferred objects 36a to 36d are connected to the first sub
When the oscillator 22 is brought into contact in the first to fourth quadrants,
The transfer direction of the transferred objects 36a to 36d is G₁~ G_FourTona
You.

Next, a transfer device using the transfer ultrasonic actuator having the above-described configuration will be described. In this case, the contact angle θ between the vibration direction of the vibrator 20 and the contact point Q of the transferred object is 30 °. FIG. 16 is a perspective view of the transfer device of the present invention, and FIG. 17 is a side view of the transfer device of the present invention.

In the figure, reference numerals 30a and 30b denote vibrator units which constitute a drive unit of the ultrasonic actuator for transfer, and drive rollers 3 are attached to the vibrator units 30a and 30b.
8 are brought into contact with each other, and an object 40 such as a sheet or a card sandwiched between the auxiliary roller 39 and the driving roller 38 is transferred using the rotational force of the driving roller 38.

Reference numerals 21a and 21b denote main vibrators, 22a
Reference numerals a and 22b denote a first sub-vibrator, 23a a second sub-vibrator, 25a and 25b mounting bolts, 26a and 26b mounting pedestals, 27 a frame, 28a and 28b vibration-exciting piezoelectric elements, 29a , 29b are piezoelectric elements for output pickup, 41 is a shaft, 42 is a pressing spring, θ ₁ , θ ₂
Is the contact angle.

As described above, the embodiment shown in FIGS. 16 and 17 has a structure in which the vibrator units 30a and 30b are attached to both sides of the frame 27 shown in FIG. Then, Z is set by the vibrator unit 30a.
Vibration occurs on _one axis (FIG. 17), and the first sub-vibrator 22
drive roller in contact with a contact angle theta ₁ to a 38 rotates in the arrow H _a direction. As a result, the transferred object 40 sandwiched between the auxiliary roller 39 and the driving roller 38 is transferred in the arrow J direction.

Further, Z ₂
Vibration is generated on the shaft, the first drive roller 38 in contact with the auxiliary vibrator 22b in contact angle theta ₂ is rotated in the arrow H _b direction. As a result, the auxiliary roller 39 and the driving roller 38
Is transported in the direction of arrow K. In the transfer device having the above configuration, the vibrator units 30a, 3
0b has a vibrator of the same shape and the same size having exactly the same driving characteristics. Therefore, only one drive circuit in FIG. 10 is required. The child units 30a and 30b are selected. Therefore, the driving circuit can be simplified. The cylindrical surfaces of the vibrator units 30a and 30b are coated with a wear-resistant material by bonding or surface evaporation to stabilize driving performance.

Next, a transfer device in which the transfer surface of the drive roller 38 is kept out of contact with the first and second sub-vibrators 22a, 22b and 23a will be described. FIG. 18 is a view showing a second embodiment of the transfer device of the present invention. In the figure,
44 is a drive roller provided with a step on the X ₀ axis direction, made from the large diameter part 44a and the small diameter portion 44b, the large diameter portion 44a becomes a transfer surface of the transfer material 40, the small diameter portion 44b first secondary vibration It becomes a contact surface with the child 22a.

FIG. 19 is a view showing a third embodiment of the transfer apparatus of the present invention. In the figure, reference numeral 45 denotes an annular driving roller, the outer peripheral surface of the driving roller 45 serving as a transfer surface of the transferred object 40, and the inner peripheral surface serving as a contact surface with the first sub-vibrators 22a and 22b. The vibrator unit 30a is driven when the object 40 is transferred in the direction of the arrow J, and the vibrator unit 30b is driven when the object 40 is transferred in the direction of the arrow K.

Next, a transfer device for transferring an object to be transferred such as a sheet or a card placed on a table will be described. FIG. 20 is a diagram showing a table-type transfer device configured by using two vibrator units. In the figure, 21
a and 21b are main vibrators, 22a and 22b are first sub vibrators, 25a and 25b are mounting bolts, 26a and 26b are mounting bases, 27 is a frame, 28a and 28b are vibration-exciting piezoelectric elements, 29a and 28b. 29b is a piezoelectric element for output pickup, 40 is a transferred object such as a sheet or a card, and 47 is the first sub-vibrator 22 of the vibrator units 30a and 30b.
A vibrator unit support, ie, a rail, which supports a, 22b, is a transferred object support, ie, a table.

In the transfer device having the above-described structure, the transferred object 40 placed on the table 48 is transferred. The direction of the vibration generated in the transducer unit 30a is Z ₁
When the axial direction, the first sub-transducers 22a on rails 47 as Z ₁ axis and vertical line forms a contact angle theta ₁ is in contact. Further, when the direction of vibration generated in the vibrator unit 30b and Z ₂ direction, Z ₂ axes and a vertical line contact angle theta ₂
The first sub-vibrator 22b is in contact with the rail 47 so that The rail 47 is fixed at both ends, and the transferred object 40 placed on the table 48 is moved in the direction of arrow J when the transducer unit 30a is driven, and is moved in the direction of arrow J when the transducer unit 30b is driven. It is transferred in the K direction. In order to improve the driving performance, a wear-resistant material may be coated on the cylindrical surfaces of the first sub-vibrators 22a and 22b of the vibrator units 30a and 30b, that is, the contact surfaces with the rails 47 by adhesion or surface deposition. it can.

In the above embodiment, the object 47 on the table 48 is transferred by fixing the rail 47. On the contrary, the table 48 is fixed and the rail 4 is fixed.
The transported object 40 may be placed on 7. It should be noted that the present invention is not limited to the above-described embodiment, but can be variously modified based on the gist of the present invention, and they are not excluded from the scope of the present invention.

For example, in the transfer ultrasonic actuator of the present invention, the vibrator unit 30 (FIG. 9) can be used as a general-purpose actuator in its driving section. That is, a rotary motor can be configured using the rotational force output by the drive rollers 38, 44, and 45 in FIGS. 16 to 19, and a linear motor can be configured as it is in the case of FIG. it can.

According to the driving principle shown in FIG. 12, the vibrator unit 30 has a braking function and a holding function by a frictional force at the time of stopping the vibration, so that high-precision feeding and positioning can be performed. Therefore, in the case of a rotary type motor, it can be used for a rotary table of a measuring instrument, a fine focus adjustment mechanism of a lens, and a joint drive mechanism of an assembly robot. In the case of a linear type motor, a positioning mechanism of a read head of a magnetic disk, a printer It can be used for a carriage driving mechanism of a head, a biaxial driving mechanism of an XY plotter, or a pen up-down driving mechanism.

[0053]

As described in detail above, according to the present invention, the ultrasonic actuator for transfer is made of an elastic body, and forms two nodes of vibration when excited to bend in the secondary longitudinal direction. It is made of an elastic body and a main vibrator in which vibration is generated, and is formed so as to be integrally protruded from both ends of the main vibrator, has a smaller cross-sectional area than the main vibrator, and is coupled with the main vibrator at the time of excitation. Two sub-vibrators for generating a primary longitudinal flexural vibration by forming a node of vibration in the portion, supporting means for supporting two nodes of the main vibrator, and the main vibrator During driving, the secondary vibrating vibration is applied to the main vibrator on one plane, and the secondary vibrating vibration is applied to the sub vibrator on one plane.
A piezoelectric element for generating each of the following longitudinal bending vibrations. In this case, when an AC voltage is applied to the piezoelectric element in a state where the two vibration nodes of the main vibrator are supported by the support means, a secondary longitudinal bending vibration is applied to the main vibrator on one plane, A primary longitudinal bending vibration is generated in each of the sub-vibrators. Since the two nodes of the vibration can be supported and fixed in a direction orthogonal to the vibration direction, the nodes can be stably supported without affecting the vibration mode. Further, since only the primary longitudinal bending vibration occurs in the sub-vibrator, the design and manufacture of the shape of the sub-vibrator can be facilitated, and the drive circuit can be simplified. Can be. Further, since the piezoelectric element is used as the driving source, the driving unit can be reduced in weight and size. And since the drive unit is unitized by the main vibrator, the sub vibrator and the piezoelectric element, not only the design of the transfer device can be facilitated, but also the transfer of the transfer object such as a sheet or a card. , And can be applied as a general-purpose motor.

In the transfer device of the present invention, the main vibrator, which is formed of an elastic body, forms two nodes of vibration when excited to generate secondary longitudinal bending vibration, and the elastic body, The main vibrator is formed so as to protrude integrally at both ends, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to bend in the primary longitudinal direction. Two sub-vibrators for generating vibration, supporting means for supporting two vibration nodes of the main vibrator, and the main vibrator, which are arranged on the main vibrator, and which are driven on a single plane during driving. A piezoelectric element for generating a secondary longitudinal bending vibration in the vibrator and a primary longitudinal bending vibration in the sub-vibrator;
A drive roller rotatably disposed in contact with the surface of the sub-vibrator. Then, the center point of the drive roller is located at a position shifted from the vibration direction of the sub vibrator. In this case, when an AC voltage is applied to the piezoelectric element in a state where the two vibration nodes of the main vibrator are supported by the support means, a secondary longitudinal bending vibration is applied to the main vibrator on one plane, A primary longitudinal bending vibration is generated in each of the sub-vibrators. Therefore, the object to be transferred can be transferred by rotating the driving roller. In another transfer device of the present invention, a main vibrator made of an elastic body, which forms two nodes of vibration when excited to generate secondary longitudinal bending vibration, and an elastic body, It is formed by projecting integrally from both ends of the vibrator, has a smaller cross-sectional area than the main vibrator, and forms a node of vibration at a coupling portion with the main vibrator at the time of excitation to form a primary longitudinal flexural vibration. Are disposed on the main vibrator and a secondary longitudinal bending vibration is applied to the main vibrator on one plane, and the primary vibrating vibration is applied to the sub vibrator on one plane. A piezoelectric element that respectively generates longitudinal bending vibrations,
It has a transferred object support fixed to the two vibration nodes of the main vibrator and on which a transferred object is placed, and a vibrator unit support for supporting the sub-vibrator. The vibration direction of the sub vibrator is inclined from the vertical direction. in this case,
When the piezoelectric element is driven, a secondary longitudinal bending vibration is generated in the main vibrator and a primary longitudinal bending vibration is generated in the sub-vibrator on one plane. Therefore, the transferred object placed on the transferred object support can be transferred.

[Brief description of the drawings]

FIG. 1 is a perspective view of a vibrator used for a drive unit of a transfer ultrasonic actuator according to the present invention.

FIG. 2 is a perspective view of a piezoelectric ceramic vibrator.

FIG. 3 is a relationship diagram between applied voltage and generated distortion.

FIG. 4 is a diagram illustrating a state in which excitation is performed in a vibration mode.

FIG. 5 is a drive circuit diagram for performing continuous excitation.

FIG. 6 is a perspective view of a one-point circumscribed ultrasonic motor.

FIG. 7 is a perspective view of a one-point inscribed ultrasonic motor.

FIG. 8 is an explanatory diagram of each dimension of a vibrator.

FIG. 9 is a configuration diagram of an I-shaped vibrator unit.

FIG. 10 is a block diagram of a drive control circuit for controlling the vibrator unit.

FIG. 11 is a diagram illustrating a vibration mode of a vibrator in the ultrasonic actuator for transfer of the present invention.

FIG. 12 is a principle view of a mechanism for generating a transfer force in the transfer ultrasonic actuator of the present invention.

FIG. 13 is a vibration locus diagram of a contact point between a sub-vibrator and a transferred rotary member.

FIG. 14 is a diagram showing the relationship between the position of the transferred rotary member and the rotation direction.

FIG. 15 is a diagram illustrating a relationship between a position of a flat object to be transferred and a transfer direction.

FIG. 16 is a perspective view of the transfer device of the present invention.

FIG. 17 is a side view of the transfer device of the present invention.

FIG. 18 is a view showing a second embodiment of the transfer device of the present invention.

FIG. 19 is a view showing a third embodiment of the transfer device of the present invention.

FIG. 20 is a diagram showing a table-type transfer device configured by using two transducer units.

[Explanation of symbols]

REFERENCE SIGNS LIST 20 vibrator 21 main vibrator 22 first sub vibrator 23 second sub vibrator 24 support fixing hole 28, 29 piezoelectric element A node of vibration B ₁ , B ₂ joint (node of vibration)

Claims (3)

(57) [Claims] 1. A consists (a) an elastic body, two sections to form a secondary longitudinal flexural vibration of the vibration is generated at the time of excitation
A main oscillator that is, (b) made of an elastic material, are molded integrally to protrude at both ends of the main oscillator, the smaller cross sectional area than the main oscillator
Ku, and two secondary transducers excited at the main coupling portion forms a node of vibration primary longitudinal bending vibration of the vibrator that is allowed occurs, the (c) the main oscillator two A support means for supporting the two vibration nodes; and (d) a single plane disposed on the main vibrator and driven when driving.
In the above, a secondary longitudinal bending vibration is applied to the main vibrator,
A primary longitudinal bending vibration is generated in the sub vibrator, respectively.
Transferring ultrasonic actuator; and a piezoelectric element that. 2. A consists (a) an elastic body, two sections to form a secondary longitudinal flexural vibration of the vibration is generated at the time of excitation
A main oscillator that is, (b) made of an elastic material, are molded integrally to protrude at both ends of the main oscillator, the smaller cross sectional area than the main oscillator
Ku, and two secondary transducers excited at the main coupling portion forms a node of vibration primary longitudinal bending vibration of the vibrator that is allowed occurs, the (c) the main oscillator two A support means for supporting the two vibration nodes; and (d) a single plane disposed on the main vibrator and driven when driving.
In the above, a secondary longitudinal bending vibration is applied to the main vibrator,
A primary longitudinal bending vibration is generated in the sub vibrator, respectively.
That the piezoelectric element, as well as have a driving roller which is rotatably provided in contact with (e) the surface of the sub-transducers, the center point of (f) the drive roller, vibration of the sub-transducers Movement
Transfer device, characterized in that wither location in unsuitable et staggered position. 3. A consists (a) an elastic body, two sections to form a secondary longitudinal flexural vibration of the vibration is generated at the time of excitation
A main oscillator that is, (b) made of an elastic material, are molded integrally to protrude at both ends of the main oscillator, the smaller cross sectional area than the main oscillator
Ku, and two secondary transducers excited at the main coupling portion forms a node of vibration primary longitudinal bending vibration of the vibrator that is allowed occurs, distribution in (c) the main oscillator Installed , when driven, one plane
In the above, a secondary longitudinal bending vibration is applied to the main vibrator ,
A primary longitudinal bending vibration is generated in the sub vibrator, respectively.
That a piezoelectric element, (d) is fixed to the section of the two oscillation of the main oscillator, and the transfer material supporting member for mounting an object to be transported object, the transducer unit to support the (e) the sub-transducers as well as organic and support, (f) vibration direction of the sub-resonator is inclined from the vertical direction
Transfer device characterized in that