JP2980705B2 - Moving equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a moving apparatus and, more particularly, to a moving apparatus that moves a moving body by reversing the direction of the moving body by using vibration of a base body as a driving source.

[0002]

2. Description of the Related Art Generally, in various industrial fields, a predetermined work is performed by moving or transporting various objects in a predetermined direction.

As means for transferring such an object, an object is mounted and transferred on an endless belt conveyor, or an object is mounted and transferred on a self-propelled movable carriage. For example, when a product is produced by a machine tool using a factory automation system, the material to be processed, an intermediate processed product, a finished product, etc. are combined along a predetermined path by combining a belt conveyor, a self-propelled transfer robot, and the like. Had been transported.

[0004]

Among the above-mentioned conventional transfer means, the transfer means such as a belt conveyor has a structure in which the transfer means itself transfers the object by moving in the transfer direction. It must be formed so as to move in an annular manner, and the structure becomes complicated. In particular, when the size is large, a large power or the like is required for driving, and the cost is high.

Further, a self-propelled transport robot or the like requires a drive source for moving itself, and its structure is extremely complicated.
It was extremely expensive.

SUMMARY OF THE INVENTION The present invention has been made in view of these points, and has a structure in which a base body serving as a driving source and a moving body serving as a moving object are separated from each other, and the driving source only vibrates in a predetermined direction. An object of the present invention is to provide a moving device that can move an object in an arbitrary direction and reversible in the moving direction by a driving force converted from the vibration, and has a simple configuration and a low cost. I do.

[0007]

According to a first aspect of the present invention, there is provided a moving apparatus , comprising:
Vibration imparting surface is a method of the surface in two different vibration modes
A base body vibrated in a linear direction, and a normal to the vibration applying surface
And a movable body having a plurality of driving force conversion means for converting the driving force toward the direction different from the vibration direction vibration received from the vibration applying surface inclined at a predetermined angle with respect to the direction, the drive The force conversion means is connected to the two different vibration modes.
Corresponding to the non-vibration point where no
At a non-vibration point in one vibration mode.
The driving force conversion means provided and the other vibration mode
And the driving force conversion means provided at the non-vibration point
Direction of the driving force in each of the vibration modes.
Is reversible . Also, in claim 2
The invention described in claim 1, wherein the base body and
Each moving body is formed in a disk shape, and the different vibration modes
Is formed so that the non-vibration points in the arm are located on concentric circles
The driving force conversion means may correspond to the non-vibration point.
In the circumferential direction of the moving body.
You.

[0008]

SUMMARY OF] According to the mobile apparatus of the invention described in claim 1, base
When the base body is vibrated in one vibration mode,
The driving force conversion means corresponding to the non-vibration point in the
Other driving force conversion means
And the driving force converting means converts the vibration to its vibration direction.
To the driving force in a different direction from the
Move in the direction of the driving force. On the other hand, the base body is
When vibrated in the dynamic mode, the driving force conversion means is the reverse of the above.
Is subjected to vibration, and the moving body is converted by the driving force conversion means.
Is moved in a direction opposite to the driving force. Like this
Extremely simple by changing the vibration mode of the body
In this case, the moving direction of the moving body can be reversed. Also,
According to the second aspect of the present invention, each driving force conversion unit is provided with a non-
Moving object circle formed in a disk shape corresponding to the vibration point
It is arranged in the circumferential direction.
Vibration in the vibration mode of
Can change the vibration mode of the base body
This makes it very easy to reverse the direction of rotation
Can be

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS.

FIGS. 1 and 2 show the principle of movement of the moving device of the present invention.

In the figure, reference numeral 1 denotes a base body, the upper surface 1a of which is a vibration applying surface, and the upper surface 1a is formed so as to vibrate vertically by a vibration mechanism (not shown). The vibrating mechanism may be of any configuration. For a large moving device, use a vibrator capable of high output, and for a small moving device, use a piezoelectric element or the like. It is good to vibrate by a sound wave.

A moving body 2 is mounted on an upper surface 1a of the base body 1 with a plurality of blades 3, 3,...

In the example of FIGS. 1 and 2, the moving body 2
Is formed in a rectangular parallelepiped shape. Each blade 3 is fixed to the lower surface of the moving body 2 in a direction perpendicular to the lower surface of the moving body 2, that is, at an angle θ with respect to the normal direction of the upper surface 1 a of the base body 1. The received external force is applied as a component to extract a component component F directed in a tangential direction of the upper surface 1a, and is converted into a driving force for moving the moving body 2 in the direction of the arrow in FIG.

Next, the principle of movement of the moving body 2 will be described.

When moving the moving body 2, the upper surface 1a of the base body 1 is vibrated up and down by the vibrating mechanism. Each blade 3 of the moving body 2 that has received the vertical vibration of the upper surface 1a converts the external force received from the vibration into a driving force F that moves the moving body 2 in the horizontal direction. In the direction of the arrow.

The moving speed of the moving body 2 may be adjusted by changing the amplitude of the vertical vibration of the upper surface 1a of the base body 1 or by changing the inclination angle θ of the blade 3 with the moving body 2. When the moving body 2 is stopped, the base body 1
The vibration of the upper surface 1a may be stopped.

Next, a further principle of the present invention will be described with reference to FIGS.
Will be described.

In this embodiment , the moving body 2 is reciprocated along a straight line based on the moving body principle shown in FIGS. 1 and 2, so that the moving direction can be reversed.

In this embodiment , four parallel base members 1 are provided.
1a, 11b, 11c, and 11d are independently disposed such that the upper surfaces 12a, 12b, 12c, and 12d can vibrate in the vertical direction, and the base members 11a, 11b, 11c, and 11d are provided on the lower surface of the moving body 13. The blades 14a, 14b,
14c and 14d are provided.

In this example , in order to reverse the moving direction of the moving body 13, the blade 1
The pair of the pair 4a and the blade 14d and the pair of the pairs 14b and 14c are formed so that the inclination directions are opposite.

Next, the operation of the present embodiment will be described.

First, when the moving body 13 is moved rightward in FIG. 3, the base bodies 11a and 11d corresponding to the blades 14a and 14d for generating the rightward driving force are provided.
The set d is vibrated by the vibration means, and the bases 11b and 11c of the other set are not vibrated. As a result, the blades 14a and 14d receive vibrations from the upper surfaces 12a and 12d, and a rightward driving force is generated, and the moving body 13 moves rightward.

On the other hand, when moving the moving body 13 to the left, the base bodies 11b and 11c are vibrated and the vibration of the base bodies 11a and 11d is stopped. As a result, a driving force for moving the moving body 13 to the left is generated by the blades 14b and 14c, and the moving body 13 is moved to the left.

FIG. 6 shows still another principle of the present invention.

In the present embodiment , the moving direction of the moving body 13 can be reversed by only one base body 11. That is, each blade 14a, 14b, 14c, 1
4d are respectively connected to the protrusion length adjustment mechanisms 15a, 15b, 15
In the case of moving to the right by making the protrusion length below the moving body 13 variably adjustable using c and 15d, the blades 14a and 1d are moved by the protrusion length adjustment mechanisms 15a and 15d.
4d is made to protrude downward longer than the blades 14b, 14d, and when it moves to the left, the protrusion length adjusting mechanism 15
b and 15c allow the blades 14b and 14c to protrude downward longer than the blades 14a and 14d.

FIG. 7 shows an embodiment of the present invention.

In this embodiment, the piezoelectric elements 16a, 16b, 16c, 16d, 1 having the base body 11 disposed on the upper and lower surfaces thereof are described.
By vibrating by 6e and 16f, a flexural vibration is generated, and the upper surface 12, which is a vibration applying surface, is vibrated up and down. When the flexural vibration of the base body 11 is excited at a resonance frequency determined by the characteristics of the base body 11, it vibrates in the primary mode (A line) shown in FIG. (Line B). That is, one 1
In the case of the next mode (A line), the piezoelectric elements 16a and 16a
f and a drive voltage that varies with sin (ωt), and −sin (ωt) is applied to the piezoelectric elements 16c and 16d.
The driving voltage that changes is applied. In the case of the other secondary mode (line B), the piezoelectric elements 16a, 16d, 16e
To the piezoelectric elements 16b, 16c, and 16f, and to the piezoelectric elements 16b, 16c, and 16f. Then, in each mode, non-vibration points A ₁ , A ₂ , B ₁ , B ₂ where no bending occurs
And B ₃ is generated. Therefore, in the present embodiment, as shown in FIG.
_1, B ₁ and B ₂ at positions blade 14A _1,
Provided with a 14B ₁ and 14B _2, one blade 14A ₁ and the other blade 14B ₁ and 14B ₂
And the direction of inclination with respect to the moving body 13 is reversed.

Therefore, according to the present embodiment, the base body 11
Is vibrated in the primary mode, one of the blades 14A ₁
Is not vibrated because it faces the non-vibration point A ₁ , and the other blades 14 B ₁ and 14 B ₂ receive vibration from the upper surface 12. As a result, the moving body 13 becomes a blade 14B.
(7, perpendicular to the plane of the downward-looking) ₁ and 14B ₂ direction of the driving force generated by the move to.

On the other hand, when the base body 11 is vibrated in the second order mode, the blades 14B ₁ and 14B
_{Since 2} is opposed to the non-vibration points B ₁ and B ₂ , no vibration is received. Then, it becomes possible other blades 14A ₁ is subjected to vibration, the moving body 13 is moved in the direction of the driving force generated by the blade 14A ₁ (upward perpendicular to the sheet of FIG. 7).

As described above, according to the present embodiment, the base 1
By changing the vibration mode 1, the moving direction of the moving body 13 can be very easily reversed.

FIGS. 8 and 9 show the principle in which the moving body 2 is formed to rotate.

In this example, as shown in FIG. 9, the moving body 2 is formed in a disk or a columnar shape, and a plurality of blades 3, 3,... Is fixed so that the driving force is directed in the same tangential direction of the concentric circle O.

According to this embodiment, when the upper surface 1a of the base body 1 is vibrated in the vertical direction, each blade 3
As a result, driving forces directed in the same tangential direction of the concentric circle O are obtained, and the moving body 2 is rotated by these driving forces.

According to this embodiment , the object placed on the moving body 2 can be moved along the circumference around the center of the moving body 2.

FIGS. 10 and 11 show a structure in which the moving body 33 can be rotated forward and backward using the principle shown in FIGS.

That is, the base body 31 formed in a disk shape
Is excited at a predetermined frequency, the position of the circle O ₁ becomes a non-vibration point in the first-order mode, and the circle O _{1 in} the second-order mode.
Flexural vibration is generated in which the positions of ₂ and O ₃ are non-vibration points. Therefore, in this embodiment, the lower surface of the disk-shaped movable body 33, a plurality of blades 3 for generating a driving force in the clockwise rotation in FIG. 12 to face the position of the circular O ₁
3A, 34A ... the provided circle O ₁ on the same circumference, a plurality of generating a driving force in the counterclockwise direction rotation in FIG. 12 to face the position of the circular O ₂ and O ₃ blades 34B, 34
B are provided on the same circumference as the circles O ₂ and O ₃ .

Therefore, in this embodiment, the base 3
When the flexures vibrate 1 in the primary mode, the blade 34A is to face the circle O ₁ is a non-vibration point, only the other blade 34B is subjected to vibration, the moving body 33 rotates counterclockwise. Further, when the flexures vibrate the base member 31 in the second-order mode, a circle O _2, O ₃ blade 34B is non-vibrating point
, Only the other blade 34A receives the vibration, and the moving body 33 rotates clockwise.

According to the present embodiment, by changing the mode of the flexural vibration of the base body 31, the moving body 3 is extremely surrounded.
3 can be rotated forward and backward.

In this embodiment, if the base body 31 is a stator vibrated by ultrasonic waves and the moving body 33 is a rotor, an ultrasonic motor in which the rotor can rotate forward and backward can be formed.

In order to stop the moving bodies 13 and 33, the respective blades 14 and 3 are placed on the lower surfaces of the moving bodies 13 and 33.
A vibration absorbing member (not shown) which is protrudable downward longer than the lower end of the blade 4 is provided, and when the moving bodies 13 and 33 are stopped, the vibration absorbing member is protruded downward longer than the lower ends of the blades. And the base body 1
The moving bodies 13 and 33 may be stopped by absorbing the vibration of the upper surfaces of the moving bodies 1 and 31. The vibration absorbing member may be an elastic member that absorbs vibration, or may be a leg that projects from the lower surface of the moving body in a vertical direction that is not inclined at all with respect to the normal direction of the upper surface.

In each of the above embodiments, the moving body 1 is mounted on the upper surfaces 12 of the base bodies 11 and 31 serving as upward vibration applying surfaces.
3 and 33 are placed by their own weights so that they are always in contact with each other. In addition to their own weights, a constant contact force is applied to the moving bodies 13 and 33 by using an appropriate spring or the like. Is also good. Also, the moving bodies 13 and 3 are generated by magnetic force.
3 may be brought into contact with the base bodies 11 and 31. In this case, the moving bodies 13 and 33 can be moved by bringing the moving bodies 13 and 33 into contact with the vibration applying surface even when the vibration applying surface is not limited to the horizontal plane and is a vertical surface or a downward surface.
In particular, this case is extremely suitable for driving the moving body 13 and the like in a weightless field such as the outer space.

In each of the above embodiments, the blades 14 and 34 are used as the driving force converting means. However, the present invention is not limited to the blades, and any structure may be used as long as it can convert vibration into driving force. It may be.

The present invention is not limited to the above embodiments, but can be modified as required.

[0044]

As described above, the moving device of the present invention is constructed and operates. Therefore, the base body serving as a driving source and the moving body serving as a moving object are separated from each other, and the base body has two different structures.
The moving body only vibrates in a certain vibration mode.
The object is moved in any direction by the driving force converted from vibration.
To change the vibration mode.
With this, it is very easy to reverse the moving direction of the moving body
And the structure is simple, the cost is low,
In addition, there are effects that the usable applications are extremely wide and the industrial use value is excellent.

[Brief description of the drawings]

FIG. 1 is a side view showing the principle of a moving device according to the present invention.

FIG. 2 is a perspective view of the moving body in the example of FIG. 1 as viewed from below.

FIG. 3 is a side view showing another principle of the moving device of the present invention.

FIG. 4 is a third right side view;

FIG. 5 is a perspective view of the moving body of the third embodiment viewed from below.

FIG. 6 is a view similar to FIG. 4 showing still another principle of the moving device of the present invention, and FIG. 6 (a) depicts the base body and the moving body mounted on the base body separately from each other; A plan view of the base body is shown together with the piezoelectric element disposed on the base body, and FIG. 2B shows only the side surface of the base body.

FIG. 7 is a side view showing one embodiment of the moving device of the present invention.

FIG. 8 is a longitudinal side view showing an example of the principle of the rotary type of the moving device of the present invention.

9 is a perspective view of the moving body in the example of FIG. 8 as viewed from below.

FIG. 10 is a longitudinal sectional side view showing a rotary type embodiment of the moving device of the present invention.

FIG. 11 is a perspective view of the base body of FIG. 10;

[Explanation of symbols]

11 a to 11 d, 31 a base body 12a~12d top 13, 33 mobile _{14a~14d, 14A 1, B 1,} B 2, 34A, B
blade

Continuation of the front page (56) References JP-A-63-290172 (JP, A) JP-A-2-95184 (JP, A) JP-A-63-167682 (JP, A) JP-A-2-151279 (JP) , A) (58) Field surveyed (Int. Cl. ⁶ , DB name) H02N 2/00

Claims (2)

(57) [Claims] (1) two different vibrations depending on a driving voltage to be applied.
A base body whose vibration imparting surface is vibrated in the normal direction of the surface in the dynamic mode ; and a predetermined angle with respect to the normal direction of the vibration imparting surface.
And a movable body having a plurality of driving force conversion means for converting the vibrations received from the vibration applying surface inclined in degrees to the driving force toward the direction different from the vibration direction, the driving force transducer hands
The step is flexed by the two different modes of vibration
At the position corresponding to the non-vibration point where no
Force conversion provided at non-vibration point in vibration mode
Means and at the non-vibration point in the other vibration mode
And the driving force converting means are tilted in opposite directions to each other,
A moving device, wherein a direction of a driving force can be reversed in a vibration mode . 2. The method according to claim 1, wherein the base body and the moving body are circular.
A non-vibration point in the different vibration mode
Are formed on concentric circles, and each driving force conversion
Means for moving the circumference of the moving body so as to correspond to the non-vibration point
The moving device according to claim 1, wherein the moving device is arranged in a direction.
apparatus.