JP6982228B2 - Spiral workpiece transfer device and parts feeder - Google Patents

Description

The present invention relates to a spiral work transfer device and a parts feeder that spirally convey a work by a traveling wave.

Generally, the parts feeder is a straight line between the bowl feeder, which is one of the spiral workpiece transfer devices that stores the workpiece supplied by the hopper and roughly aligns the workpiece while being conveyed by the spiral truck, and the workpiece supplied from the bowl feeder. It is composed of a linear feeder that is aligned in a predetermined direction while being conveyed and supplied to the next process (for example, Patent Document 1).

The entire bowl of the bowl feeder is made of a rigid body, and the rigid body is vibrated by an electromagnetic vibration source and a spring to apply a conveying force to the work on the spiral track.

Japanese Unexamined Patent Publication No. 2003-206019

By the way, in recent years, the speed and miniaturization of the work have been progressing, and in order to increase the transfer speed of the work with the configuration disclosed in Patent Document 1, it is considered to increase the vibration amplitude of the bowl feeder which is the supply source of the work. Be done. However, if the amplitude of the bowl feeder is increased, the horizontal amplitude of the outer peripheral portion of the bowl feeder becomes larger, so it is necessary to widen the gap between the bowl feeder and the bowl feeder. The work may fall between the feeder and the interface of the linear feeder, or the work may be clogged.

Therefore, it is conceivable to increase the transfer speed by increasing the frequency of the drive unit of the bowl feeder, which is vibrated by the resonance of the leaf spring, and reducing the displacement amplitude. However, if the frequency of the drive unit, which is generally about 300 Hz, is raised further, the frequency approaches the frequency of 1 kHz to 4 kHz, which is highly sensitive to the human ear, and noise may be generated. Further, in the structure of resonating with a leaf spring, there is a limit to raising the frequency beyond 300 Hz.

The present invention has been made by paying attention to such a problem, and even if the work is miniaturized without generating noise, the work is sequentially aligned from the supplied position and accurately aligned with the linear feeder. It is an object of the present invention to provide a non-conventional spiral transport device and a parts feeder capable of transport.

In view of the above problems, the present invention has taken the following measures.

That is, the spiral transport device of the present invention includes a feeder main body capable of accommodating a work, a transport section having an elastically deformable spiral track, and a traveling wave generating means for generating a traveling wave in the transport section. the progressive wave traveling wave generating means caused, and configured to transport the workpiece on the spiral track, the feeder body, the fixed to the support base and a part of those the main frame It has a fixed portion and a transport portion provided in a floating state without being fixed to the support base portion in a portion other than the feeder main body that extends outward from the fixed portion . It is characterized in that the traveling wave generating means is provided in the transport portion.

With such a configuration, the traveling wave generating means generates a traveling wave in the transport section to transport the work, so that the horizontal amplitude of the transport section becomes close to 0, and the spiral transport device, the linear feeder, and the like are next. Since the work can be brought close to the process device, even if the work is fine, it is possible to prevent the work from falling or being clogged between the interface portion between the spiral transfer device and the next process device. Further, even if the frequency of the traveling wave is raised to the ultrasonic region, for example, noise is not generated unlike the conventional configuration using the resonance of the leaf spring, and the traveling wave causes the work to move at high speed on the spiral track. Can be transported by.

In order to efficiently generate a traveling wave based on a predetermined reference, the traveling wave generating means is first, with respect to the circumferential direction of the feeder main body provided with the transport portion, with a predetermined spatial phase difference from each other. A traveling wave is generated by setting a vibration region and a second vibration region and giving two waves to the first vibration region and the second vibration region under a predetermined temporal phase difference. It is desirable to be configured.

When the feeder body is bowl-shaped, it is desirable that a driving means for bending and deforming the transport portion is provided on the bottom surface of the feeder body, and the spiral track is formed on the inner circumference of the feeder body.

When the feeder main body is cylindrical, a driving means for bending and deforming the transport portion is provided on the inner peripheral surface, outer peripheral surface or bottom surface of the side wall of the feeder main body, and the outer peripheral surface or inner peripheral surface of the side wall is provided with a driving means. It is desirable to form the spiral track.

In order to generate a stable and homogeneous carrier wave, the first vibration region is provided in pairs at least at opposite positions sandwiching the center of the spiral, and the second vibration region is at least the first vibration region. It is desirable that the spirals are provided in pairs at positions different from the shaking region and facing each other across the center of the spiral.

Further, the spiral work transfer device of the present invention includes a transfer section having an elastically deformable spiral track and a traveling wave generating means for generating a traveling wave in the transport section, and the traveling wave generated by the traveling wave generating means. The work on the spiral track is configured to be conveyed by a wave, and the traveling wave generating means has a predetermined spatial phase difference with respect to the circumferential direction of the feeder main body provided with the conveying portion. The first vibration region and the second vibration region are set under the above, and the traveling wave is generated by giving two waves to the first vibration region and the second vibration region under a predetermined temporal phase difference. It is configured to generate, and the temporal phase difference is caused by the deviation of the natural frequency due to breaking the structural symmetry between the first vibration region and the second vibration region. It is realized by a mechanical phase difference, and is configured to electrically drive the drive means provided in the first vibration region and the second vibration region from a common drive source in the same phase. It is characterized by that.

According to the present invention described above, the transport unit can be brought close to the next process device, and even if the work is fine, it is possible to suppress dropping or clogging between the transfer unit and the interface unit between the transport unit and the next process device. In particular, by generating a traveling wave by ultrasonic vibration, it is possible to provide a new useful spiral transport device and parts feeder that can transport a work at high speed on a spiral track without generating noise. It becomes.

The perspective view which shows the bowl feeder which is the spiral type transfer apparatus which concerns on one Embodiment of this invention. FIG. 3 is a vertical cross-sectional view showing a partially broken bowl feeder shown in FIG. Schematic diagram of the transport section provided in the bowl feeder. The figure which shows the structure of the piezoelectric element for generating a traveling wave in the transport part. The figure for demonstrating the traveling wave generated in the transport part. The figure for demonstrating the traveling wave generated in the transport part. The figure for demonstrating the general transport principle of a traveling wave. The perspective view which shows the parts feeder which consists of a bowl feeder which is a spiral type transfer device, and a linear feeder. The schematic plan view which shows the modification of this invention. The schematic perspective view which shows the other modification of this invention. The schematic diagram which shows the modification other than the above of this invention. The figure which shows the vibration principle in the same modification. The figure which shows the other modification of the piezoelectric element.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

FIG. 8 shows a parts feeder PF to which the spiral work transfer device according to the embodiment of the present invention is applied. This parts feeder PF is composed of a bowl feeder F1 and a linear feeder F2. The work supplied to the bowl feeder F1 is climbed along a spiral track and transported, and then delivered to the linear feeder F2 arranged in close proximity. It is to be further transported. In the bowl feeder F1 of the illustrated example, the feeder main body 100 is composed of a rigid body and the central portion is fixed by the fastener 100a, and the feeder main body 100 is supported by a spring (not shown). This is a conventional method in which the work on the spiral track is conveyed by giving vibration to the entire feeder main body 100 by the source P.

FIG. 1 shows a spiral work transfer device (hereinafter, referred to as a ball feeder 1) which is an alternative to the bowl feeder F1. Since the transport direction is different from that of the bowl feeder F1 in FIG. 8, the transport directions are aligned so that the entrances and exits match when combined with the linear feeder F2. The bowl feeder 1 includes a feeder main body 10 capable of accommodating the work W, and a traveling wave generating means 3 shown in FIG. 3 for generating a traveling wave in the transport portion 10a of the feeder main body 10. The transport portion 10a is composed of an elastic member that generates a traveling wave of deflection, and the traveling wave generating means 3 causes the transport portion 10a to be deformed by a driving means 31 using a piezoelectric element.

As shown in FIGS. 1 and 2, the feeder main body 10 has a flat central portion 11, a conical portion 12 that inclines downward from the central portion toward the outer periphery, and the conical portion 12 toward the outer periphery from the outer peripheral side. An inverted conical portion 14 that is inclined with an ascending slope, a flat work pool portion 13 formed between the conical portion 12 and the inverted conical portion 14, and an outer peripheral portion 15 located on the outer side of the inverted conical portion 14 are formed. The bottom surface 16 is aligned and integrally provided, and the central portion 11 is fixed to the pedestal 19 which is the support base by the fastener 18 via the pressing plate 17 as the fixed portion, and the parts other than the central portion 11 are fixed. It extends outward and is provided so as to float from the ground surface F.

Then, a spiral truck 10x, which is a form of a transport truck, is formed in the transport portion 10a. In this spiral track 10x, one end 10x1 is connected to the outer periphery of the work pool 13, and the feeder main body spirally circulates from there one or more times to extend to the other end 10x2 and is connected to the outlet 10z provided at the outer edge portion 15. It is configured by denting a groove on the surface of 10. The exit 10z is inclined so that the work W slides down.

The feeder main body 10 is composed of a member having elasticity enough to generate at least two or more vertical deflection waves around the center line m by ultrasonic vibration of 20 kHz or more.

As shown in FIG. 2, the driving means 31 using a piezoelectric element to form the traveling wave generating means 3 is attached to the bottom surface 16 of a portion extending from the inverted conical portion 14 on which the spiral track 10x is formed to the outer edge portion 15. ing. The drive means 31 expands and contracts in the circumferential direction of the center line m so as to substantially follow the spiral track 10x, thereby causing the transport portion 10a to bend. As shown in FIG. 3, the plurality of driving means 31 are attached to the positions of the antinodes of the vibration mode by alternately changing the polarities at 1/2 wavelength intervals. Further, the drive means 31 is an abbreviation of the feeder main body 10 in the area to be vibrated in order to efficiently vibrate in two deflection standing wave modes in which the phases of the waves are spatially shifted by 90 ° while keeping the same frequency. The half circumference is the first vibration region A, the remaining half circumference is the second vibration region B, and the driving means 31 is provided in the first vibration region A and the second vibration region B for 3/4 of the wavelength of the traveling wave. The AC signals having different phases of 90 ° generated by the two-phase AC signal transmitting unit 30 are pasted with the spatial phase shifted by the first amplifier 32a and the second amplifier 32b in the first vibration region A. And it is applied to each drive means 31 of the second vibration region B.

FIG. 4 shows a structural example of the piezoelectric element R having an electrode-integrated structure used as the driving means 31. Although it is represented in a straight line in the figure, in this embodiment, it is applied by molding it into an annular shape. This piezoelectric element R is different from the general structure in which electrodes are attached one by one, and the ceramic portion r1 is integrated and only the electrode r2 is separated. As a result, it is possible to reduce the pasting work and improve the pasting accuracy.

Further, in the two-phase AC signal transmitting unit 30 shown in FIG. 3, the frequency of the waveform selected by the waveform selection unit 30a is adjusted by the vibration frequency adjusting means 30b, and after the amplitude is adjusted by the first amplitude adjusting means 30c, the first amplitude is adjusted. The phase is adjusted by the electric phase adjusting means 30d and then input to the second amplifier 32b after adjusting the amplitude of the second amplitude adjusting means 30e. A standing wave simply vibrates up and down on the spot when it resonates. FIG. 5 shows a state in which a 0 ° standing wave mode is generated in the transport portion 10a, and another constant having peaks and valleys at positions offset by 90 ° in the circumferential direction around the center line from FIG. A 90 ° standing wave mode, which is a standing wave mode, is generated.

When the transport portion 10a is subjected to a sinusoidal vibration of an ultrasonic wave whose phase is shifted by 90 ° in time along the circumferential direction by such a driving means 31, the transport portion 10a is spatially and temporally shifted by 90 °. The two standing waves are superposed, the transport portion 10a itself resonates and elastically deforms, and the deflection vibration becomes a progressive wave. At one point Z of the transport portion 10a where the traveling wave is generated, elliptical vibration occurs from the starting point t = 0 to t = 3/4 T as shown in FIG. Further, due to the traveling wave generated in the transport portion 10a, a force acts on the work W at one point Z at the apex of the wave, and a frictional force e is generated between the work W and the transport portion 10a as shown in FIG. Then, the work W is conveyed in the direction opposite to the direction in which the traveling wave travels (arrow d in FIG. 7) (arrow c in FIG. 7) due to the propulsive force of the horizontal component (horizontal amplitude) of the elliptical vibration. The traveling wave of such a deflection wave circulates in the transport portion 10a, so that the work W climbs the spiral track 10x. Since the transport portion 10a is flexed and vibrated in this way, even if the central portion 11 of the feeder main body 10 is fixed as described above, the traveling wave can be obtained without affecting the flexing vibration mode of the transport portion 10a. By inverting the phase difference of the sine wave given to the driving means 31 between the first vibration region A and the second vibration region B (time phase is inverted (−90 °)), the work is performed in the opposite direction. W can be conveyed, which is effective when there is a situation in which the work W is desired to be conveyed from the outer edge portion 15 toward the work collecting portion 13. The configuration for generating the traveling wave is not limited to the above, and the traveling wave may be generated by the vibration method at both ends, which is a conventionally known technique. Further, the transport unit 10a may be slit at a predetermined pitch along the transport direction in order to increase the horizontal amplitude.

As described above, the bowl feeder 1 which is the spiral work transport device of this embodiment has a transport portion 10a having an elastically deformable spiral track 10x and a traveling wave generating means 3 for generating a traveling wave in the transport portion 10a. The work W on the spiral track 10x is conveyed by the traveling wave generated by the traveling wave generating means 3.

With such a configuration, the traveling wave generating means 3 generates a traveling wave in the traveling portion 10a to convey the work, so that the horizontal amplitude of the traveling portion 10a becomes close to 0, and the bowl, which is a spiral type conveying device, is used. Since the feeder 1 and the linear feeder F2 shown in FIG. 8 can be brought close to each other, the work W falls between the interface portion between the bowl feeder 1 (F1) and the linear feeder F2 even if the work W is fine. It can prevent things and clogging. Further, even if the frequency of the traveling wave is raised to, for example, the ultrasonic region, noise is not generated unlike the conventional configuration using the resonance of the leaf spring, and the traveling wave causes the work W on the spiral track 10x. Can be transported at high speed. Further, by configuring the vibration source by using the drive means 31 by the piezoelectric element, the bulk of the entire device can be suppressed to be lower than that of the electromagnetic type. Furthermore, the spiral track can enhance the work alignment ability and storage capacity.

Specifically, the traveling wave generating means 3 temporally positions the first vibration region A and the second vibration region B, which have spatial phase differences with each other, with respect to the circumferential direction of the feeder main body 10 provided with the transport portion 10a. Since it is configured to generate a traveling wave by giving two waves with a phase difference (3/4 wavelength), it is possible to suppress the generation of a standing wave and efficiently generate a traveling wave.

In particular, the feeder main body 10 has a bowl shape, and a drive means 31 that bends and deforms the transport portion 10a by using a piezoelectric element is provided on the bottom surface 16 of the feeder main body 10, and a spiral track 10x is formed on the inner peripheral surface. Therefore, the driving means 31 can generate a planar traveling wave in the circumferential direction in the transport portion 10a, and efficiently transmit the traveling wave to the spiral track 10x having a vertical component.

Then, if such a bowl feeder 1 is connected to the linear feeder F2 to form a parts feeder PF, the feeders 1 and F2 can be arranged close to each other, and appropriate transport can be performed even for a minute work. Become.

Although one embodiment of the present invention has been described above, the specific configuration of each part is not limited to the above-described embodiment.

For example, as shown in FIG. 9, the feeder main body 10 is divided into an even number around the center line m, and the first vibration region A is provided in pairs at opposite positions across the center line m, and at the same time, the first vibration region A is provided. The two vibration regions B may be provided in pairs at positions different from the first vibration region A and at opposite positions with the center line m in between. Also in this case, a spatial phase difference of 3/4 wavelength is provided between the first vibration region A and the second vibration region B.

Further, in the above embodiment, the feeder main body is bowl-shaped, but as shown in FIG. 10, the feeder main body 110 can also be cylindrical. In this case, the central portion of the bottom surface of the feeder main body 110 is fixed by the pressing plate 117, and a driving means 131 for bending and deforming the transport portion 110a by using a piezoelectric element is provided on the outer peripheral surface of the side wall, and the inner circumference of the side wall is provided. A spiral track 110x is formed on the surface.

By doing so, the track length can be secured without increasing the radial direction, so that the installation space is small and it is effective when the work is to be transported in the vertical direction, as well as the alignment of the work. There is an advantage that the capacity and the storage capacity of the work can be further increased.

Of course, even if a driving means using a piezoelectric element is provided on the bottom surface of the feeder main body 110 and a spiral track is formed on the inner peripheral surface of the side wall, the action and effect similar to the above can be obtained. Further, even if a driving means using a piezoelectric element is provided on the inner peripheral surface or the bottom surface of the side wall of the feeder main body 110 and a spiral track is formed on the outer peripheral surface of the side wall, the same action and effect as described above can be obtained. Further, the driving means using the piezoelectric element can be provided at two or more locations on the inner peripheral surface, the outer peripheral surface, and the bottom surface of the side wall so as to independently cause bending deformation.

The "helix" referred to in the present invention is not necessarily limited to one that makes one or more laps, and includes a configuration that makes less than one lap from the start point to the end point of the spiral.

The spiral track is not limited to the above, and may be formed on the bottom surface.

Further, in the above embodiment, the phase adjusting unit imparts a temporal phase difference between the first vibration region and the second vibration region, but the temporal phase difference is the first vibration region A and the second vibration region. It may be realized by breaking the symmetrical structure of the transport portion 10a with the vibration region B. That is, due to the deviation (f1 <f2) between the natural frequency f1 of the first vibration region A and the natural frequency f2 of the second vibration region B, a mechanical phase difference of approximately 90 ° is realized. This mechanical phase difference can be used as a temporal phase difference for generating a traveling wave. In order to break the mechanical symmetry, the thickness of the transport portion 10a can be changed by changing the height position of the bottom surface 16 (see FIG. 7) between the first vibration region A and the second vibration region B. Various measures can be taken, such as providing a notch or a wall thickness defect in a part, or providing a weight.

In this case, as shown in FIG. 11, the drive means 31 using the piezoelectric element for flexing and deforming the first vibration region A and the second vibration region B has a common drive source 30 that generates a sine wave. 'Is connected via the first amplifier 32a and the second amplifier 32b so that they are electrically driven in the same phase, respectively, and it is not necessary to provide a phase adjusting unit.

FIG. 12 shows the transmission characteristics and the phase characteristics of the amount of deflection displacement with respect to the exciting force (generated force) of the two standing wave modes. Assuming that the vibration frequency f is the natural frequency f1 of the _first vibration region A (0 ° mode), the phase characteristic is displaced with respect to the force because the resonance drive is performed in the first vibration region A (0 ° mode). The phase difference of is 90 °. On the other hand, in the second vibration region B (90 ° mode), since the natural frequency is f2, the displacement is deviated from the resonance, and the phase difference of the displacement with respect to the force becomes almost 0 ° (f ₁ <f ₂ ). As a result, when the first vibration region A (0 ° mode region) and the second vibration region B (90 ° mode region) are vibrated in the same phase, a temporal phase difference of 90 ° is generated in the displacement between the two. As a result, two standing waves are combined to generate a flexing traveling wave. That is, the temporal phase difference is realized by the mechanical phase difference caused by the deviation of the natural frequency.

On the other hand, looking at the displacement / force characteristics in FIG. 12, the wave in the first vibration region A (0 ° mode) is driven at the resonance point f1, but in the second vibration region B (90 ° mode). The wave deviates from the resonance point and the amplitude is reduced. Therefore, it is effective to adopt a configuration or the like in which the amplitudes are made uniform by attaching more drive means 31 to the second vibration region B side than the first vibration region A as the vibration force adjusting means. For example, if the displacement is halved, the number of drive means 31 installed is doubled to balance the exciting force, and the first exciting region A (0 ° mode) side and the second exciting region are used. By making the displacement amount the same on the B (90 ° mode) side, uniform driving can be performed.

Furthermore, as in the piezoelectric element R'shown in FIG. 13, the electrodes r2'and r3' may be separated and a piezoelectric (ceramic) integrated type in which only the ceramic portion r1'is integrated may be used. Even in this way, the action and effect according to the above-described embodiment can be achieved in that the pasting work can be reduced and the pasting accuracy can be improved.

In addition, contrary to the above embodiment, the outside of the transport portion is fixed, the outside and the inside of the transport portion are fixed, and the transport portion is provided with a slit for intermittently increasing the horizontal amplitude along the transport direction. Various modifications can be made without departing from the spirit of the present invention, such as by providing the same.

1 ... Spiral work transfer device (bowl feeder)
3 ... Traveling wave generating means 10, 110 ... Feeder main body 10a, 110a ... Transport unit 10x, 110x ... Spiral track 16 ... Bottom surface 31, 131 ... Driving means A ... First vibration region B ... Second vibration region F2 ... Straight line Mold workpiece transfer device (linear feeder)
W ... Work

Claims (6)

The feeder body that can accommodate the work and
A transport section with an elastically deformable spiral track and
The transport unit is provided with a traveling wave generating means for generating a traveling wave.
The work on the spiral track is configured to be conveyed by the traveling wave generated by the traveling wave generating means.
The feeder body has a fixation portion to be fixed to the support base and a part of those the feeder main body, at a site that extends outwardly a another part of the feeder main body from the fixation site A spiral work transport device comprising the transport portion provided in a floating state without being fixed to the support base portion , wherein the transport portion is provided with the traveling wave generating means. The traveling wave generating means sets a first vibration region and a second vibration region under a predetermined spatial phase difference with respect to the circumferential direction of the feeder main body provided with the transport portion, and these first vibration regions are set. helical workpiece transfer device according to claim 1, which is configured to generate a traveling wave by giving two waves under a predetermined time phase difference in vibration area and the second vibration areas. The spiral work according to claim 2, wherein the feeder main body is in the shape of a bowl, and a driving means for bending and deforming the transport portion is provided on the bottom surface of the feeder main body, and the spiral track is formed on the inner peripheral surface. Transport device. The feeder main body has a cylindrical shape, and a driving means for bending and deforming the transport portion is provided on the inner peripheral surface, outer peripheral surface, or bottom surface of the side wall of the feeder main body, and the spiral is provided on the outer peripheral surface or inner peripheral surface of the side wall. The spiral work transfer device according to claim 2, which forms a truck. The first vibration region is provided in pairs at least at opposite positions sandwiching the center of the spiral, and the second vibration region sandwiches the center of the spiral at least at a position different from the first vibration region. The spiral work transfer device according to any one of claims 2 to 4, which is provided in pairs at opposite positions. A transport section with an elastically deformable spiral track and
The transport unit is provided with a traveling wave generating means for generating a traveling wave.
It is configured to convey the work on the spiral track by the traveling wave generated by the traveling wave generating means.
The traveling wave generating means sets a first vibration region and a second vibration region under a predetermined spatial phase difference with respect to the circumferential direction of the feeder main body provided with the transport portion, and these first vibration regions are set. It is configured to generate a traveling wave by giving two waves to the vibration region and the second vibration region under a predetermined temporal phase difference.
The temporal phase difference is realized by the mechanical phase difference caused by the deviation of the natural frequency due to breaking the structural symmetry between the first vibration region and the second vibration region. A spiral work transfer device characterized in that the drive means provided in the first vibration region and the second vibration region are electrically driven from a common drive source in the same phase.

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