JP2019085259A - Conveyance device, conveyance method, and actuator unit - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a technique capable of efficiently transporting an article by using a technique of vibration transport. SOLUTION: An actuator 200 that outputs a displacement waveform corresponding to a displacement of a telescopic element 201 that expands and contracts in a predetermined direction, and a displacement in a first direction and a first direction corresponding to the expansion and contraction displacement of the telescopic element 201 to the actuator 200. A drive that generates a displacement waveform that repeats displacement in the second direction opposite to that of the above, and operates the actuator 200 so that a displacement point is formed when the actuator 200 is displaced in the first direction or the second direction. A unit 300 and a transfer rail 400 on which the displacement of the actuator 200 is transmitted and a predetermined article is conveyed in the first direction or the second direction. [Selection diagram] Fig. 1

Description

  BACKGROUND OF THE INVENTION Field of the Invention The present invention relates to a transfer device for transferring an article, a transfer method, and an actuator unit used therefor.

  As a conveying apparatus for conveying articles, there is known a parts feeder which conveys articles on a conveyance path by vibrating a conveyance path supported by a plate spring or the like by an actuator such as an electromagnet or a piezoelectric element.

  As a parts feeder, Patent Document 1 uses friction force and inertia force by horizontally oscillating a horizontally rotating bowl or a horizontally linearly moving feeder using a cam mechanism and oscillating horizontally with a reciprocating acceleration difference. What conveys the article (work) which is a to-be-conveyed body is described.

  Further, in Patent Document 2, a piezoelectric element whose both ends are parallel to each other, an electrode is formed on these two planes, and is polarized in parallel to the plane on which the electrode is formed, is provided. One end is fixed on the substrate, the other end is disposed as an action portion in contact with the article to be transported, and a voltage is applied between the electrodes of the piezoelectric element to cause the action portion to have a velocity in the first vibration direction. A conveying device is described which generates a speed in a second vibration direction smaller than the speed and sends the article in the second vibration direction. That is, due to the movement in the second vibration direction where the speed is low, the moving body moves together with the action part, the speed is large when the piezoelectric element moves in the first vibration direction, and the dynamic friction coefficient is smaller than the static friction coefficient. Does not move from the moved position, and only the piezoelectric element moves in the first vibration direction. Therefore, by repeating this operation, the article can be moved in the second vibration direction.

Japanese Utility Model Publication No. 55-007852 JP-A-5-105291

  In the conveyance device described in the above-mentioned patent document 1, although relative slippage is caused to try to efficiently convey the article (workpiece) to be conveyed, in order to facilitate slippage, a large driving force is required. The sliding resistance of the article has to be reduced, and efficient transport is difficult. In addition, when the acceleration at the time of conveyance becomes larger than the coefficient of static friction with the article, slippage occurs with the article and the conveyance efficiency is lowered.

  Further, in the technique of Patent Document 2, in order to transport the article to be transported, the piezoelectric element is slowly extended in the second vibration direction and then denatured rapidly in the first vibration direction. When transporting an article, even if the piezoelectric element is rapidly retracted in the first vibration direction, the article may move in the first vibration direction following it, and such a piezoelectric element may be used. If displacement is performed at high speed, efficient conveyance is difficult due to residual vibration.

  Therefore, an object of the present invention is to provide a technique capable of efficiently transporting a transported object at high speed using a technique of vibration transportation.

  In order to solve the above-mentioned subject, the present invention provides the following (1)-(17).

(1) An actuator which outputs a displacement waveform corresponding to the displacement of the expansion / contraction element which is expanded / contracted in a predetermined direction,
The actuator generates a displacement waveform which repeats a displacement in a first direction corresponding to the expansion and contraction displacement of the expansion / contraction element and a displacement in a second direction opposite to the first direction, and the actuator generates the displacement waveform in the first direction or A driving unit that operates the actuator such that an inflection point of displacement is formed when displacing in two directions;
A transport apparatus comprising: a transport rail on which displacement of the actuator is transmitted, and on which the transported object is transported in the first direction or the second direction.

  (2) The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. The conveyance device according to (1), characterized in that

  (3) The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the transported object is transported in the second direction. The conveyance device according to (1), characterized in that

  (4) The conveyance device according to any one of (1) to (3), wherein the actuator further includes a displacement transmission mechanism that transmits the displacement of the expansion and contraction element to the conveyance rail.

  (5) The conveyance device according to (4), wherein the displacement transmission mechanism is a displacement enlargement mechanism that enlarges and outputs the displacement of the expansion and contraction element and transmits the displacement to the conveyance rail.

  (6) The actuator has a displacement output unit for outputting displacements in the first direction and the second direction, one end of the transport rail is attached to the displacement output unit, and The transfer apparatus according to any one of (1) to (5), wherein the displacement is transmitted to the transfer rail.

  (7) The actuator further includes a displacement transmission mechanism for transmitting the displacement of the expansion and contraction element to the transport rail, and the expansion and contraction element is mounted on the displacement transmission mechanism so as to expand and contract in the horizontal direction. A displacement output member provided above the expansion and contraction element for outputting the displacement in the first direction and the second direction in a direction corresponding to the expansion and contraction displacement of the expansion and contraction element; The transport apparatus according to any one of (1) to (3), which is mounted on a member.

(8) A transport method for transporting a transported object on a transport rail, the transport method comprising:
The actuator for outputting a displacement waveform corresponding to the displacement of the expansion and contraction element displaced in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the expansion and contraction element and the displacement in the second direction opposite to the first direction Generating a displacement waveform that is repeated, and operating the actuator such that an inflection point of displacement is formed when the actuator is displaced in the first direction or the second direction,
And transferring the displacement of the actuator to the transport rail to transport the transported object in the first direction or the second direction on the transport rail.

  (9) The actuator is operated such that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. The conveyance method as described in (8).

  (10) The actuator is operated such that the inflection point is formed when the actuator is displaced in the second direction, and the transported object is transported in the second direction. The conveyance method as described in (8).

(11) An actuator unit for transporting a transported object on a transport rail, the actuator unit comprising:
An actuator that outputs a displacement waveform corresponding to the displacement of the expansion / contraction element that is elastically displaced in a predetermined direction;
The actuator generates a displacement waveform which repeats a displacement in a first direction corresponding to the expansion and contraction displacement of the expansion / contraction element and a displacement in a second direction opposite to the first direction, and the actuator generates the displacement waveform in the first direction or And a drive unit for operating the actuator such that an inflection point of displacement is formed when displacing in two directions.
An actuator unit characterized in that the displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction.

  (12) The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. The actuator unit according to (11), characterized in that

  (13) The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the transported object is transported in the second direction. The actuator unit according to (11), characterized in that

  (14) The actuator unit according to any one of (11) to (13), wherein the actuator further includes a displacement transmission mechanism that transmits the displacement of the telescopic element to the transport rail.

  (15) The actuator unit according to (14), wherein the displacement transmission mechanism is a displacement magnification mechanism that magnifies and outputs the displacement of the expansion and contraction element and transmits the displacement to the transport rail.

  (16) The actuator has a displacement output unit that outputs displacement in the first direction and the second direction, one end of the transport rail is attached to the displacement output unit, and The actuator unit according to any one of (11) to (15), wherein a displacement is transmitted to the transport rail.

  (17) The actuator further includes a displacement transmission mechanism for transmitting the displacement of the expansion and contraction element to the transport rail, and the expansion and contraction element is mounted on the displacement transmission mechanism so as to expand and contract in the horizontal direction. A displacement output member provided above the expansion and contraction element for outputting the displacement in the first direction and the second direction in a direction corresponding to the expansion and contraction displacement of the expansion and contraction element; The actuator unit according to any one of (11) to (13), which is mounted on a member.

  According to the present invention, it is possible to earn the amount of conveyance of the object to be conveyed efficiently and with low power consumption by using the technique of vibration conveyance, and to realize high-speed conveyance.

It is a side view showing a conveyance device concerning a 1st embodiment of the present invention. It is a top view which shows the conveying apparatus which concerns on the 1st Embodiment of this invention. It is a figure which shows an example of the displacement waveform output from the actuator at the time of trying to convey an article to A direction which is 1st direction. It is a figure which shows an example of the displacement waveform output from the actuator at the time of trying to convey an articles | goods to B direction which is 2nd direction. It is a figure which shows the example of the inflexion point formed in a displacement waveform. It is a figure which shows the experimental result for demonstrating the effect of this invention. It is a figure which shows the example of a voltage waveform at the time of forming the displacement waveform in which an inflexion point is formed when a conveyance rail displaces to A direction corresponding to the expansion direction of a piezoelectric element, and its displacement waveform. It is a figure which shows the example of a voltage waveform at the time of forming the displacement waveform in which an inflexion point is formed when a conveyance rail displaces to A direction corresponding to the expansion direction of a piezoelectric element, and its displacement waveform. It is a figure which shows the example of a voltage waveform at the time of forming the displacement waveform in which an inflexion point is formed when a conveyance rail displaces to A direction corresponding to the expansion direction of a piezoelectric element, and its displacement waveform. It is a figure which shows the example of a voltage waveform at the time of forming the displacement waveform in which an inflexion point is formed when a conveyance rail displaces in the B direction corresponding to the extension direction of a piezoelectric element, and its displacement waveform. It is a figure which shows the example of a voltage waveform at the time of forming the displacement waveform in which an inflexion point is formed when a conveyance rail displaces in the B direction corresponding to the extension direction of a piezoelectric element, and its displacement waveform. It is a figure which shows an example of displacement of a nut at the time of providing an inflexion point, when a conveyance rail displaces to B direction corresponding to the return direction of a piezoelectric element, a displacement waveform of a conveyance rail, and a voltage waveform. It is a figure which expands and shows the displacement waveform and voltage waveform of the conveyance rail in FIG. It is a side view showing a conveyance device concerning a 2nd embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail.
First Embodiment
First, the first embodiment of the present invention will be described.
FIG. 1 is a side view showing a transport apparatus according to a first embodiment of the present invention, and FIG. 2 is a plan view thereof.
As shown in these figures, the transport apparatus 1 of the present embodiment includes a base member 100 having a horizontal portion 101 and a vertical portion 102, and an actuator 200 fixed to the vertical portion 102 of the base member 100 and outputting displacement of a predetermined waveform. The drive unit 300 for driving the actuator 200 and the displacement of the actuator 200 are transmitted, and the transport rail 400 for transporting the article 10 is attached to the horizontal portion 101 of the base member 100 to movably support the transport rail 400. A support 500 and a linear guide 600 provided between the support 500 and the transport rail 400 are provided. An actuator unit 700 is configured by the actuator 200 and the drive unit 300.

  The actuator 200 includes an expansion / contraction element 201 which is expanded / contracted by applying a trigger such as a voltage, and a displacement amplification mechanism 210 as a displacement transmission mechanism which transmits the displacement of the expansion / contraction element 201 to the transport rail 400. It is equipped.

  The expansion and contraction element 201 has a long shape and is disposed with its longitudinal direction vertical. The expansion / contraction element 201 may be any element that can be expanded / contracted mainly in the longitudinal direction by the application of a trigger, a piezoelectric element displaced according to voltage, a magnetostrictive element displaced according to a magnetic field, a shape displaced according to temperature A memory alloy element etc. can be mentioned. In any of the elements, displacement according to the voltage can be realized by directly applying a voltage from a power supply or converting the voltage into a magnetic field or temperature by an appropriate means.

  As the expansion and contraction element 201, a piezoelectric element is preferable. In an actuator using a piezoelectric element, (1) 60% or more of the input electric energy is actually converted to mechanical energy, and a force generated by, for example, a 10 mm × 10 mm element reaches 300 kgf, and the energy efficiency is extremely high (2) A high speed response of several kHz or more is possible. (3) When an object is held at a fixed position, although it is necessary to apply a voltage, no current flows, so electrical energy consumption is reduced. (4) suitable for downsizing and thinning, and the like.

As a piezoelectric element used as the expansion and contraction element 201, a laminated type in which a plurality of plate-like piezoelectric members are stacked with an electrode interposed therebetween is used. For example, a 10 mm × 10 mm piezoelectric body is stacked in a length of about 40 mm to form a rectangular parallelepiped. As a piezoelectric material constituting the piezoelectric body, a ceramic material having a piezoelectric effect is used. As such a material, typically, lead zirconate titanate (Pb (Zr, Ti) O ₃ ; PZT) is mentioned Can. The shape of the expansion and contraction element 201 is not limited to a rectangular parallelepiped, and may be, for example, a polygonal prism such as a triangular prism or a hexagonal prism, or a cylinder.

  The displacement magnifying mechanism 210 magnifies and outputs the displacement of the expansion and contraction element 201, and transmits the magnified displacement to the transport rail 400. In this example, one end face of the expansion and contraction element 201 made of a long body and The first attachment member 211 and the second attachment member 212 are connected to the first attachment member 211 and the second attachment member 212 respectively fixed to the other end surface and one side surface of the expansion element 201. A displacement transmitting portion 213 which is provided and outputs a displacement expanded in a direction orthogonal to the displacement direction of the piezoelectric element, and a first attachment member 211 and a second attachment member 212 on the other side of the expansion element 201, And a fixing member 214 provided to be connected via a flexible hinge 216. The displacement transmitting unit 213 has an output member 215 at the center, and can output an enlarged displacement from the output member 215 by the action of the plurality of flexible hinges 216 and the plurality of arms 217. . The output member 215 is attached with a mounting member 218 to which the transport rail 400 is mounted. The surface of the fixing member 214 is a fixing surface, and is fixed to the vertical portion 102 of the base member 100.

  The actuator 200 is configured by attaching the expansion and contraction element 201 to the displacement enlarging mechanism 210 having such a configuration. The displacement enlarging mechanism is not limited to the configuration as illustrated, but can have various configurations. Moreover, as a displacement transmission mechanism, it may have only the function to transmit the displacement of the expansion-contraction element 201, without expanding a displacement. Alternatively, the actuator 200 may be configured of only the expansion and contraction element without using the displacement transfer mechanism.

  When the expansion and contraction element 201 is a piezoelectric element, it is made of a ceramic material which is a brittle material and is weak against a tensile force. For this reason, as shown in the drawing, it is preferable that the elastic element 201 be attached to the displacement enlarging mechanism 210 in a state in which a compressive force is applied in the longitudinal direction by the pressurizing mechanism 220. Such a disadvantage can be alleviated by applying a compression force in advance by the pressurizing mechanism 220. In this example, the pressurizing mechanism 220 is a pair of head pieces 221 and 222 fixed to one end surface and the other end surface of the expansion and contraction element 201, and, for example, two compression forces provided to be bridged between them. And an applying member 223. However, the configuration of the pressurization mechanism is not limited to this as long as the compression force can be applied. The pressurizing mechanism 220 may not be provided, and the displacement enlarging mechanism (displacement transmitting mechanism) may have a function as a pressurizing mechanism.

  The drive unit 300 includes a driver 301 that drives the expansion and contraction element 201 to expand and contract, and a signal generation unit 302 that generates a signal of a predetermined waveform and supplies the signal to the driver 301. The driver 301 has a power supply and a drive circuit. When the expansion and contraction element 201 is a piezoelectric element, the driver 301 applies expansion and contraction by applying a predetermined voltage to the expansion and contraction element 201, which is a piezoelectric element, according to a signal having a predetermined waveform from the signal generation unit 302. The element 201 is driven.

  The expansion and contraction element 201 is driven to expand and contract with a predetermined waveform by the drive unit 300, and a displacement waveform corresponding to the waveform of the expansion and contraction drive is output from the output member 215 of the displacement enlarging mechanism 210. The displacement waveform output at this time will be described later.

  The transport rail 400 is detachably attached to the attachment member 218 attached to the output member 215 of the displacement enlarging mechanism 210, and the displacement waveform output from the output member 215 is directly transmitted. The transport rail 400 has a transport surface 401 on which a plurality of articles 10 are placed, and guard members 403 provided on both sides of the transport surface 401 so that the articles 10 do not fall from the transport surface 401. The transport rail 400 also has a first end 411 on the actuator side and a second end 412 on the tip side, between which the article 10 is transported. At this time, as described later, the displacement waveform output from the actuator 200 has an inflection point, and the position of the inflection point is adjusted to adjust the article 10 from the first end 411. It can be transported to the second end 412 or from the second end 412 to the first end 411. The article 10 is not particularly limited, and may be a part such as a bolt or a nut or may have a large weight, but is particularly effective for a small one having a diameter of 0.5 mm or less.

  At the lower part of the transport rail 400, a guide rail 410 is provided along the longitudinal direction. The linear guide 600 is attached to the guide rail 410, and the transport rail 400 is supported by the support portion 500 attached to the horizontal portion 101 of the base member 100 via the linear guide 600. Therefore, the transport rail 400 can move following the displacement of the actuator 200.

  In the transport apparatus 1 configured as described above, a voltage of a predetermined waveform is applied from the driver 301 to the expansion and contraction element 201 based on a signal from the signal generation unit 302 of the drive section 300, and the expansion and contraction element 201 performs expansion and contraction displacement at high speed. Repeat with. The expansion / contraction displacement is output from the output member 215 as a displacement expanded by the displacement amplification mechanism 210, which is a displacement transmission mechanism, and this displacement is transmitted to the transport rail 400.

  The output member 215 basically corresponds to the displacement in the A direction, which is the first direction advancing horizontally from the reference position when no voltage is applied, and the reference position from the advanced position, corresponding to the expansion and contraction displacement of the expansion and contraction element 201 The displacement in the direction B, which is the second direction back to the above, is repeated at a high speed, so that the transport rail 400 is displaced as well. At this time, in the displacement waveform of the transport rail 400 based on the actuator 200 (the output member 215), when the article 10 is displaced in the direction of transport between the A direction and the B direction, the inflection point of the displacement is As a result, the expansion and contraction element 201 is driven. Here, the inflection point of the displacement means a point at which the velocity has an extreme value (maximum value or minimum value).

  Specifically, when the article 10 is to be transported in the first direction, ie, the A direction, an example of a displacement waveform output from the actuator 200 is as shown in FIG. That is, when the actuator 200 is displaced in the A direction, the expansion and contraction element 201 is driven so that the inflection point C is formed in the middle.

  Conversely, when the article 10 is to be transported in the second direction B, an example of a displacement waveform output from the actuator 200 is as shown in FIG. That is, when the actuator 200 is displaced in the B direction, the expansion and contraction element 201 is driven so that the inflection point C is formed in the middle.

  As the inflection point of displacement, as shown in FIG. 5, in the middle of displacement at a constant speed in the A direction, as shown in (a), when the displacement speed decreases while maintaining the displacement in the A direction When the displacement change is zero as shown in (b), the displacement may be reversed in the B direction as shown in (c). After the velocity or acceleration changes at the inflection point, the velocity of displacement returns to the original velocity for a predetermined period.

  In order to realize the displacement of the actuator 200 having such a point of inflection, that is, the displacement of the carrier rail 400, corresponding voltage waveforms may be synthesized by a computer, or two or more waveforms generated by the signal generator. Or pre-pulses may be used.

Next, the principle of article transport in the present invention will be described.
When the transport rail 400 is displaced in one direction by the actuator 200, an acceleration force is transmitted to the article 10 on the transport surface 401 in the moving direction of the transport rail 400 by static friction. The article 10 which has obtained the acceleration force is in a state of slipping with the transport surface 401, and moves in the displacement direction of the transport rail at a lower speed than the transport rail 400. Then, by providing the inflection point C of the displacement while the transport rail 400 is displaced in the transport direction by the actuator 200, the speed of the transport rail 400 changes, and the relative speed between the transport rail 400 and the article 10 at a certain time The difference is zero. When this relative speed difference becomes zero, static friction occurs again between the transport rail 400 and the article 10. Thereafter, the transport rail 400 is accelerated, and at that time, an acceleration force is transmitted from the transport rail 400 to the article 10 by static friction, and as a result, the article 10 is accelerated and the displacement of the transport rail 400 is reversed. Also, the article 10 is displaced in the transport direction on the transport surface 401 against the frictional force. Therefore, the article 10 can be greatly displaced by a single displacement waveform of the carrier rail 400 corresponding to the displacement until the expansion / contraction element 201 extends back, and such a displacement waveform is repeatedly applied to the carrier rail 400. Thus, the article 10 can be transported efficiently. Moreover, since the frequency which drives a conveyance rail can be made high, high-speed conveyance is possible. As described above, while causing the article 10 to slide on the transport rail 400 by the first acceleration force, the inflection point C is provided in the displacement of the transport rail 400 to apply the second acceleration force to the article 10. The acceleration waveform can be applied twice to the article 10 by the displacement waveform of (1), and the article can be efficiently transported with less power consumption, and the article can be transported at high speed.

  FIG. 6 is an experimental result showing this. Here, a nut with a diameter of about 10 mm was used as an article. In FIG. 6, time is taken on the horizontal axis, and terminal voltage and displacement are taken on the vertical axis. The displacement of the transport rail and the nut was measured by a laser range finder provided on the front end side of the transport rail 400. 6 shows the case where the displacement in the A direction and B direction is given one reciprocation to the transport rail 400, and the displacement direction is opposite to that in FIG. 3 and FIG. 4 and the positive direction (upward) is the B direction. (Return direction) and the negative direction (downward direction) is the A direction (extension direction).

  As shown in FIG. 6, by forming the inflection point of the displacement while displacing the transport rail 400 in the A direction which is the transport direction, even after the displacement direction of the transport rail 400 is changed to the B direction It can be seen that the nut is displaced in the A direction. From this, it is possible to efficiently convey the nut which is the article, that is, by applying the acceleration force twice to the article 10 with one displacement waveform, the conveyance amount of the article can be efficiently obtained with less power consumption. And it was confirmed that high-speed conveyance could be realized.

  Further, in the present embodiment, the position of the inflection point in the displacement waveform of the actuator 200 and the conveyance rail 400 has an advantage that the article 10 can be conveyed in both the A direction and the B direction.

  Furthermore, since the expansion and contraction element, particularly the piezoelectric element, can be driven with a small displacement of about 0.1 to 50 μm, even a small article having a diameter of 0.5 mm or less, the joint between the part and the transfer destination It can be narrowed to the extent that the risk of falling of the article does not occur, and furthermore, by providing the inflection point, the residual vibration is reduced, and high speed driving is possible with almost no influence of the residual vibration, The article can be transported at a sufficiently high transport speed even if the displacement per one time is small.

  Next, a result of carrying out a carrying out experiment by giving a displacement waveform having an inflection point actually to a carrying rail repeatedly will be described.

  Here, an experiment was conducted in which a nut having a diameter of about 10 mm was conveyed as an article on a conveyance rail by an actuator using a piezoelectric element as an expansion and contraction element. The voltage between the terminals is 150 V, the time for one wavelength until the piezoelectric element is extended and restored is 8 msec, the maximum displacement is 150 μm, the voltage waveform is changed, and displacement waveforms having various inflection points are formed. Then, the conveyance rail was vibrated to conduct a nut conveyance experiment.

  7 to 9 are diagrams showing an example of a displacement waveform in which an inflection point is formed when the transport rail is displaced in the A direction corresponding to the extension direction of the piezoelectric element and a voltage waveform when the displacement waveform is formed. 10 to 11 show an example of a displacement waveform in which an inflection point is formed when the transport rail is displaced in the B direction corresponding to the return direction of the piezoelectric element, and a voltage waveform when the displacement waveform is formed. FIG. In these figures, the direction of displacement is the same as in FIGS. 3 and 4 in the positive direction (upward direction) being the A direction (stretching direction) and the negative direction (downward direction) being the B direction (returning direction) It is.

  In the cases of FIGS. 7 to 9, the nuts can be transported in the A direction, and the average transport speed at that time is 12 to 20 mm / sec. Moreover, in the case of FIGS. 10-11, all could convey a nut in B direction, and the average speed in that case was 8-10 mm / sec. Thus, it has been confirmed that the present invention enables efficient and high-speed transport.

  FIG. 12 is a view showing an example of the displacement of the nut and the displacement waveform of the transport rail when the inflection point is provided when the transport rail is displaced in the B direction corresponding to the return direction of the piezoelectric element. It is a figure which expands and shows the voltage between terminals in that case, and the displacement of a conveyance rail. In FIGS. 12 and 13, the displacement direction is opposite to that in FIGS. 7 to 11, and the positive direction (upward) is the B direction (return direction) and the negative direction (downward) is the A direction (stretching) Direction). In this case, as shown in FIG. 12, a phenomenon was observed in which the nut was transported in the reverse direction A direction up to the first 15 waveforms and thereafter transported in the B direction. This is considered to be due to the fact that the nut is transported in the A direction by the displacement of the transport rail in the A direction corresponding to the extension of the first piezoelectric element. Since the time of this phenomenon is short, the transport in the B direction is not greatly affected.

Second Embodiment
Next, a first embodiment of the present invention will be described.
FIG. 14 is a side view showing a transfer apparatus according to a second embodiment of the present invention.
As shown in this figure, the conveyance device 2 according to the present embodiment conveys the article 10 by receiving the displacement of the actuator 800 that outputs the displacement of a predetermined waveform, the drive unit 300 that drives the actuator 800, and the actuator 800. And a transport rail 400. The actuator 800 and the drive unit 300 constitute an actuator unit 900. The actuator 800 is mounted or fixed on the base 1000.

  The actuator 800 includes an expansion and contraction element 801 which expands and contracts by applying a trigger such as a voltage, and a displacement transmission mechanism 810 to which the expansion and contraction element 801 is attached and which transmits the displacement of the expansion and contraction element 801 to the transport rail 400.

  The expansion and contraction element 801 has a long shape and is disposed with its longitudinal direction horizontal. Similar to the expansion and contraction element 201, the expansion and contraction element 801 may be any element that is mainly expanded and contracted in the longitudinal direction by applying a trigger, a piezoelectric element displaced according to a voltage, a magnetostrictive element displaced according to a magnetic field, and a temperature The shape memory alloy element etc. which are displaced according to can be mentioned, Among these, a piezoelectric element is preferable.

  The displacement transfer mechanism 810 is for transferring the displacement of the expansion and contraction element 801 to the transport rail 400, and is integrally fixed to the base member 811 mounted or fixed on the base 1000 or fixed to the base member 811 A first attachment member 812 provided to which one end of the expansion and contraction element 801 is attached, a second attachment member 813 to which the other end of the expansion and contraction element 801 is movably attached, and provided horizontally above the expansion and contraction element 801, And an output member 814 for outputting a displacement of a predetermined waveform in the horizontal direction corresponding to the expansion and contraction displacement of the expansion and contraction element 801. The second attachment member 813 is connected to one end of the base member 811 and the corresponding one end of the output member 814 through flexible hinges 815, respectively. On the other hand, an intermediate member 816 is connected to the other end of the base member 811 and the corresponding other end of the output member 814 through flexible hinges 815, respectively. A mounting member 816 on which the transport rail 400 is mounted is mounted on the output member 814, and the transport rail 400 is mounted on the output member 814 via the mounting member 816.

  The actuator 800 is configured by attaching the expansion and contraction element 801 to the displacement transfer mechanism 810 having such a configuration.

  A pressure applying mechanism 820 which applies a compressive force in advance in the longitudinal direction is attached to the stretchable element 801. The pressurizing mechanism 820 has the same function as the pressurizing mechanism 220 described above, and in this example, a pair of head pieces 821 and 822 fixed to one end surface and the other end surface of the expansion and contraction element 801, and For example, two compression force applying members 823 provided so as to be bridged therebetween are provided. However, the configuration of the pressurization mechanism is not limited to this as long as the compression force can be applied. The pressurizing mechanism 820 may not be provided, and the displacement transmitting mechanism may have a function as a pressurizing mechanism.

  As in the first embodiment, the drive unit 300 includes a driver and a signal generation unit that generates a signal of a predetermined waveform and supplies the signal to the driver. The details are the same as in the first embodiment, and thus the description is omitted. The expansion and contraction element 801 is driven to expand and contract with a predetermined waveform by the drive unit 300, and a displacement waveform corresponding to the waveform of the expansion and contraction drive is output from the output member 814 of the displacement transfer mechanism 810. The displacement waveform outputted at this time is the same as that of the first embodiment.

  The conveyance rail 400 is configured in the same manner as the first embodiment, and is detachably attached to the attachment member 816 attached to the output member 814 of the displacement transfer mechanism 810, and the displacement waveform output from the output member 814 is Directly transmitted. As in the first embodiment, the article 10 is not particularly limited, and may be a part such as a bolt or a nut, or may be one having a large weight, but in particular, for a small one having a diameter of 0.5 mm or less It is valid.

  The output member 814 basically corresponds to the displacement in the A direction, which is the first direction in which the expansion and contraction element 801 extends from the reference position when no voltage is applied, and the extension from the expanded position, corresponding to the expansion and contraction displacement of the expansion and contraction element 801 It is displaced by a displacement waveform that repeats at a high speed the displacement in the B direction which is the second direction returning to the position, and along with this, the transport rail 400 is similarly displaced. At this time, as in the first embodiment, in the displacement waveform of the transport rail 400 based on the actuator 800 (the output member 814), when displacement is made in the direction to transport the article 10 out of the A direction and B direction. The expansion and contraction element 801 is driven such that a displacement inflection point occurs.

  Thereby, the article 10 can be greatly displaced by a single displacement waveform of the carrier rail 400 corresponding to the displacement until the expansion and contraction element 801 extends and returns on the same principle as the first embodiment. By repeatedly applying such a displacement waveform to the rail 400, the article 10 can be transported efficiently.

  Also in this embodiment, the position of the inflection point in the displacement waveform of the actuator 800 and the transport rail 400 also has an advantage that the article 10 can be transported in both the A direction and the B direction.

  Furthermore, since the expansion and contraction element, particularly the piezoelectric element, can be driven with a small displacement of about 0.1 to 50 μm, even a small article having a diameter of 0.5 mm or less, the joint between the part and the transfer destination It can be narrowed to the extent that the risk of falling of the article does not occur, and furthermore, by providing the inflection point, the residual vibration is reduced, and high speed driving is possible with almost no influence of the residual vibration, The article can be transported at a sufficiently high transport speed even if the displacement per one time is small.

  Furthermore, in the present embodiment, since both the first end 411 and the second end 412 of the transport rail 400 are open, it is possible to provide a member of the transport destination of the article 10 on any of these. You can get the advantage of being

  As mentioned above, although embodiment of this invention was described, this invention can be variously deformed, without being limited to the said embodiment. For example, although the example which gave compressive force beforehand by the pressurization mechanism was shown in the said embodiment, the pressurization mechanism is not essential. Further, the displacement transfer mechanism is not limited to the above embodiment, and it may be any mechanism capable of forming a desired displacement waveform having the inflection point described above and transmitting it to the transport rail, and further, as described above If a desired displacement waveform having the inflection point can be realized, the displacement transmission mechanism may not be provided.

  Furthermore, the configuration of the actuator unit is not limited to the above two embodiments as long as it can transmit the displacement waveform capable of transporting the article to the transport rail.

1, 2; conveying device 10; article (conveyed body)
100; base member 200, 800; actuator 201, 801; telescopic element 210; displacement enlarging mechanism (displacement transmitting mechanism)
300; drive part 400; conveyance rail 500; support part 600; linear guide 700, 900; actuator unit 1000; base

Claims (17)

An actuator that outputs a displacement waveform corresponding to the displacement of the expansion / contraction element that is elastically displaced in a predetermined direction;
The actuator generates a displacement waveform which repeats a displacement in a first direction corresponding to the expansion and contraction displacement of the expansion / contraction element and a displacement in a second direction opposite to the first direction, and the actuator generates the displacement waveform in the first direction or A driving unit that operates the actuator such that an inflection point of displacement is formed when displacing in two directions;
A transport apparatus comprising: a transport rail on which displacement of the actuator is transmitted, and on which the transported object is transported in the first direction or the second direction.   The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. The transport apparatus according to claim 1, characterized in that:   The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the transported object is transported in the second direction. The transport apparatus according to claim 1, characterized in that:   The conveyance device according to any one of claims 1 to 3, wherein the actuator further includes a displacement transmission mechanism that transmits the displacement of the expansion and contraction element to the conveyance rail.   5. The conveyance apparatus according to claim 4, wherein the displacement transmission mechanism is a displacement enlargement mechanism that enlarges and outputs the displacement of the expansion and contraction element and transmits the displacement to the conveyance rail.   The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, one end of the transport rail is attached to the displacement output unit, and displacement of the displacement output unit is determined by the displacement output unit. The transfer apparatus according to any one of claims 1 to 5, which is transmitted to the transfer rail.   The actuator further includes a displacement transmission mechanism for transmitting the displacement of the expansion and contraction element to the transport rail, and the expansion and contraction element is mounted on the displacement transmission mechanism so as to expand and contract in the horizontal direction. A displacement output member is provided above the expansion / contraction element and outputs displacement in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the expansion / contraction element, and the transport rail is on the displacement output member. The transport device according to any one of claims 1 to 3, which is attached to A transport method for transporting a transported object on a transport rail, the transport method comprising:
The actuator for outputting a displacement waveform corresponding to the displacement of the expansion and contraction element displaced in a predetermined direction, the displacement in the first direction corresponding to the expansion and contraction displacement of the expansion and contraction element and the displacement in the second direction opposite to the first direction Generating a displacement waveform that is repeated, and operating the actuator such that an inflection point of displacement is formed when the actuator is displaced in the first direction or the second direction,
And transferring the displacement of the actuator to the transport rail to transport the transported object in the first direction or the second direction on the transport rail.   The actuator is operated so that the inflection point is formed when the actuator is displaced in the first direction, and the transported object is transported in the first direction. The conveyance method as described in 8.   The actuator is operated so that the inflection point is formed when the actuator is displaced in the second direction, and the transported object is transported in the second direction. The conveyance method as described in 8. An actuator unit for transporting a transported object on a transport rail, the actuator unit comprising:
An actuator that outputs a displacement waveform corresponding to the displacement of the expansion / contraction element that is elastically displaced in a predetermined direction;
The actuator generates a displacement waveform which repeats a displacement in a first direction corresponding to the expansion and contraction displacement of the expansion / contraction element and a displacement in a second direction opposite to the first direction, and the actuator generates the displacement waveform in the first direction or And a drive unit for operating the actuator such that an inflection point of displacement is formed when displacing in two directions.
An actuator unit characterized in that the displacement of the actuator is transmitted to the transport rail, and the transported object is transported on the transport rail in the first direction or the second direction.   The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the first direction, and the article is transported in the first direction. The actuator unit according to claim 11.   The drive unit operates the actuator so that the inflection point is formed when the actuator is displaced in the second direction, and the article is transported in the second direction. The actuator unit according to claim 11.   The actuator unit according to any one of claims 11 to 13, wherein the actuator further includes a displacement transmission mechanism that transmits the displacement of the expansion and contraction element to the transport rail.   15. The actuator unit according to claim 14, wherein the displacement transfer mechanism is a displacement enlargement mechanism that enlarges and outputs the displacement of the expansion and contraction element and transmits the displacement to the transport rail.   The actuator has a displacement output unit that outputs displacements in the first direction and the second direction, one end of the transport rail is attached to the displacement output unit, and displacement of the displacement output unit is determined by the displacement output unit. The actuator unit according to any one of claims 11 to 15, which is transmitted to a transport rail.   The actuator further includes a displacement transmission mechanism for transmitting the displacement of the expansion and contraction element to the transport rail, and the expansion and contraction element is mounted on the displacement transmission mechanism so as to expand and contract in the horizontal direction. A displacement output member is provided above the expansion / contraction element and outputs displacement in the first direction and the second direction in a direction corresponding to the expansion / contraction displacement of the expansion / contraction element, and the transport rail is on the displacement output member. The actuator unit according to any one of claims 11 to 13, being attached to

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