JPH0656024U - Piezoelectric drive type transport device - Google Patents

Abstract

(57)【要約】 【目的】圧電駆動型搬送装置において基台と搬送体との
間隔を狭小化させて搬送装置の安定性を高めること及び
搬送体の振動振幅を大ならしめて搬送速度を高めるこ
と。 【構成】加振体の弾性板と連結部材との連結部を屈曲さ
せて前記加振体の弾性板と前記連結部材とを非直線状と
して基台と搬送体との間に配設する圧電駆動型搬送装
置。 (57) [Abstract] [Objective] In a piezoelectric drive type transfer device, the interval between the base and the transfer member is narrowed to improve the stability of the transfer device, and the vibration amplitude of the transfer member is increased to increase the transfer speed. thing. A piezoelectric device in which a connecting portion between an elastic plate of a vibrating body and a connecting member is bent to make the elastic plate of the vibrating body and the connecting member non-linear and arranged between a base and a carrier. Driven transfer device.

Description

【考案の詳細な説明】[Detailed description of the device]

【０００１】[0001]

【産業上の利用分野】[Industrial applications]

本考案は搬送物として電気部品或いは機械部品等の比較的小さい部品を振動に より搬送する搬送体の振動源として圧電素子を用いた圧電駆動型搬送装置に関す る。 The present invention relates to a piezoelectric drive type transfer device using a piezoelectric element as a vibration source of a transfer body for transferring relatively small parts such as electric parts or mechanical parts as a transfer object by vibration.

【０００２】[0002]

【従来の技術】[Prior art]

圧電素子を振動源とした従来の圧電駆動型搬送装置は実開昭５２−６１０８７ 号或いは実開昭５７−４６５１７号によって既に公知化されているがその構成原 理を図１を用いて説明すると以下のようである。 A conventional piezoelectric drive type transfer device using a piezoelectric element as a vibration source has been already publicly known in Japanese Utility Model Publication No. 52-61087 or Japanese Utility Model Publication No. 57-46517, and its structural principle will be described with reference to FIG. It looks like this:

【０００３】 即ち圧電素子２を駆動板３の両面に貼着したいわゆるバイモルフ４を複数個用 いる構成と前記バイモルフ４の一端を基台７に傾斜立設させて連結する構成と前 記バイモルフ４の他端を連結部材５を介して両者一直線状に搬送体６に連結する 構成からなり、かかる構成でなる圧電駆動型搬送装置１において各圧電素子２に 交流電圧を印加する。That is, a configuration in which a plurality of so-called bimorphs 4 in which the piezoelectric elements 2 are attached to both surfaces of the drive plate 3 are used, a configuration in which one end of the bimorphs 4 is inclined and erected on the base 7, and the bimorph 4 is described above. The other end is connected to the carrier 6 in a straight line via the connecting member 5, and an AC voltage is applied to each piezoelectric element 2 in the piezoelectric drive type carrier device 1 having such a structure.

【０００４】 前記交流電圧の印加によって圧電素子２は正の半サイクルで伸長し、負の半サ イクルで収縮する運動を行うことから圧電素子２を取付けたバイモルフ４におい てそれぞれの圧電素子２に印加する電圧を半サイクルずつずらせば、その片持型 バイモルフ構造によって前記伸縮運動は撓み運動に変換され、駆動板３の下端と 基台との連結部を支点とする矢印９方向の振動となって搬送体６を振動させるも のである。By applying the AC voltage, the piezoelectric element 2 expands in a positive half cycle and contracts in a negative half cycle. Therefore, in the bimorph 4 to which the piezoelectric element 2 is attached, each piezoelectric element 2 If the applied voltage is shifted by half cycles, the expansion-contraction motion is converted into a flexion motion by the cantilever type bimorph structure, and vibration in the direction of arrow 9 with the lower end of the drive plate 3 and the base as a fulcrum is a fulcrum. Therefore, the carrier 6 is vibrated.

【０００５】[0005]

【考案が解決しようとする課題】[Problems to be solved by the device]

前記従来の圧電駆動型搬送装置１は基台７と搬送体６との間にバイモルフ７４ と連結部材５とを一直線状にして傾斜立設させるものであることから基台７と搬 送体６との間隔は広くせざるを得ず、そのため圧電駆動型搬送装置１の安定性及 び大きさの点で問題であった。 In the conventional piezoelectric drive type transfer device 1, the bimorph 74 and the connecting member 5 are arranged in a straight line between the base 7 and the transfer body 6 so that the base 7 and the transfer body 6 are inclined. There is no choice but to widen the distance between them and, therefore, there is a problem in terms of stability and size of the piezoelectric drive type transport device 1.

【０００６】 殊に搬送体６に載置される搬送品８が軽量のものでなくかつ搬送体６に搬送品 ８を満載したときには圧電駆動型搬送装置１の重心が高くなることから前記問題 点は一層増長された。In particular, when the article 8 placed on the carrier 6 is not lightweight and the article 6 is fully loaded on the carrier 6, the center of gravity of the piezoelectric drive type carrier device 1 becomes high, which causes the above-mentioned problems. Was further enhanced.

【０００７】 更に別の問題点として弾性板３と連結部材５とは一直線状に立設させていたこ とから連結部材５と搬送体６との連結点の変位を十分に大きくとることができず 、よって前記変位と比例関にある搬送品８の搬送速度を十分に大きくとることは 困難であった。As another problem, since the elastic plate 3 and the connecting member 5 are erected in a straight line, the displacement of the connecting point between the connecting member 5 and the carrier 6 cannot be made sufficiently large. Therefore, it is difficult to sufficiently increase the conveying speed of the conveyed product 8 which is proportional to the displacement.

【０００８】 本考案は前記した問題点を解決した新規な圧電駆動型搬送装置を提供するもの である。The present invention provides a novel piezoelectric drive type transport device that solves the above problems.

【０００９】[0009]

【課題を解決するための手段】[Means for Solving the Problems]

図２を用いて以下その手段を説明する。本考案は前記問題点の解決を図るため 駆動板１３と連結部材１５を一直線状に傾斜立設させるのではなく、両者の連結 点Ｐを屈曲させ非直線状としたものを基台１７と搬送体１６との間に配設するも のである。以下何故にかかる構成を採ったかを図３を用いて説明する。 The means will be described below with reference to FIG. According to the present invention, the drive plate 13 and the connecting member 15 are not inclined and erected in a straight line in order to solve the above problem, but the connecting point P of both is bent and made non-linear to be conveyed with the base 17. It is arranged between the body 16. The reason why such a configuration is adopted will be described below with reference to FIG.

【００１０】 今、質量ｍ_１，の質点ｐ_１、長さｌ_１の棒を固定点ｏからつるし、またｐ_１か ら質量ｍ_２の質点ｐ_２、長さｌ_２の棒をつるして質量ｐ_１とｐ_２を同じ鉛直面内 で小振動させたときの運動を考えてみる。Now, a mass point p ₁ of mass m ₁ and a rod of length l ₁ are hung from a fixed point o, and a mass point p ₂ of mass m ₂ and a rod of length l ₂ are hung from p ₁ to make mass. Consider the motion when p ₁ and p ₂ are oscillated in the same vertical plane.

【００１１】 座標を図３に示す如くとりｐ_１に及ぼす棒ｏｐ_１の張力をｓ_１、ｐ_１とｐ_２に 働く棒ｐ_１、ｐ_２の張力をｓ_２としてｐ_１、ｐ_２に対する運動方程式、即ち、ｍ_１ ｄ^２ｘ_１／ｄｔ^２＝−ｓ_１ｓｉｎθ＋ｓ_２ｓｉｎψ，ｍ_１ｄ^２ｙ_１／ｄｔ^２＝ −ｓ_１ｃｏｓθ＋ｓ_２ｃｏｓψ＋ｍ_１ｇ，ｍ_２ｄ^２ｘ_２／ｄｔ^２＝−ｓ_２ｓｉｎ ψ，ｍ_２ｄ^２ｙ_２／ｄｘ^２＝−ｓ_２ｃｏｓψ＋ｍ_２ｇを立てθ及びψを時間ｔの 凾数として解析していくと前記二本の棒の振動模様は図４に示す如く四つの模様 となる。このうち基準振動ではθ＞０のときψ＞０、θ＜０のときψ＜０となり 図４の（Ａ）、（Ｂ）に示す振動模様がこれに該当する。非基準振動ではθ＞０ のときψ＜０、θ＜０のときψ＞０となり図４の（Ｃ）、（Ｄ）に示す振動模様 がこれに該当する。[0011] movement relative _p 1, _{p 2} tension bar _p 1, _{p 2} acting tension rod op ₁ on the coordinates _{p 1} taken as shown in Figure 3 to _s 1, _{p 1} and _{p 2} as _{s 2} equation, ^{_{i.e., m 1 d 2 x 1 /}} dt 2 = -s 1 sinθ + s 2 sinψ, m 1 d 2 y 1 / dt 2 = -s 1 cosθ + s 2 cosψ + m 1 g, m 2 d 2 x 2 / dt 2 = When −s ₂ sin ψ, m ₂ d ² y ₂ / dx ² = −s ₂ cos ψ + m ₂ g is set and θ and ψ are analyzed as the number of times t, the vibration pattern of the two bars is shown in FIG. There are four patterns as shown in. Among them, the reference vibration is φ> 0 when θ> 0, and φ <0 when θ <0, and the vibration patterns shown in FIGS. 4A and 4B correspond to this. In the non-standard vibration, ψ <0 when θ> 0, ψ> 0 when θ <0, and the vibration patterns shown in FIGS. 4C and 4D correspond to this.

【００１２】 本考案の圧電駆動型搬送装置１１では前記した振動模様のうち搬送体の振幅が 大きくとれる非基準振動を採り入れている。ここで非基準振動を起させる条件は ｌ_１＜ｌ_２であることから本考案の圧電駆動型搬送装置１１では駆動板１３の長 さより連結部材の長さを長くとっている。The piezoelectric drive type transporting device 11 of the present invention adopts the non-reference vibration that allows the amplitude of the transporting body to be large among the vibration patterns described above. Since the condition for causing the non-standard vibration is l ₁ <l ₂ , the length of the connecting member is set longer than the length of the drive plate 13 in the piezoelectric drive type transport device 11 of the present invention.

【００１３】[0013]

【作用】[Action]

前記構成でなる本考案の圧電駆動型搬送装置１１に交流電源１９から発する交 流電圧を印加するとバイモルフ１４は非基準振動でなる屈曲振動を生じ前記屈曲 振動は連結部材１５を介して搬送体１６上の搬送物１８に伝達し搬送物１８の搬 送が行われる。 When an alternating voltage generated from an AC power supply 19 is applied to the piezoelectric drive type transport device 11 of the present invention having the above-described structure, the bimorph 14 causes a flexural vibration which is a non-standard vibration, and the flexural vibration is conveyed through the connecting member 15 to the carrier 16. It is transmitted to the upper conveyance object 18 and the conveyance object 18 is conveyed.

【００１４】 次に本考案の一実施例を示すと駆動板の実効長３０ｍｍ、その幅１５ｍｍ、連 結部材の実効長３５ｍｍ、その幅９ｍｍの場合であって搬送物が比較的重量物の 場合、図２に示す駆動板及び連結部材のそれぞれの傾斜角α及びβはα＝６〜８ ゜、β＝７〜９゜、比較的軽量物の場合、α＝１３〜１５゜、β＝０〜２゜が搬 送速度が高く、最大で２０ｍｍ／ｓｅｃを得ることができる。Next, an embodiment of the present invention will be described. In the case where the driving plate has an effective length of 30 mm, its width is 15 mm, the connecting member has an effective length of 35 mm, and its width is 9 mm, and the conveyed product is relatively heavy. The inclination angles α and β of the drive plate and the connecting member shown in FIG. 2 are α = 6 to 8 ° and β = 7 to 9 °, respectively, and α = 13 to 15 ° and β = 0 for relatively lightweight products. A transport speed of up to 2 ° is high, and a maximum of 20 mm / sec can be obtained.

【００１５】[0015]

【考案の効果】[Effect of device]

第一の効果は基台１７と搬送体１６との間隔を狭小化ならしめたことで搬送物 １８をも含めた圧電駆動型搬送装置１１の重心が下方に下がったため搬送装置１ １の安定性が増大したことである。 The first effect is that by narrowing the distance between the base 17 and the carrier 16, the center of gravity of the piezoelectric drive type carrier 11, including the carrier 18, is lowered, and the stability of the carrier 11 is improved. Has increased.

【００１６】 第二の効果は非基準振動の屈曲振動を採ったことから搬送体１６の振幅を大き くとることができ、その結果として搬送品１８の搬送速度を高めることができた ことである。The second effect is that since the bending vibration of the non-reference vibration is adopted, the amplitude of the carrier 16 can be increased and, as a result, the speed of carrying the goods 18 can be increased. .

【００１７】[0017]

【図面の簡単な説明】[Brief description of drawings]

【図１】は従来の圧電駆動型搬送装置の側面図である。FIG. 1 is a side view of a conventional piezoelectric drive type transport device.

【図２】は本考案に係る圧電駆動型搬送装置の側面図で
ある。FIG. 2 is a side view of a piezoelectric drive type transport device according to the present invention.

【図３】は本考案の動作原理を説明する説明図である。FIG. 3 is an explanatory view for explaining the operation principle of the present invention.

【図４】は本考案の駆動板と連結部材との振動模様を示
す模しき図である。FIG. 4 is a schematic view showing a vibration pattern of a driving plate and a connecting member of the present invention.

【符号の説明】[Explanation of symbols]

１，圧電駆動型搬送装置 ２，圧電素子 ３，駆動板 ４，バイモルフ ５，連結部材 ６，搬送体 ７，基台 ８，搬送品 ９，振動方向 １１，圧電駆動型搬送装置 １２，圧電素子 １３，駆動板 １４，バイモルフ １５，連結部材 １６，搬送体 １７，基台 １８，搬送品 １９，交流電源 1, piezoelectric drive type transfer device 2, piezoelectric element 3, drive plate 4, bimorph 5, connecting member 6, transfer body 7, base 8, transfer product 9, vibration direction 11, piezoelectric drive type transfer device 12, piezoelectric element 13 , Drive plate 14, bimorph 15, connecting member 16, carrier 17, base 18, carrier 19, AC power supply

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] 【請求項１】弾性板に圧電素子を取付けてなる加振体に
より搬送体を振動させるようにしたものにおいて前記加
振体の弾性板と連結部材との連結部を屈曲させて前記加
振体の弾性板と前記連結部材とを非直線状として基台と
搬送体との間に配設することを特徴とする圧電駆動型搬
送装置。1. A vibrating body in which a piezoelectric element is attached to an elastic plate to vibrate a carrier, and the vibrating body is bent by bending a connecting portion between the elastic plate and the connecting member of the vibrating body. 2. The piezoelectric drive type transfer device, wherein the elastic plate and the connecting member are made non-linear and are arranged between the base and the transfer body.