Component Dispersion Device and Control Method of Component Dispersion Device

Abstract

The present invention relates to a component spreading device and a control method for the component spreading device, which can move components in multiple directions and turn the components over. The component spreading device (6) includes: a mounting table (21) having a mounting surface (22) for mounting components (23); a first motor (17), a second motor (18), and a third motor (19) that rotate a rotating shaft and generate vibrations; and a support portion (12) that supports the mounting table (21), the first motor (17), the second motor (18), and the third motor (19), and transmits the vibrations of each motor to the mounting table (21). The axial direction of the third rotating shaft (19a) of the third motor (19) is parallel to the mounting surface (22), and the axial directions of the rotating shafts of the first motor (17) and the second motor (18) are perpendicular to the mounting surface (22).

Description

Technical Field

[0001] The present invention relates to a component spreading device and a control method for the component spreading device. Background Art

[0002] When an industrial robot picks up and places components, a linear feeder moves the components within the operating range of the robotic arm. The linear feeder is disclosed in Patent Document 1. According to the description of this document, in the linear feeder, one motor and a component conveying trough are connected by a link mechanism. When the motor is rotated, a reciprocating vibration in one direction is excited in the component conveying trough, and the components are conveyed in one direction.

[0003] Sometimes, a component spreading device is arranged within the operating range of the robotic arm. The component spreading device is a device that reduces the overlap of individual components when a plurality of components overlap on a placement surface.

[0004] For the robotic arm, there are areas where it is easy to pick up components and areas where it is difficult to pick up components. Therefore, if there is a device that moves the components to a place where the robot can easily pick up the components, the robot can operate stably. In addition, if the robot performs an operation of flipping the components, the operation takes time, resulting in a decrease in productivity.

[0005] Patent Document 1: Japanese Patent Application Laid-Open No. 2019-64825

[0006] The linear feeder of Patent Document 1 can only move the components in one direction. In addition, there is a technical problem that the components cannot be flipped yet. Summary of the Invention

[0007] The component spreading device includes: a placement table having a placement surface for placing components; three motors that rotate a rotation shaft and generate vibration; and a support portion that supports the placement table and the three motors and transmits the vibration of the motors to the placement table. The axial direction of the rotation shaft of one of the motors is parallel to the placement surface, and the axial directions of the rotation shafts of the two motors are perpendicular to the placement surface.

[0008] A control method for a component spreading device, the component spreading device including: a placement table having a placement surface for placing components; three motors that rotate a rotation shaft and generate vibration; a support portion that supports the placement table and the three motors and transmits the vibration of the motors to the placement table; and a control portion that controls the rotation of the motors. The axial direction of the rotation shaft of one of the motors is parallel to the placement surface, and the axial directions of the rotation shafts of the two motors are perpendicular to the placement surface. In the control method, the control portion independently controls at least one of the rotational speed, rotation direction, and initial phase of the three motors. Description of the Drawings

[0009] Figure 1 is a schematic diagram showing the structure of the robot assembly system according to the first embodiment.

[0010] Figure 2 is a schematic perspective view showing the structure of the component spreading device.

[0011] Figure 3 is a schematic top view showing the structure of the component spreading device.

[0012] Figure 4 is a schematic side view showing the structure of the component spreading device.

[0013] Figure 5 is a schematic side view showing the structure of the component spreading device.

[0014] Figure 6 is a main part schematic perspective view for explaining the arrangement of the motor.

[0015] Figure 7 is a schematic top view for explaining the arrangement of the rubber legs.

[0016] Figure 8 is a block diagram of the circuit.

[0017] Figure 9 is a schematic diagram for explaining the operation of the motor.

[0018] Figure 10 is a schematic side view for explaining the operation of the component spreading device.

[0019] Figure 11 is a schematic side view for explaining the operation of the component spreading device.

[0020] Figure 12 is a schematic top view for explaining the operation of the components on the placement surface.

[0021] Figure 13 is a schematic top view for explaining the operation of the components on the placement surface.

[0022] Figure 14 is a schematic diagram for explaining the operation of the motor.

[0023] Figure 15 is a schematic top view for explaining the operation of the components on the placement surface.

[0024] Figure 16 is a schematic top view for explaining the operation of the components on the placement surface.

[0025] Figure 17It is a schematic diagram for explaining the operation of the mounting table.

[0026] Figure 18 It is a top view schematic diagram for explaining the operation of the components on the mounting surface.

[0027] Figure 19 It is a schematic diagram for explaining the operation of the mounting table.

[0028] Figure 20 It is a top view schematic diagram for explaining the operation of the components on the mounting surface.

[0029] Figure 21 It is a schematic diagram for explaining the operation of the mounting table.

[0030] Figure 22 It is a top view schematic diagram for explaining the operation of the components on the mounting surface.

[0031] Explanation of reference numerals

[0032] 6... Component spreading device, 8... Control unit, 11... Rubber legs as rubber, 12... Support part, 17... First motor as a motor, 17a... First rotating shaft as a rotating shaft, 18... Second motor as a motor, 18a... Second rotating shaft as a rotating shaft, 19... Third motor as a motor, 19a... Third rotating shaft as a rotating shaft, 21... Mounting table, 22... Mounting surface, 23... Components, 24... Third eccentric weight as an eccentric weight, 27... First eccentric weight as an eccentric weight, 28... Second eccentric weight as an eccentric weight. Detailed implementation manners

[0033] First implementation manner

[0034] In this implementation manner, characteristic examples of the component spreading device and the control method of the component spreading device are described. As Figure 1 shown, the robot assembly system 1 is a system in which the robot 2 assembles multiple components. The robot 2 uses a SCARA robot, a vertical multi-joint robot, an orthogonal robot, etc. The robot 2 is provided with a robot controller 3. The robot controller 3 controls the posture of the robot 2.

[0035] The robot 2 is provided with an actuator 4 and a camera 5. The robot controller 3 controls the operation of the actuator 4 to hold the components. The robot controller 3 causes the camera 5 to photograph the components to identify the positions of the components. It should be noted that the camera 5 can also be provided above the component spreading device 6.

[0036] The robot assembly system 1 includes multiple component spreading devices 6 and a workbench 7. Components are placed on each of the component spreading devices 6. The robot 2 holds the components on each component spreading device 6 and moves them to the workbench 7. The robot 2 performs the operation of assembling components on the workbench 7.

[0037] Each of the component spreading devices 6 includes a control unit 8. Each control unit 8 is electrically connected to the component spreading device 6 and the robot controller 3. The control unit 8 inputs an instruction signal from the robot controller 3 and operates the component spreading device 6.

[0038] The camera 5 photographs the components placed on the component spreading device 6. The robot controller 3 analyzes the photographed image and determines whether the actuator 4 is in a state where it is easy to hold the component. In addition, the orientation of the component when held by the actuator 4 is set. For example, in the present embodiment, the component is disc-shaped and has a front surface and a back surface. In the present embodiment, it is assumed that the actuator 4 holds the component in a state where the front surface side of the component faces the actuator 4.

[0039] When the result of the robot controller 3 analyzing the image is that the posture of the component is not an appropriate posture, the robot controller 3 sends an instruction signal to change the posture of the component to the control unit 8. The control unit 8 receives the instruction signal and drives the component spreading device 6.

[0040] Figure 2 The shown component spreading device 6 has its cover removed, and the interior can be seen. The component spreading device 6 includes a base 9. The base 9 is a rectangular metal plate. When observing the base 9 from above, the long side direction is set as the X direction, the direction orthogonal to the long side direction is set as the Y direction. The thickness direction of the base 9 is set as the Z direction.

[0041] Four rubber legs 11 as rubber are arranged on the base 9. A support portion 12 is provided on the rubber leg 11. The rubber leg 11 supports the support portion 12 so that the support portion 12 can vibrate. According to this structure, since the rubber leg 11 supports the support portion 12 to be able to vibrate, the support portion 12 can vibrate in all directions of up, down, front, back, left, and right. In addition, since the rubber leg 11 attenuates the vibration, the rubber leg 11 can function as a shock absorber.

[0042] The support part 12 is composed of a lower structure body 13, a first intermediate structure body 14, a second intermediate structure body 15, and an upper structure body 16. The lower structure body 13 is located on the negative Z-direction side and is connected to the rubber leg 11. The upper structure body 16 is located on the positive Z-direction side. The first intermediate structure body 14 and the second intermediate structure body 15 are plate-shaped, and the first intermediate structure body 14 and the second intermediate structure body 15 stand between the lower structure body 13 and the upper structure body 16. The first intermediate structure body 14 and the second intermediate structure body 15 fix the lower structure body 13 and the upper structure body 16. The material of the support part 12 is metal, and the support part 12 has high rigidity.

[0043] Between the lower structure body 13 and the upper structure body 16, a first motor 17 as a motor, a second motor 18 as a motor, and a third motor 19 as a motor are arranged. The control part 8 controls the rotation of the first motor 17, the second motor 18, and the third motor 19. The first motor 17 is fixed to the surface on the positive X-direction side of the first intermediate structure body 14. The second motor 18 is fixed to the surface on the negative X-direction side of the second intermediate structure body 15. The third motor 19 is fixed to the surface on the positive Z-direction side of the lower structure body 13.

[0044] On the positive Z-direction side of the upper structure body 16, a mounting table 21 is arranged. The mounting table 21 is fixed to the upper structure body 16. The material of the mounting table 21 is metal, and the mounting table 21 has high rigidity. The mounting table 21 forms a recess 21a on the positive Z-direction side. The bottom surface of the recess 21a is a mounting surface 22. It should be noted that the material of the mounting table 21 can also be resin.

[0045] As Figure 3 shown, components 23 are placed on the mounting surface 22. The mounting table 21 has a mounting surface 22 for mounting the components 23. The surface sides 23a of several components 23 face the positive Z-direction side. The back sides 23b of several components 23 face the positive Z-direction side. In the figure, the components 23 with the back sides 23b facing the positive Z-direction side are hatched. The components 23 are placed in the recess 21a, and it is not easy for the components 23 to fall out of the recess 21a.

[0046] As Figure 4 and Figure 5 shown, the third motor 19 has a third eccentric weight 24 as an eccentric weight that is eccentric with respect to the third rotation axis 19a as a rotation axis on the third rotation axis 19a. According to this structure, the third eccentric weight 24 can vibrate the third motor 19 with a simple structure. The vibration of the third motor 19 is transmitted to the mounting table 21 via the support part 12.

[0047] The third motor 19 is provided with third eccentric weights 24 on both sides of the third rotating shaft 19a. With this structure, due to the rotation of the third eccentric weights 24, the same centrifugal force acts on the third motor 19 on both sides of the third rotating shaft 19a. Therefore, the same vibration energy can be supplied to the support portion 12 on both sides of the third rotating shaft 19a. As a result, it is possible to suppress the vibration generated by the third motor 19 that causes the support portion 12 to swing about the X axis. On the Y negative direction side of the third eccentric weight 24 on the Y negative direction side, a third sensor 25 is arranged on the lower structure 13.

[0048] When viewed from a direction perpendicular to the mounting surface 22, the center of the mounting surface 22 coincides with the center of gravity of the two third eccentric weights 24. Therefore, the third motor 19 can vibrate the mounting surface 22 uniformly.

[0049] The third eccentric weight 24 on the Y negative direction side connected to the third motor 19 has a third convex portion 26 protruding toward the Y negative direction side. The third sensor 25 has a third slit 25a. An LED (Light Emitting Diode) and a phototransistor are arranged on the third sensor 25 with the third slit 25a therebetween. When the third convex portion 26 passes through the third slit 25a, the third convex portion 26 blocks the light emitted by the LED. The third sensor 25 detects the timing when the third convex portion 26 passes through the third slit 25a.

[0050] Figure 6 Indicates the relative positions of the first motor 17, the second motor 18, and the third motor 19. As Figure 4 and Figure 6 shown, the first motor 17 has a first eccentric weight 27, which is eccentric with respect to the first rotating shaft 17a as the rotating shaft, on the first rotating shaft 17a. The second motor 18 has a second eccentric weight 28, which is eccentric with respect to the second rotating shaft 18a as the rotating shaft, on the second rotating shaft 18a. With this structure, the first eccentric weight 27 can vibrate the first motor 17 with a simple structure. The second eccentric weight 28 can vibrate the second motor 18 with a simple structure. The vibrations of the first motor 17 and the second motor 18 are transmitted to the mounting table 21 via the support portion 12.

[0051] The component scattering device 6 includes a first motor 17 that rotates and vibrates the first rotating shaft 17a, a second motor 18 that rotates and vibrates the second rotating shaft 18a, and a third motor 19 that rotates and vibrates the third rotating shaft 19a. The support portion 12 supports the mounting table 21, the first motor 17, the second motor 18, and the third motor 19, and transmits the vibrations of the first motor 17, the second motor 18, and the third motor 19 to the mounting table 21. The resonance frequency of the support portion 12 is higher in the direction perpendicular to the mounting surface 22 than in the direction parallel to the mounting surface 22.

[0052] As shown Figure 6 in the figure, the axial directions of the first rotation shaft 17a and the second rotation shaft 18a are the Z direction, and the axial direction of the third rotation shaft 19a is the Y direction. The placement surface 22 is a plane including the X direction and the Y direction. The Z direction is a direction perpendicular to the placement surface 22. The axial direction of the third rotation shaft 19a of the third motor 19 is parallel to the placement surface 22, and the axial directions of the first rotation shaft 17a of the first motor 17 and the second rotation shaft 18a of the second motor 18 are perpendicular to the placement surface 22. Therefore, in the component spreading device 6, the axial direction of the rotation shaft of one motor is parallel to the placement surface 22, and the axial directions of the rotation shafts of two motors are perpendicular to the placement surface 22.

[0053] When viewed from a direction perpendicular to the placement surface 22, the third motor 19 with the axial direction of the third rotation shaft 19a parallel to the placement surface 22 is arranged between the first motor 17 and the second motor 18 whose axial directions of the rotation shafts are perpendicular to the placement surface 22.

[0054] According to this structure, the three motors are arranged in parallel. The central third motor 19 vibrates the placement table 21 in a direction perpendicular to the placement surface 22. The first motor 17 and the second motor 18 arranged outside the third motor 19 vibrate the placement table 21 in a direction parallel to the placement surface 22. The centers of gravity of the first motor 17 and the second motor 18 are symmetrically arranged with respect to the third rotation shaft 19a of the central third motor 19. Therefore, when the rotation shafts of the two motors on both sides rotate, the vibration of the motors can vibrate the placement table 21 uniformly.

[0055] On the Z negative direction side of the first motor 17, a first rotating plate 29 is mounted on the first rotation shaft 17a. A first disk slit 29a, which is a slit extending in the radial direction, is provided on the first rotating plate 29. A first sensor 31 is provided on the Z negative direction side of the first motor 17. The first sensor 31 is fixed to the lower structure 13. The first sensor 31 has a first sensor slit 31a. An LED and a phototransistor are arranged on the first sensor 31 with the first sensor slit 31a therebetween. When the first disk slit 29a passes through the first sensor slit 31a, the light emitted by the LED passes through the first disk slit 29a. The first sensor 31 detects the timing when the first disk slit 29a passes through the first sensor slit 31a.

[0056] On the Z-negative direction side of the second motor 18, a second rotating plate 32 is mounted on the second rotating shaft 18a. A second disk slit 32a, which is a slit extending in the radial direction, is provided on the second rotating plate 32. A second sensor 33 is provided on the Z-negative direction side of the second motor 18. The second sensor 33 is fixed to the lower structure 13. The second sensor 33 has a second sensor slit 33a. An LED and a phototransistor are arranged on the second sensor 33 with the second sensor slit 33a therebetween. When the second disk slit 32a passes through the second sensor slit 33a, the light emitted by the LED passes through the second disk slit 32a. The second sensor 33 detects the timing when the second disk slit 32a passes through the second sensor slit 33a.

[0057] Figure 7 Shows the arrangement of the rubber legs 11. As Figure 7 shown, four rubber legs 11 are arranged on the base 9. The rubber legs 11 are arranged symmetrically with respect to the third rotating shaft 19a. The rubber legs 11 are arranged symmetrically with respect to a virtual line 34 passing through the Z-positive direction end of the first rotating shaft 17a and the Z-positive direction end of the second rotating shaft 18a. By forming such an arrangement, the design of the resonance frequencies in the X direction and the Y direction of the support portion 12 becomes easy.

[0058] As Figure 8 shown, the control unit 8 includes a central arithmetic unit 35, a first motor drive unit 36, a second motor drive unit 37, and a third motor drive unit 38. The central arithmetic unit 35 is electrically connected to the robot controller 3, the first motor drive unit 36, the second motor drive unit 37, and the third motor drive unit 38. The central arithmetic unit 35 sends instruction signals for starting and ending rotation to the first motor drive unit 36, the second motor drive unit 37, and the third motor drive unit 38. In addition, the central arithmetic unit 35 also sends instruction signals for the number of revolutions, the rotation direction, and the phase to the first motor drive unit 36, the second motor drive unit 37, and the third motor drive unit 38.

[0059] The first motor drive unit 36 is electrically connected to the first motor 17 and the first sensor 31. When driving the first motor 17, the first motor drive unit 36 drives the first motor 17 at the number of revolutions and in the rotation direction indicated by the instruction signal. The first motor drive unit 36 inputs the signal indicating the position of the first rotating shaft 17a detected by the first sensor 31. The first motor drive unit 36 inputs the signal output by the first sensor 31 and performs control so that the number of revolutions of the first rotating shaft 17a becomes the number of revolutions of the instruction signal.

[0060] The first motor drive unit 36 calculates the phase of the first rotating shaft 17a based on the position and rotational speed of the first rotating shaft 17a. The first motor drive unit 36 sends a signal of the phase of the first rotating shaft 17a to the central arithmetic unit 35. The central arithmetic unit 35 sends a signal of the phase of the first rotating shaft 17a to the second motor drive unit 37.

[0061] The second motor drive unit 37 is electrically connected to the second motor 18 and the second sensor 33. When driving the second motor 18, the second motor drive unit 37 drives the second motor 18 according to the rotational speed and rotation direction indicated by the instruction signal. The second motor drive unit 37 inputs a signal output by the second sensor 33 indicating the position of the second rotating shaft 18a.

[0062] The second motor drive unit 37 inputs the signal output by the second sensor 33 and controls it so that the rotational speed of the second rotating shaft 18a becomes the rotational speed of the instruction signal. When driving the first motor 17 and the second motor 18 without driving the third motor 19, the second motor drive unit 37 inputs a signal of the phase of the first rotating shaft 17a from the central arithmetic unit 35 and controls the phase of the second rotating shaft 18a.

[0063] The third motor drive unit 38 is electrically connected to the third motor 19 and the third sensor 25. When driving the third motor 19, the third motor drive unit 38 drives the third motor 19 according to the rotational speed and rotation direction indicated by the instruction signal. The third motor drive unit 38 inputs a signal output by the third sensor 25 indicating the position of the third rotating shaft 19a. The third motor drive unit 38 inputs the signal output by the third sensor 25 and controls it so that the rotational speed of the third rotating shaft 19a becomes the rotational speed of the instruction signal.

[0064] When driving at least one of the first motor 17 and the second motor 18 in addition to the third motor 19, the third motor drive unit 38 calculates the phase of the third rotating shaft 19a based on the position and rotational speed of the third rotating shaft 19a. The third motor drive unit 38 sends a signal of the phase of the third rotating shaft 19a to the central arithmetic unit 35. The central arithmetic unit 35 sends a signal of the phase of the third rotating shaft 19a to the first motor drive unit 36 and the second motor drive unit 37.

[0065] When driving the first motor 17 in addition to the third motor 19, the first motor drive unit 36 inputs a signal of the phase of the third rotating shaft 19a from the central arithmetic unit 35 and controls the phase of the first rotating shaft 17a. When driving the second motor 18 in addition to the third motor 19, the second motor drive unit 37 inputs a signal of the phase of the third rotating shaft 19a from the central arithmetic unit 35 and controls the phase of the second rotating shaft 18a.

[0066] As described above, the control unit 8 independently controls at least one of the rotational speed, rotational direction, and initial phase of the three motors.

[0067] Next, a control method for the component dispersing device 6 will be described based on the operations of the motors and the component 23.

[0068] As Figure 9 shown, when viewed from the positive Z direction, the first motor 17 rotates the first eccentric weight 27 counterclockwise. When viewed from the positive Z direction, the second motor 18 rotates the second eccentric weight 28 clockwise. In this operation, it is necessary to rotate in opposite directions after matching the phases.

[0069] As Figure 10 shown, when the first eccentric weight 27 and the second eccentric weight 28 move in the positive Y direction, the centrifugal forces of the first eccentric weight 27 and the second eccentric weight 28 act on the support portion 12. Due to the centrifugal force, a torque about the X direction acts on the support portion 12. The rubber legs 11 on the positive Y direction side contract, and the rubber legs 11 on the negative Y direction side extend. As a result, the mounting table 21 tilts. The negative Y direction side of the mounting table 21 moves in the positive Z direction, and the positive Y direction side moves in the negative Z direction.

[0070] As Figure 11 shown, when the first eccentric weight 27 and the second eccentric weight 28 move in the negative Y direction, the centrifugal forces of the first eccentric weight 27 and the second eccentric weight 28 act on the support portion 12. Due to the centrifugal force, a torque about the X direction acts on the support portion 12. The rubber legs 11 on the negative Y direction side contract, and the rubber legs 11 on the positive Y direction side extend. As a result, the mounting table 21 tilts. The positive Y direction side of the mounting table 21 moves in the positive Z direction, and the negative Y direction side moves in the negative Z direction. Therefore, the mounting table 21 swings about the X direction as the rotation axis. In this way, swinging about an axis parallel to the mounting surface 22 is referred to as pitching.

[0071] As Figure 12 shown, the component 23 is divided into the positive Y direction and the negative Y direction of the mounting surface 22. The control unit 8 drives the first motor drive unit 36 and the second motor drive unit 37 to swing the mounting table 21 about the X direction as the axis. The components 23 on the positive Y direction side move in the negative Y direction. The components 23 on the negative Y direction side move in the positive Y direction. The moving amounts of the respective components 23 are different. As a result, as Figure 13 shown, the components 23 are dispersedly arranged on the mounting surface 22.

[0072] As Figure 14 shown, when viewed from the positive Z direction, the first motor 17 rotates the first eccentric weight 27 counterclockwise. When viewed from the positive Z direction, the second motor 18 rotates the second eccentric weight 28 counterclockwise. This operation requires rotation after matching the phases.

[0073] The centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 move in the order of the positive Y direction, the negative X direction, the negative Y direction, and the positive X direction. The centrifugal forces of the first eccentric weight 27 and the second eccentric weight 28 act on the support portion 12. The rubber leg 11 on the side toward which the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 are oriented contracts. The rubber leg 11 on the side opposite to the side toward which the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 are oriented elongates. As a result, the mounting table 21 tilts. The mounting table 21 on the side toward which the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 are oriented moves in the negative Z direction. The mounting table 21 on the side opposite to the side toward which the centers of gravity of the first eccentric weight 27 and the second eccentric weight 28 are oriented moves in the positive Z direction.

[0074] As Figure 15 shown, when viewed from the positive Z direction side, the component 23 moves toward the center of the mounting surface 22 while moving counterclockwise.

[0075] As Figure 16 shown, the component 23 is located on the outer peripheral side within the mounting surface 22. The control unit 8 drives the first motor drive unit 36 and the second motor drive unit 37 to swing the mounting table 21 about the Z axis. By the swinging, each component 23 moves toward the center side. The moving amounts of the respective components 23 are different. As a result, as Figure 13 shown, the components 23 are dispersedly arranged on the mounting surface 22.

[0076] Figure 17 , Figure 19 , Figure 21 shows the relationship between the rotations of the first eccentric weight 27 of the first motor 17 and the third eccentric weight 24 of the third motor 19 and the vibration of the mounting surface 22. The second motor 18 is not driven. The rotational speeds of the first motor 17 and the third motor 19 are set to N. The resonance frequency of the support portion 12 in the direction perpendicular to the mounting surface 22 is set to Rv. The resonance frequency of the support portion 12 in the direction parallel to the mounting surface 22 is set to Rh. The values of Rh and Rv are not particularly limited, but in the present embodiment, for example, Rv = 2200 rpm (36.6 Hz) and Rh = 500 rpm (8.3 Hz). It should be noted that the first motor 17 and the second motor 18 may also be driven with their phases matched.

[0077] In the following example, the first motor 17 is not driven, and the third motor 19 is driven. When N = Rv, as Figure 17 shown, the mounting surface 22 vibrates in a reciprocating manner between the positive Z direction and the negative Z direction. The components 23 jump on the mounting surface 22. The front and back surfaces of several components 23 are flipped. As Figure 18As shown, when there are many components 23 on the back side 23b of the placement surface 22, the control unit 8 vibrates the placement surface 22 in a reciprocating manner in the +Z direction and the -Z direction. At this time, as Figure 13 shown, the component dispersing device 6 can turn over several components 23.

[0078] In the following example, the first motor 17 and the third motor 19 are driven. Within the range of Rh < N < Rv, the control unit 8 rotates the first motor 17 and the third motor 19. The central arithmetic unit 35 causes the first motor drive unit 36 and the third motor drive unit 38 to control the phases of the first rotating shaft 17a and the third rotating shaft 19a.

[0079] As Figure 19 shown, when the center of gravity of the first eccentric weight 27 moves in the +X direction, the center of gravity of the third eccentric weight 24 moves in the +Z direction. When the center of gravity of the first eccentric weight 27 moves in the -X direction, the center of gravity of the third eccentric weight 24 moves in the -Z direction.

[0080] As Figure 20 shown, when there are many components 23 in the -X direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 in a reciprocating manner in the +X direction and +Z direction and the -X direction and -Z direction. At this time, the components 23 on the placement surface 22 move in the +X direction. The movement amounts of the respective components 23 are different. As Figure 13 shown, the component dispersing device 6 can disperse the positions of the components 23.

[0081] As Figure 21 shown, in the following example, when the center of gravity of the first eccentric weight 27 moves in the -X direction, the center of gravity of the third eccentric weight 24 moves in the +Z direction. When the center of gravity of the first eccentric weight 27 moves in the +X direction, the center of gravity of the third eccentric weight 24 moves in the -Z direction.

[0082] As Figure 22 shown, when there are many components 23 in the +X direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 in a reciprocating manner in the -X direction and +Z direction and the +X direction and -Z direction. At this time, the components 23 on the placement surface 22 move in the -X direction. The movement amounts of the respective components 23 are different. As Figure 13 shown, the component dispersing device 6 can disperse the positions of the components 23.

[0083] In addition, when there are many components 23 in the -Y direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 in a reciprocating manner in the +Y direction and +Z direction and the -Y direction and -Z direction. At this time, as Figure 13 shown, the component dispersing device 6 can disperse the positions of the components 23.

[0084] In addition, when there are many components 23 in the positive Y direction on the placement surface 22, the control unit 8 vibrates the placement surface 22 in a reciprocating manner in the negative Y direction and the positive Z direction and the positive Y direction and the negative Z direction. At this time, as Figure 13 shown, the component dispersing device 6 can disperse the positions of the components 23.

[0085] According to this structure, three motors vibrate. The vibration of the motors is transmitted to the mounting table 21 via the support portion 12. The support portion 12 vibrates in a direction parallel to and perpendicular to the placement surface 22. When the third motor 19 whose rotation axis is parallel to the placement surface 22 rotates the third rotation axis 19a, the support portion 12 and the mounting table 21 vibrate in a direction perpendicular to the placement surface 22. At this time, the component 23 bounces on the placement surface 22. Therefore, the component 23 can be flipped.

[0086] When the third motor 19 whose rotation axis is parallel to the placement surface 22 and the first motor 17 whose rotation axis is perpendicular to the placement surface 22 rotate the first rotation axis 17a, the support portion 12 and the mounting table 21 vibrate in a direction parallel to the placement surface 22 and in a direction orthogonal to the placement surface 22. At this time, the component 23 moves along the placement surface 22. By separately controlling the rotation and stop of the two motors whose rotation axes are parallel or perpendicular to the placement surface 22, the component dispersing device 6 can change the moving direction of the component 23.

[0087] When the first motor 17 and the second motor 18 whose rotation axes are perpendicular to the placement surface 22 rotate the rotation axes respectively, the support portion 12 and the mounting table 21 perform pitching or swinging motion about an axis perpendicular to the placement surface 22. At this time, the component 23 moves along the placement surface 22. By separately controlling the rotation and stop of the two motors whose rotation axes are perpendicular to the placement surface 22, the component dispersing device 6 can change the moving direction of the component 23. As a result, the component dispersing device 6 can perform flipping of the component 23 and control of the moving direction of the component 23.

[0088] According to this control method, three motors vibrate. The vibration of the motors is transmitted to the mounting table 21 via the support portion 12. The support portion 12 vibrates in a direction parallel to and perpendicular to the placement surface 22. When the third motor 19 whose rotation axis of the motor is parallel to the placement surface 22 rotates the third rotation axis 19a, the support portion 12 and the mounting table 21 vibrate in a direction perpendicular to the placement surface 22. At this time, the component 23 bounces on the placement surface 22. Therefore, the component 23 can be flipped.

[0089] When the third motor 19 with the axial direction of the rotating shaft parallel to the placement surface 22 and the first motor 17 with the axial direction of the rotating shaft perpendicular to the placement surface 22 rotate the first rotating shaft 17a, the support portion 12 and the placement table 21 vibrate in a direction parallel to the placement surface 22 and in a direction perpendicular to the placement surface 22. At this time, the component 23 moves along the placement surface 22.

[0090] When the first motor 17 and the second motor 18 with the axial direction of the rotating shaft perpendicular to the placement surface 22 rotate the rotating shafts in mutually different directions, the support portion 12 and the placement table 21 perform pitching vibration with respect to the placement surface 22. At this time, the component 23 moves toward the center along the placement surface 22.

[0091] When the first motor 17 and the second motor 18 with the axial direction of the rotating shaft perpendicular to the placement surface 22 rotate the rotating shafts in the same direction, the support portion 12 and the placement table 21 vibrate in a manner of swinging about an axis passing through the center of the placement surface 22 and extending in the Z direction. At this time, the component 23 moves toward the center along the placement surface 22. By controlling the rotation directions of the first motor 17 and the second motor 18, the component scattering device 6 can change the vibration mode of the placement table 21, and thus can change the moving direction of the component 23.

[0092] Second Embodiment

[0093] In the above first embodiment, the third eccentric weights 24 are provided on both sides of the third rotating shaft 19a. The eccentric weight may be provided only on one side of the rotating shaft. The number of components can be reduced.

[0094] Third Embodiment

[0095] In the above first embodiment, the first motor 17, the third motor 19, and the second motor 18 are arranged in a straight line in sequence side by side. In addition, the first motor 17 and the second motor 18 may be arranged in the positive X direction, and the third motor 19 may be arranged in the negative X direction. Thus, the first motor 17 and the second motor 18 may be arranged side by side in the axial direction of the third rotating shaft 19a. When viewed from the positive Z direction, the areas occupied by the first motor 17, the second motor 18, and the third motor 19 can be made close to a square.

Claims

1. A component dispersion device, characterized in that, Comprising: A mounting table having a mounting surface for mounting components; Three motors that rotate a rotating shaft and vibrate; and A support portion that supports the mounting table and the three motors and transmits the vibration of the motors to the mounting table, The axial direction of the rotating shaft of one of the motors is parallel to the mounting surface, and the axial directions of the rotating shafts of the two motors are perpendicular to the mounting surface, The centers of gravity of the two motors whose axial directions of the rotating shafts are perpendicular to the mounting surface are symmetrically arranged with respect to the axis of symmetry of the one motor whose axial direction of the rotating shaft is parallel to the mounting surface.

2. The component spreading device according to claim 1, wherein The motor has an eccentric weight that is eccentric with respect to the rotating shaft on the rotating shaft.

3. The component spreading device according to claim 2, wherein The motor has the eccentric weights on both sides of the rotating shaft.

4. The component spreading device according to any one of claims 1 to 3, wherein When viewed from a direction perpendicular to the mounting surface, the motor whose axial direction of the rotating shaft is parallel to the mounting surface is arranged between the two motors whose axial directions of the rotating shafts are perpendicular to the mounting surface.

5. The component spreading device according to claim 1, wherein The component spreading device has rubber that supports the support portion so that the support portion can vibrate.

6. A control method for a component spreading device, characterized in that The component spreading device comprises: A mounting table having a mounting surface for mounting components; Three motors that rotate a rotating shaft and vibrate; A support portion that supports the mounting table and the three motors and transmits the vibration of the motors to the mounting table; and A control portion that controls the rotation of the motors, The axial direction of the rotating shaft of one of the motors is parallel to the mounting surface, and the axial directions of the rotating shafts of the two motors are perpendicular to the mounting surface, The centers of gravity of the two motors whose axial directions of the rotating shafts are perpendicular to the mounting surface are symmetrically arranged with respect to the axis of symmetry of the one motor whose axial direction of the rotating shaft is parallel to the mounting surface, In the control method, the control portion independently controls at least one of the rotational speeds, rotation directions, and initial phases of the three motors.

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