Vibration generating device, control method of vibration generating device, and pickup system

Abstract

Provided is a vibration generating device, a control method for the vibration generating device, and a pickup system, capable of precisely controlling the vibration direction of a tank. The vibration generating device has: a tank in which a workpiece is placed; a first vibration motor and a second vibration motor, the rotational shafts of which are in a horizontal direction and parallel to each other; a transmission portion in which the first vibration motor and the second vibration motor are disposed, and which transmits the vibrations of the first vibration motor and the second vibration motor to the tank; a first sensor that detects the rotational position of the rotational shaft of the first vibration motor; and a second sensor that detects the rotational position of the rotational shaft of the second vibration motor.

Description

TECHNICAL FIELD

[0001] The present application relates to a vibration generating device, a control method of a vibration generating device, and a pickup system. BACKGROUND

[0002] In Patent Literature 1, a vibration conveying device is described which conveys powder particles by vibrating a conveying trough supported by a plurality of spring legs by a vibration motor. In this vibration conveying device, the vibration motor is composed of two reference motors and one offset motor, and it is possible to impart a fixed direction vibration to the conveying trough by individually controlling the three vibration motors.

[0003] Patent Literature 1: Japanese Utility Model Publication No. 3175501

[0004] However, in the vibration conveying device of Patent Literature 1, there is a problem that since the eccentric angle of the rotation axis of each vibration motor (the position of the eccentric weight) is not known, it is not possible to control the vibration direction of the conveying trough with good precision. SUMMARY

[0005] The vibration generating device of the present application has:

[0006] a trough on which a workpiece is placed;

[0007] a first vibration motor and a second vibration motor, the rotation axes of which are in the horizontal direction and parallel to each other;

[0008] a transmission portion which is provided with the first vibration motor and the second vibration motor and which transmits the vibrations of the first vibration motor and the second vibration motor to the trough;

[0009] a first sensor which detects the rotation position of the rotation axis of the first vibration motor; and

[0010] a second sensor which detects the rotation position of the rotation axis of the second vibration motor.

[0011] The control method of the vibration generating device of the present application is a control method of a vibration generating device having:

[0012] a trough on which a workpiece is placed;

[0013] a first vibration motor and a second vibration motor, the rotation axes of which are in the horizontal direction and parallel to each other;

[0014] a transmission portion which is provided with the first vibration motor and the second vibration motor and which transmits the vibrations of the first vibration motor and the second vibration motor to the trough;

[0015] a first sensor which detects the rotation position of the rotation axis of the first vibration motor; and

[0016] a second sensor that detects a rotational position of the rotational shaft of the second vibration motor,

[0017] In the control method of the vibration generating apparatus,

[0018] the first vibration motor and the second vibration motor are controlled based on detection results of the first sensor and the second sensor.

[0019] The pick-up system of the present application has:

[0020] a vibration generating apparatus that places a workpiece, and provides vibration to the workpiece to change a position of the workpiece;

[0021] a vision instrument that photographs the workpiece placed on the vibration generating apparatus, and detects a position of the workpiece based on a photographing result; and

[0022] a robot that picks up the workpiece placed on the vibration generating apparatus based on a detection result of the vision instrument,

[0023] the vibration generating apparatus has:

[0024] a slot that places the workpiece;

[0025] a first vibration motor and a second vibration motor that have rotational shafts along a horizontal direction, and are parallel to each other;

[0026] a transmission portion that arranges the first vibration motor and the second vibration motor, and transmits vibration of the first vibration motor and the second vibration motor to the slot;

[0027] a first sensor that detects a rotational position of the rotational shaft of the first vibration motor; and

[0028] a second sensor that detects a rotational position of the rotational shaft of the second vibration motor. BRIEF DESCRIPTION OF DRAWINGS

[0029] Figure 1 is a front view showing the overall configuration of a pick-up system according to a first embodiment.

[0030] Figure 2 is a front view showing a robot.

[0031] Figure 3 is a front view showing a vibration generating apparatus.

[0032] Figure 4 is a top view showing the vibration generating apparatus.

[0033] Figure 5 is a top view showing two vibration motors of the vibration generating apparatus.

[0034] Figure 6 is a side view showing a vibration motor and a sensor.

[0035] Figure 7 is a front view for explaining driving of a vibration generating device.

[0036] Figure 8 is a front view for explaining driving of a vibration generating device.

[0037] Figure 9 is a front view for explaining driving of a vibration generating device.

[0038] Figure 10 is a front view for explaining driving of a vibration generating device.

[0039] Figure 11 is a flowchart showing a driving method of a pickup system.

[0040] Figure 12 is a side view showing a vibration motor and a sensor which the vibration generating device according to the second embodiment has.

[0041] Figure 13 is a front view showing a vibration generating device according to the third embodiment.

[0042] Figure 14 is a top view showing three vibration motors which the vibration generating device according to the fourth embodiment has.

[0043] BRIEF DESCRIPTION OF REFERENCE NUMERALS

[0044] 100… pickup system, 200… vibration generating device, 210… base, 220… leg, 221… coil spring, 230… transmission, 240… groove support, 241… window, 250… groove, 251… window, 260A… first vibration motor, 260B… second vibration motor, 260C… third vibration motor, 261A… main body, 261B… main body, 261C… main body, 262A… rotating shaft, 262B… rotating shaft, 262C… rotating shaft, 263A… eccentric weight, 263B… eccentric weight, 263C… eccentric weight, 264A… eccentric weight, 264B… eccentric weight, 264C… eccentric weight, 270A… first sensor, 270B… second sensor, 270C… third sensor, 271A… first detected body, 271B… second detected body, 271C… third detected body, 272A… first detection part, 272B… second detection part, 272C… third detection part, 273A… light emitting part, 273B… light emitting part, 274A… light receiving part, 274B… light receiving part, 280… light source, 290… spacer, 300… conveyor, 310… belt, 320… conveying roller, 330… conveying amount sensor, 400… vision instrument, 410… camera, 420… detection part, 500… robot, 510… base, 520… robot arm, 521… first arm, 522… second arm, 530… work head, 531… spline nut, 532… ball screw nut, 533… spline shaft, 540… end effector, 571… first drive device, 572… second drive device, 573… third drive device, 574… fourth drive device, 600… control device, B1… vibration, B2… vibration, B3… vibration, B4… vibration, D… image data, H1… eccentric direction, H2… eccentric direction, J1… first rotation axis, J2… second rotation axis, J3… third rotation axis, L… light, L1… separation distance, LL… light, N… thread, O… center, S… space, S1… step, S2… step, S3… step, S4… step, S5… step, W… workpiece, W1… amplitude. DETAILED DESCRIPTION

[0045] Hereinafter, preferred embodiments of a vibration generating device, a control method of the vibration generating device, and a pickup system will be described based on the drawings.

[0046] First Embodiment

[0047] Figure 1 is a front view showing the overall configuration of the pickup system according to the first embodiment. Figure 2 is a front view showing the robot. Figure 3 is a front view showing the vibration generating device. Figure 4 is a top view showing the vibration generating device. Figure 5is a top view showing two vibration motors possessed by the vibration generating device. Figure 6 is a side view showing the vibration motor and the sensor. Figures 7 to 10 are front views for explaining driving of the vibration generating device, respectively. Figure 11 is a flowchart showing a driving method of the pickup system.

[0048] Figure 1 The pickup system 100 shown has a vibration generating device 200 on which a workpiece W as a conveyance object is placed; a conveyer 300 as a conveyance device that conveys the workpiece W; a vision instrument 400 that photographs the workpiece W placed on the vibration generating device 200; a robot 500 that picks up the workpiece W placed on the vibration generating device 200 based on a detection result of the vision instrument 400 and releases it onto the conveyer 300; and a control device 600 that controls driving of the above-mentioned parts.

[0049] The robot 500

[0050] The robot 500 is a SCARA robot (horizontal multi-joint robot). As shown in Figure 2 The robot 500 has a base 510 fixed to the floor and a robot arm 520 connected to the base 510. The robot arm 520 has a first arm 521 whose base end portion is connected to the base 510 and rotates with respect to the base 510 about a first rotation axis J1 along the vertical direction, and a second arm 522 whose base end portion is connected to a front end portion of the first arm 521 and rotates with respect to the first arm 521 about a second rotation axis J2 along the vertical direction.

[0051] Further, a work head 530 is provided at a front end portion of the second arm 522. The work head 530 has a spline nut 531 and a ball screw nut 532 coaxially arranged at the front end portion of the second arm 522, and a spline shaft 533 inserted through the spline nut 531 and the ball screw nut 532. The spline shaft 533 is rotatable with respect to the second arm 522 about a third rotation axis J3 along the vertical direction, and is liftable along the third rotation axis J3.

[0052] Further, an end effector 540 is loaded at a lower end portion of the spline shaft 533. The end effector 540 is detachable and can be appropriately selected as an end effector suitable for a target work. The end effector 540 of the present embodiment is a hand that grips and holds the workpiece W.

[0053] Additionally, the robot 500 includes: a first drive device 571 that causes the first arm 521 to rotate relative to the base 510 about a first rotation axis J1; a second drive device 572 that causes the second arm 522 to rotate relative to the first arm 521 about a second rotation axis J2; a third drive device 573 that causes the spline nut 531 to rotate and the spline shaft 533 to rotate about a third rotation axis J3; and a fourth drive device 574 that causes the ball screw nut 532 to rotate and the spline shaft 533 to move up and down in the direction along the third rotation axis J3.

[0054] In addition, the first drive unit 571, the second drive unit 572, the third drive unit 573, and the fourth drive unit 574 are each equipped with a motor as a drive source and an encoder for detecting the rotation amount of the motor. During the operation of the pickup system 100, the control unit 600 performs feedback control to make the position of the robot arm 520 indicated by the output of each encoder consistent with the target position as the control target.

[0055] The above describes Robot 500. However, Robot 500 is not particularly limited. For example, it can also be a 6-axis robot with a robotic arm having 6 rotation axes.

[0056] Conveyor 300

[0057] like Figure 1 As shown, the conveyor 300 includes: a belt 310 for carrying the workpiece W; a conveyor roller 320; a motor (not shown) for driving the conveyor roller 320; and a conveying quantity sensor 330 that outputs a signal corresponding to the rotation amount of the conveyor roller 320 to a control device 600. During operation of the pickup system 100, the control device 600 performs feedback control to match the conveying speed of the workpiece W indicated by the output of the conveying quantity sensor 330 with a target conveying speed as the control objective. Thus, the workpiece W can be stably conveyed at the desired speed.

[0058] Vision instrument 400

[0059] like Figure 1 As shown, the vision device 400 is a device that captures images of a workpiece W on the vibration generating device 200 from above and detects the position or overlap state of the workpiece W based on the captured images. This vision device 400 includes: a camera 410; and a detection unit 420 that detects the position of at least one workpiece W on the vibration generating device 200 based on image data captured by the camera 410. It should be noted that in this embodiment, the detection unit 420 is assembled to the control device 600.

[0060] Furthermore, camera 410 is a 3D camera (stereo camera) capable of capturing distance images where each pixel has depth information (depth information). Each pixel of camera 410 is associated with world coordinates via detection unit 420. When a workpiece W is present within the field of view of camera 410, the coordinates of workpiece W can be determined based on the position of workpiece W within the image data. However, the configuration of vision instrument 400 is not particularly limited; for example, it can be a configuration combining a 2D camera and a depth sensor, or it can be a configuration using a measuring device that measures three-dimensional shape using a phase-shifting method.

[0061] Vibration Generator 200

[0062] like Figure 3 As shown, the vibration generating device 200 includes: a plate-shaped base 210; four legs 220 erected on the base 210; a plate-shaped transmission section 230 connected to the base 210 via the legs 220; a plate-shaped groove support section 240 overlapping the upper surface of the transmission section 230; a groove 250 disposed on the upper surface of the groove support section 240 for holding the workpiece W; a first vibration motor 260A and a second vibration motor 260B disposed on the lower surface of the transmission section 230; a first sensor 270A for detecting the rotation of the first vibration motor 260A; and a second sensor 270B for detecting the rotation of the second vibration motor 260B.

[0063] According to the vibration generating device 200 configured in this way, the drive of the first vibration motor 260A and the second vibration motor 260B can be controlled by the control device 600 to impart vibration in a predetermined direction to the groove 250, thereby changing the position or overlapping state of the workpiece W placed in the groove 250. In particular, in the vibration generating device 200, the rotation (eccentricity directions H1, H2) of the first vibration motor 260A and the second vibration motor 260B can be detected by the first sensor 270A and the second sensor 270B, thus enabling the generation of vibration in a predetermined direction with good accuracy.

[0064] Each of the four legs 220 has a coil spring 221, enabling elastic deformation. Additionally, as... Figure 4 As shown, the four legs 220 are well balanced and positioned at the four corners of the base 210.

[0065] like Figure 3 As shown, the plate-shaped transmission section 230 is fixed to the base 210 approximately horizontally via the four legs 220. Therefore, the transmission section 230 is prone to wobbling relative to the base 210, and the vibrations of the first vibration motor 260A and the second vibration motor 260B are amplified and transmitted to the slot 250.

[0066] The slot support portion 240 is plate-shaped and overlaps with the upper surface of the transfer portion 230. Furthermore, the slot support portion 240 is fixed to the transfer portion 230 by multiple threads (N-threads). The slot 250 is box-shaped and is disposed approximately horizontally on the upper surface of the slot support portion 240. Multiple workpieces W can be arbitrarily accommodated within the slot 250.

[0067] like Figure 3 As shown, a first vibration motor 260A and a second vibration motor 260B are disposed on the lower surface of the transmission section 230. Additionally, as... Figure 5 As shown, the first vibration motor 260A has: a main body 261A housing a stator and rotor (not shown); a rotating shaft 262A protruding from both sides of the main body 261A; and eccentric hammers 263A and 264A disposed at both ends of the rotating shaft 262A. When the first vibration motor 260A is driven, centrifugal force vibration is generated on the rotating shaft 262A by the action of the eccentric hammers 263A and 264A. Similarly, the second vibration motor 260B has: a main body 261B housing a stator and rotor (not shown); a rotating shaft 262B protruding from both sides of the main body 261B; and eccentric hammers 263B and 264B disposed at both ends of the rotating shaft 262B. When this second vibration motor 260B is driven, centrifugal force vibration is generated on the rotating shaft 262B by the action of the eccentric hammers 263B and 264B. However, the configuration of the first vibration motor 260A and the second vibration motor 260B is only required to generate vibration, and there are no special restrictions.

[0068] In addition, such as Figure 5 As shown, when viewed from a vertical direction, the first vibration motor 260A and the second vibration motor 260B are arranged separately on both sides of the center O of the groove 250. That is, the first vibration motor 260A is arranged on one side of the center O, and the second vibration motor 260B is arranged on the other side. In addition, the rotation shafts 262A and 262B are approximately horizontal and arranged parallel to each other. In particular, in this embodiment, the rotation shafts 262A and 262B are arranged in an orientation orthogonal to the long side direction of the groove 250. Furthermore, the rotation shafts 262A and 262B are located on the same horizontal plane.

[0069] The first sensor 270A detects the rotational position of the rotating shaft 262A of the first vibration motor 260A. It should be noted that the "rotational position of the rotating shaft 262A" refers to the position of the eccentric hammers 263A and 264A, i.e., the eccentric direction H1 of the rotating shaft 262A. Similarly, the second sensor 270B detects the rotational position of the rotating shaft 262B of the second vibration motor 260B. It should be noted that the "rotational position of the rotating shaft 262B" refers to the position of the eccentric hammers 263A and 264A, i.e., the eccentric direction H1 of the rotating shaft 262B. Furthermore, these first sensors 270A and second sensors 270B are transmissive photoelectric sensors. Therefore, it is possible to achieve low cost and miniaturization of the first sensors 270A and second sensors 270B.

[0070] like Figure 6 As shown, the first sensor 270A includes: a first object to be detected 271A, which is protruding and disposed on the eccentric hammer 263A; and a first detection unit 272A disposed on the lower surface of the transmission unit 230. The first detection unit 272A includes: a light-emitting unit 273A that emits light L; and a light-receiving unit 274A, which is disposed opposite to the light-emitting unit 273A and receives light L from the light-emitting unit 273A. Furthermore, each time the rotating shaft 262A rotates one revolution, the first object to be detected 271A passes between the light-emitting unit 273A and the light-receiving unit 274A. At this time, because the light L from the light-emitting unit 273A is blocked, the output signal from the light-receiving unit 274A changes. Therefore, the control device 600 can detect the rotational position (eccentric direction H1) of the rotating shaft 262A based on the output signal from the light-receiving unit 274A.

[0071] Similarly, the second sensor 270B includes: a second detected object 271B, which is protruding and disposed on the eccentric hammer 263B; and a second detection unit 272B, disposed on the lower surface of the transmission unit 230. The second detection unit 272B includes: a light-emitting unit 273B that emits light L; and a light-receiving unit 274B, which is disposed opposite to the light-emitting unit 273B and receives light L from the light-emitting unit 273B. Furthermore, each time the rotating shaft 262B rotates one revolution, the second detected object 271B passes between the light-emitting unit 273B and the light-receiving unit 274B. At this time, because the light L from the light-emitting unit 273B is blocked, the output signal from the light-receiving unit 274B changes. Therefore, the control device 600 can detect the rotational position (eccentric direction H2) of the rotating shaft 262B based on the output signal from the light-receiving unit 274B.

[0072] Further, the first vibration motor 260A and the second vibration motor 260B are configured such that end portions on the first sensor 270A, second sensor 270B side are located on the same side. Thereby, the configuration of the first sensor 270A, second sensor 270B, or the connection of the wiring to the first sensor 270A, second sensor 270B becomes easy.

[0073] Note that, as the first sensor 270A, second sensor 270B, there is no particular limitation, and for example, can be a reflection type photoelectric sensor that accepts light L reflected by the first detected body 271A, second detected body 271B by the light receiving portion 274A, 274B, or can be an encoder. Further, in the case of an encoder, can be any of an absolute type and an incremental type. Further, in the present embodiment, the first sensor 270A is configured on the outside of the first vibration motor 260A, but is not limited thereto, and for example, can be configured inside the first vibration motor 260A.

[0074] Based on Figures 7 to 10 The driving method of the vibration generating device 200 configured in this way is described in detail. In the vibration generating device 200, by independently controlling the driving of the first vibration motor 260A, second vibration motor 260B, respectively, it is possible to impart a vibration of a prescribed direction to the groove 250.

[0075] For example, as Figure 7 indicated, when the first vibration motor 260A, second vibration motor 260B are mutually rotationally driven in opposite directions such that the eccentric directions H1, H2 are both directed toward the lower side of the vertical direction in a state in which the rotational positions of the rotational shafts 262A, 262B are identical, based on the output signals of the first sensor 270A, second sensor 270B, by the vibration of the first vibration motor 260A and the vibration of the second vibration motor 260B canceling and overlapping, the leg portion 220 is elastically deformed while imparting a vibration Bl of the up-down direction to the groove 250. Thereby, the workpiece W inside the groove 250 is vibrated in a manner of bouncing up and down.

[0076] Further, for example, as Figure 8As shown, when the first vibration motor 260A and the second vibration motor 260B are rotationally driven in opposite directions to each other based on the output signals of the first sensor 270A and the second sensor 270B in a state where the rotational positions of the rotation shafts 262A and 262B are made to coincide with each other so that the eccentric directions H1 and H2 are both directed to the left oblique lower side, the vibration of the first vibration motor 260A and the vibration of the second vibration motor 260B cancel and overlap each other, and the groove 250 is given the oblique-direction vibration B2 while the leg portion 220 is elastically deformed. Thus, the workpiece W in the groove 250 is moved in the left direction. Note that the workpiece W is similarly moved even if the first vibration motor 260A and the second vibration motor 260B are rotationally driven in the same direction to each other.

[0077] Further, for example as shown in FIG. 6, when the first vibration motor 260A and the second vibration motor 260B are rotationally driven in opposite directions to each other based on the output signals of the first sensor 270A and the second sensor 270B in a state where the rotational positions of the rotation shafts 262A and 262B are made to coincide with each other so that the eccentric directions H1 and H2 are both directed to the right oblique lower side, the vibration of the first vibration motor 260A and the vibration of the second vibration motor 260B cancel and overlap each other, and the groove 250 is given the oblique-direction vibration B3 while the leg portion 220 is elastically deformed. Thus, the workpiece W in the groove 250 is moved in the right direction. Note that the workpiece W is similarly moved even if the first vibration motor 260A and the second vibration motor 260B are rotationally driven in the same direction to each other. Figure 9 Further, for example as shown in FIG. 6, when the first vibration motor 260A and the second vibration motor 260B are rotationally driven in opposite directions to each other based on the output signals of the first sensor 270A and the second sensor 270B in a state where the rotational positions of the rotation shafts 262A and 262B are made to coincide with each other so that the eccentric directions H1 and H2 are both directed to the right oblique lower side, the vibration of the first vibration motor 260A and the vibration of the second vibration motor 260B cancel and overlap each other, and the groove 250 is given the oblique-direction vibration B3 while the leg portion 220 is elastically deformed. Thus, the workpiece W in the groove 250 is moved in the right direction. Note that the workpiece W is similarly moved even if the first vibration motor 260A and the second vibration motor 260B are rotationally driven in the same direction to each other.

[0078] Figure 10 Further, for example as shown in FIG. 6, when the first vibration motor 260A and the second vibration motor 260B are rotationally driven in opposite directions to each other based on the output signals of the first sensor 270A and the second sensor 270B in a state where the rotational positions of the rotation shafts 262A and 262B are made to coincide with each other so that the eccentric directions H1 and H2 are both directed to the right oblique lower side, the vibration of the first vibration motor 260A and the vibration of the second vibration motor 260B cancel and overlap each other, and the groove 250 is given the oblique-direction vibration B3 while the leg portion 220 is elastically deformed. Thus, the workpiece W in the groove 250 is moved in the right direction. Note that the workpiece W is similarly moved even if the first vibration motor 260A and the second vibration motor 260B are rotationally driven in the same direction to each other.

[0079] In particular, in the vibration generating device 200, the rotational positions of the rotation shafts 262A and 262B can be detected based on the output signals of the first sensor 270A and the second sensor 270B, and thus the rotational positions of the rotation shafts 262A and 262B can be matched with the desired start positions with higher accuracy. Thus, the vibration direction of the groove 250 can be controlled with higher accuracy.​

[0080] Control device 600

[0081] The control device 600 controls the drive of the vibration generating device 200, the conveyer 300, the vision instrument 400, and the robot 500, respectively. This control device 600 has, for example, a processor (CPU) constituted by a computer, which processes information, a memory connected to the processor in a communicable manner, and an external interface which performs connection with an external device. The memory stores various programs which can be executed by the processor, and the processor can read in the various programs stored in the memory and execute them. Part or all of the constituent elements of the control device 600 can be arranged inside the housing of the robot 500. Alternatively, the control device 600 can be constituted by a plurality of processors.

[0082] The pickup system 100 has been described above. Next, the driving method of the pickup system 100 will be described based on the above description. Figure 11 The driving method of the pickup system 100 will be described simply. First, as a step S1, the workpiece W in the slot 250 is imaged by the camera 410 while the robot 500 is set to a posture which does not become an obstacle to imaging, and the image data D is acquired. Next, as a step S2, the position or the overlapping state of at least one workpiece W is detected based on the image data D. Note that the detection of the position or the overlapping state of the workpiece W can use, for example, template matching.

[0083] Next, as a step S3, the presence or absence of a workpiece W which can be gripped by the robot 500 is detected from among the workpieces W of which the positions are detected. As a judgment condition of the workpiece which can be gripped, for example, the position in the slot 250 or the overlapping state with other workpieces W can be set. In the case where there is a workpiece W which can be gripped by the robot 500, as a step S4, the workpiece W is gripped by the robot 500 and is released onto the belt 310 of the conveyer 300. Thereby, the workpiece W is conveyed to a prescribed place by the conveyer 300.

[0084] On the other hand, in the case where there is no workpiece W which can be gripped by the robot 500 in the step S3, as a step S5, the vibration generating device 200 is driven to reset the positions of the workpieces W in the slot 250 or to eliminate the overlapping of the workpieces W from each other, and the process is restarted from the step S1. According to this driving method, the workpiece W can be gripped by the robot 500 more reliably.

[0085] The above describes the pickup system 100. As described above, the vibration generating device 200 included in this pickup system 100 has the groove 250 on which the workpiece W is placed, the first vibration motor 260A and the second vibration motor 260B whose rotation shafts 262A, 262B are along the horizontal direction and parallel to each other, the transmission part 230 which configures the first vibration motor 260A and the second vibration motor 260B and transmits the vibrations of the first vibration motor 260A and the second vibration motor 260B to the groove 250, the first sensor 270A which detects the rotation position of the rotation shaft 262A of the first vibration motor 260A, and the second sensor 270B which detects the rotation position of the rotation shaft 262B of the second vibration motor 260B. According to this configuration, the rotation positions of the rotation shafts 262A, 262B can be detected based on the output signals of the first sensor 270A and the second sensor 270B, and thus the rotation start positions of the rotation shafts 262A, 262B can be matched with the desired positions with good accuracy. Therefore, the vibration direction of the groove 250 can be controlled with good accuracy.

[0086] Further, as described above, in the vibration generating device 200, the first sensor 270A and the second sensor 270B are photoelectric sensors, respectively. Thereby, the first sensor 270A and the second sensor 270B become simple configurations.

[0087] Further, as described above, in the vibration generating device 200, the first sensor 270A is configured on the one end side of the rotation shaft 262A of the first vibration motor 260A, and the second sensor 270B is configured on the one end side of the rotation shaft 262B of the second vibration motor 260B. Also, the first vibration motor 260A and the second vibration motor 260B are configured so that the one end sides are on the same side. Thereby, the configurations of the first sensor 270A and the second sensor 270B, or the connection of the wiring to the first sensor 270A and the second sensor 270B become easy.

[0088] In addition, as described above, the control method of the vibration generating device 200 that has the tank 250 on which the workpiece W is placed, the first vibration motor 260A and the second vibration motor 260B whose rotation shafts 262A, 262B are along the horizontal direction and parallel to each other, the transmission part 230 that arranges the first vibration motor 260A and the second vibration motor 260B and transmits the vibrations of the first vibration motor 260A and the second vibration motor 260B to the tank 250, the first sensor 270A that detects the rotation position of the rotation shaft 262A of the first vibration motor 260A, and the second sensor 270B that detects the rotation position of the rotation shaft 262B of the second vibration motor 260B controls the driving of the first vibration motor 260A and the second vibration motor 260B based on the detection results of the first sensor 270A and the second sensor 270B. With this control method, the rotation positions of the rotation shafts 262A, 262B can be detected based on the output signals of the first sensor 270A and the second sensor 270B, and thus the rotation start positions of the rotation shafts 262A, 262B can be matched with desired positions with high accuracy. Therefore, the vibration direction of the tank 250 can be controlled with high accuracy.

[0089] In addition, as described above, the pickup system 100 has the vibration generating device 200 that places the workpiece W and provides vibrations to the workpiece W to change the position of the workpiece W, the vision instrument 400 that photographs the workpiece W placed on the vibration generating device 200 and detects the position of the workpiece W based on the photographing result, and the robot 500 that picks up the workpiece W placed on the vibration generating device 200 based on the detection result of the vision instrument 400. Also, the vibration generating device 200 has the tank 250 on which the workpiece W is placed, the first vibration motor 260A and the second vibration motor 260B whose rotation shafts 262A, 262B are along the horizontal direction and parallel to each other, the transmission part 230 that arranges the first vibration motor 260A and the second vibration motor 260B and transmits the vibrations of the first vibration motor 260A and the second vibration motor 260B to the tank 250, the first sensor 270A that detects the rotation position of the rotation shaft 262A of the first vibration motor 260A, and the second sensor 270B that detects the rotation position of the rotation shaft 262B of the second vibration motor 260B. With this configuration, the rotation positions of the rotation shafts 262A, 262B can be detected based on the output signals of the first sensor 270A and the second sensor 270B, and thus the rotation start positions of the rotation shafts 262A, 262B can be matched with desired positions with high accuracy. Therefore, the vibration direction of the tank 250 can be controlled with high accuracy.

[0090] Second Embodiment

[0091] Figure 12is a side view showing a vibration motor and sensors that the vibration generating apparatus according to the second embodiment has.

[0092] The vibration generating apparatus 200 of the present embodiment is the same as the vibration generating apparatus 200 of the aforementioned first embodiment except for the configuration of the first sensor 270A and the second sensor 270B. Therefore, in the following description, the present embodiment will be described focusing on the difference from the aforementioned first embodiment, and the description of the same matters will be omitted. In the drawings of the present embodiment, the same reference numerals are attached to the same configurations as those of the aforementioned embodiments.

[0093] As shown in Figure 12 In the vibration generating apparatus 200 of the present embodiment, the first detection portion 272A of the first sensor 270A and the second detection portion 272B of the second sensor 270B are respectively arranged at positions different from the transmission portion 230. Thereby, the vibrations of the first vibration motor 260A and the second vibration motor 260B are less likely to be transmitted to the first detection portion 272A and the second detection portion 272B, and the durability of the first sensor 270A and the second sensor 270B is improved.

[0094] In particular, the first detection portion 272A and the second detection portion 272B are respectively arranged on the upper surface of the base 210. Therefore, the leg portion 220 that can elastically deform is interposed between the first detection portion 272A, the second detection portion 272B, and the first vibration motor 260A, the second vibration motor 260B, and the vibrations of the first vibration motor 260A, the second vibration motor 260B are more less likely to be transmitted to the first detection portion 272A, the second detection portion 272B. Therefore, the durability of the first sensor 270A, the second sensor 270B is further improved.

[0095] As described above, in the vibration generating apparatus 200 of the present embodiment, the first sensor 270A has the first detection body 271A arranged at the first vibration motor 260A, and the first detection portion 272A that detects the first detection body 271A, and the second sensor 270B has the second detection body 271B arranged at the second vibration motor 260B, and the second detection portion 272B that detects the second detection body 271B. And, the first detection portion 272A and the second detection portion 272B are respectively arranged at positions different from the transmission portion 230. Thereby, the vibrations of the first vibration motor 260A and the second vibration motor 260B are less likely to be transmitted to the first detection portion 272A and the second detection portion 272B, and the durability of the first detection portion 272A and the second detection portion 272B is improved.

[0096] In particular, the vibration generating apparatus 200 of the present embodiment has a base 210, and a leg 220 connecting the base 210 and a transmission portion 230, and elastically deforming, and a first detection portion 272A and a second detection portion 272B are respectively arranged in the base 210. Thereby, the leg 220 that can elastically deform is interposed between the first detection portion 272A, the second detection portion 272B, and the first vibration motor 260A, the second vibration motor 260B, and the vibration of the first vibration motor 260A, the second vibration motor 260B is more difficult to transmit to the first detection portion 272A, the second detection portion 272B. Therefore, the durability of the first detection portion 272A, the second detection portion 272B is further improved.

[0097] With this second embodiment, the same effects as the aforementioned first embodiment can also be exerted.

[0098] Third Embodiment

[0099] Figure 13 is a front view showing a vibration generating apparatus according to the third embodiment.

[0100] The vibration generating apparatus 200 of the present embodiment is the same as the vibration generating apparatus 200 of the aforementioned first embodiment except that a space S is formed between the groove 250 and the transmission portion 230. Therefore, in the following description, regarding the present embodiment, the description is made focusing on the difference from the aforementioned first embodiment, and the description of the same matters is omitted. In the drawings of the present embodiment, the same reference numerals are attached to the same configurations as the aforementioned embodiments.

[0101] As shown in Figure 13 , the vibration generating apparatus 200 of the present embodiment is provided with a columnar spacer 290 extending in the vertical direction between the transmission portion 230 supporting the first vibration motor 260A, the second vibration motor 260B, and the groove support portion 240 supporting the groove 250. Further, a space S is formed between the transmission portion 230 and the groove support portion 240, that is, between the transmission portion 230 and the groove 250 by the spacer 290. The space S can be easily formed by using the spacer 290.

[0102] According to this configuration, for example, compared with the aforementioned first embodiment, the separation distance L1 of the leg 220 and the groove support portion 240 becomes longer, and thus the amplitude W1 of the groove support portion 240 when the first vibration motor 260A, the second vibration motor 260B vibrate also becomes large, and a greater vibration can be imparted to the groove 250.

[0103] In addition, the space S is provided with a light source 280. In addition, a portion of the central portion of the groove support portion 240 and overlapping the groove 250 is a window portion 241 having light transmissivity, and a bottom surface of the groove 250 is a window portion 251 having light transmissivity. The light source 280 emits light LL toward the groove 250 side, and illuminates the workpiece W placed in the groove 250 from the lower side thereof via the window portions 241, 251. Thus, since brighter image data can be acquired from the camera 410, or since the shutter speed of the camera 410 can be increased, sharp image data without blur can be acquired, and thus the image recognition of the workpiece W can be performed with higher accuracy.

[0104] As described above, in the vibration generating apparatus 200 of the present embodiment, the space S is provided between the groove 250 and the transmission portion 230. Thus, the groove 250 can be given a larger vibration.

[0105] In addition, as described above, the groove 250 has the window portion 251 as the light transmissive portion, and the space S is provided with the light source 280 that illuminates the workpiece W placed in the groove 250 via the window portion 251. Thus, since brighter image data can be acquired from the camera 410, or since the shutter speed of the camera 410 can be increased, sharp image data without blur can be acquired, and thus the image recognition of the workpiece W can be performed with higher accuracy.

[0106] In addition, as described above, the space S is provided with the spacer 290 that forms the space S between the groove 250 and the transmission portion 230. Thus, the space S can be simply formed. In addition, the size of the space S can be simply changed by adjusting the length of the spacer 290.

[0107] With this third embodiment, the same effects as those of the first embodiment described above can be achieved.

[0108] Fourth Embodiment

[0109] Figure 14 is a top view showing three vibration motors that the vibration generating apparatus according to the fourth embodiment has.

[0110] The vibration generating apparatus 200 of the present embodiment is the same as the vibration generating apparatus 200 of the first embodiment described above except that the vibration generating apparatus 200 further has a third vibration motor 260C and a third sensor 270C. Thus, in the following description, the present embodiment will be described focusing on the differences from the first embodiment described above, and the description of the same matters will be omitted. In addition, in the drawings of the present embodiment, the same reference numerals are attached to the same configurations as those of the first embodiment described above.

[0111] As described above, in the vibration generating apparatus 200 of the present embodiment, the space S is provided between the groove 250 and the transmission portion 230. Thus, the groove 250 can be given a larger vibration. Figure 14As shown, the vibration generating apparatus 200 of the present embodiment has a third vibration motor 260C and a third sensor 270C that detects the rotation of the third vibration motor 260C. The third vibration motor 260C is of the same configuration as the first vibration motor 260A and the second vibration motor 260B, and has a main body portion 261C that houses a stator and a rotor, not shown, a rotation shaft 262C that protrudes from both sides of the main body portion 261C, and eccentric weights 263C and 264C that are disposed at both end portions of the rotation shaft 262C.

[0112] This third vibration motor 260C is disposed between the first vibration motor 260A and the second vibration motor 260B so as to overlap the center O of the groove 250 when viewed from the vertical direction. In addition, the rotation shaft 262C is disposed substantially horizontally and parallel to the rotation shafts 262A and 262B. In particular, in the present embodiment, the rotation shaft 262C is disposed on the same horizontal plane as the rotation shafts 262A and 262B.

[0113] The third sensor 270C detects the rotational position of the rotation shaft 262C of the third vibration motor 260C. The third sensor 270C is of the same configuration as the second sensors 270A and 270B, and is a transmission-type photosensor having a third detected body 271C and a third detection portion 272C. As a result, the third sensor 270C can be made low cost and small, and the like.

[0114] In addition, the third vibration motor 260C is disposed so that the end portion on the side of the third sensor 270C is disposed on the same side as the first sensor 270A and the second sensor 270B. As a result, the disposition of the first sensor 270A, the second sensor 270B, and the third sensor 270C, or the connection of the wiring to the first sensor 270A, the second sensor 270B, and the third sensor 270C becomes easy.

[0115] According to the vibration generating apparatus 200 configured in this way, the first vibration motor 260A, the second vibration motor 260B, and the third vibration motor 260C can be controlled by the control device 600, and thus the groove 250 can be given vibrations in a prescribed direction, and the position or the overlapping state of the workpiece W placed in the groove 250 can be changed. In particular, in the present embodiment, since three vibration motors are used, more various vibrations can be generated compared to the first embodiment described above.

[0116] The above describes the vibration generating device, the control method of the vibration generating device, and the pickup system of the present application based on the illustrated embodiments, but the present application is not limited thereto, and the configurations of the respective parts can be replaced with any configuration having the same function. In addition, other arbitrary configurations can be added in the present application. Furthermore, the respective embodiments can be appropriately combined. In addition, the number of vibration motors is not limited to two or three, and can be four or more.

Claims

1. A vibration generating device, characterized by comprising: has: a tank that holds a workpiece; a first vibration motor and a second vibration motor, the rotational shafts of which are in a horizontal direction and parallel to each other; a transmission portion in which the first vibration motor and the second vibration motor are disposed, and which transmits vibrations of the first vibration motor and the second vibration motor to the tank; a first sensor that detects a rotational position of the rotational shaft of the first vibration motor; and a second sensor that detects a rotational position of the rotational shaft of the second vibration motor, the first sensor has: a first detected body disposed in the first vibration motor; and a first detection portion that detects the first detected body, the second sensor has: a second detected body disposed in the second vibration motor; and a second detection portion that detects the second detected body, the first detection portion and the second detection portion are disposed at different positions from the transmission portion, the vibration generation device has: a base; and a leg portion that connects the base and the transmission portion and elastically deforms, the first detection portion and the second detection portion are disposed in the base, the leg portion is interposed between the first detection portion, the second detection portion, and the first vibration motor and the second vibration motor.

2. The vibration generation device according to claim 1, wherein the first sensor and the second sensor are each an optical sensor.

3. The vibration generation device according to claim 1 or 2, wherein the first sensor is disposed on one end side of the rotational shaft of the first vibration motor, the second sensor is disposed on one end side of the rotational shaft of the second vibration motor, the first vibration motor and the second vibration motor are disposed such that the one end side is on the same side.

4. The vibration generation device according to claim 1, wherein a space is provided between the tank and the transmission portion.

5. The vibration generation device according to claim 4, wherein the tank has a light-transmissive portion that is light-transmissive, a light source is disposed in the space, and the light source illuminates the workpiece disposed in the tank via the light-transmissive portion.

6. The vibration generation device according to claim 5, wherein a spacer that forms the space is disposed between the tank and the transmission portion. The vibration generation device has: a tank that holds a workpiece; 7. A control method of a vibration generating apparatus, characterized by, a first vibration motor and a second vibration motor, the rotational shafts of which are in a horizontal direction and parallel to each other; a transmission portion in which the first vibration motor and the second vibration motor are disposed, and which transmits vibrations of the first vibration motor and the second vibration motor to the tank; a first sensor that detects a rotational position of the rotational shaft of the first vibration motor; and a second sensor that detects a rotational position of the rotational shaft of the second vibration motor, in a control method of the vibration generation device, drives of the first vibration motor and the second vibration motor are controlled on the basis of detection results of the first sensor and the second sensor, the first sensor has: a first detected body disposed in the first vibration motor; and a first detection portion that detects the first detected body, ​ ​ ​ a first detection section that detects the first detected body, the second sensor has a second detected body disposed on the second vibration motor and a second detection section that detects the second detected body, the first detection section and the second detection section are disposed at positions different from the transmission section, the vibration generating device has: a base; and a leg portion that connects the base and the transmission section and elastically deforms, the first detection section and the second detection section are disposed on the base, the leg portion is interposed between the first detection section, the second detection section, the first vibration motor, and the second vibration motor.

8. A pick-up system characterized in that, has: a vibration generating device that places a workpiece and provides vibration to the workpiece to change a position of the workpiece; a vision device that photographs the workpiece placed on the vibration generating device and detects the position of the workpiece based on a result of the photographing; and a robot that picks up the workpiece placed on the vibration generating device based on a result of the detection by the vision device, the vibration generating device has: a groove that places the workpiece; a first vibration motor and a second vibration motor that have rotation shafts along a horizontal direction and are parallel to each other; a transmission section that places the first vibration motor and the second vibration motor and transmits vibration of the first vibration motor and the second vibration motor to the groove; a first sensor that detects a rotation position of the rotation shaft of the first vibration motor; and a second sensor that detects a rotation position of the rotation shaft of the second vibration motor, the first sensor has a first detected body disposed on the first vibration motor and a first detection section that detects the first detected body, the second sensor has a second detected body disposed on the second vibration motor and a second detection section that detects the second detected body, the first detection section and the second detection section are disposed at positions different from the transmission section, the vibration generating device has: a base; and a leg portion that connects the base and the transmission section and elastically deforms, the first detection section and the second detection section are disposed on the base, the leg portion is interposed between the first detection section, the second detection section, the first vibration motor, and the second vibration motor. ​ ​ ​

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