Vibration generating device and pick-up system

Abstract

A vibration generating device and a pickup system having excellent mechanical strength are disclosed. The vibration generating device has: a groove in which a workpiece is placed; a leg portion that supports the groove; and a vibration motor that imparts vibration to the groove, the leg portion having: a spring portion that is elastically deformable; and a first fixed portion that is located between the spring portion and the groove and fixes the spring portion to the groove, the spring portion and the first fixed portion being integral. In addition, the leg portion is a cutting processed body.

Description

Technical Field

[0001] This invention relates to a vibration generating device and a pickup system. Background Technology

[0002] Patent document 1 describes a vibratory conveying device, which has a base, a frame supported on the base by a plurality of spring feet, and a conveying trough disposed on the frame, and uses a vibratory motor to vibrate the conveying trough to convey powder particles.

[0003] Patent Document 1: Japanese Utility Model Registration No. 3175501

[0004] However, in the vibration transfer device of Patent Document 1, the structure of the spring foot is unclear. For example, if it is composed of a spring body, an upper fixing part that fixes the upper end of the spring body to the upper fixing part of the frame, and a lower fixing part that fixes the lower end of the spring body to the lower fixing part of the base, then the spring foot is vibrated by the drive of the vibration motor, thereby applying stress to the joint between the spring body and the upper fixing part and the joint between the spring body and the lower fixing part, which may cause the joint to be damaged. Summary of the Invention

[0005] The vibration generating device of the present invention includes: a groove for holding a workpiece; a foot for supporting the groove; and a vibration motor for imparting vibration to the groove, the foot having: a spring portion capable of elastic deformation; and a first fixing portion located between the spring portion and the groove, and fixing the spring portion to the groove, the spring portion and the first fixing portion being integral.

[0006] The picking system of the present invention comprises: a vibration generating device for placing a workpiece and subjecting the workpiece to vibration to change the position of the workpiece; an imaging device for capturing an image of the workpiece placed on the vibration generating device and detecting the position of the workpiece based on the capturing result; and a robot for picking up the workpiece placed on the vibration generating device based on the detection result of the imaging device. The vibration generating device comprises: a groove for placing the workpiece; a foot for supporting the groove; and a vibration motor for subjecting the groove to vibration. The foot comprises: a spring portion capable of elastic deformation; and a first fixing portion located between the spring portion and the groove, and fixing the spring portion to the groove. The spring portion and the first fixing portion are integral. Attached Figure Description

[0007] Figure 1 This is a front view showing the overall structure of the pickup system according to the first embodiment.

[0008] Figure 2 This is the front view of the robot.

[0009] Figure 3This is the front view showing the vibration generating device.

[0010] Figure 4 This is a top view showing the vibration generating device.

[0011] Figure 5 It is a cross-sectional view showing the foot of the vibration generating device.

[0012] Figure 6 This is a flowchart representing the driving method of the picking system.

[0013] Figure 7 It means Figure 5 A cross-sectional view of a modified example of the foot shown.

[0014] Figure 8 It means Figure 5 A cross-sectional view of a modified example of the foot shown.

[0015] Figure 9 It means Figure 5 A cross-sectional view of a modified example of the foot shown.

[0016] Figure 10 It means Figure 5 A cross-sectional view of a modified example of the foot shown.

[0017] Figure 11 It means Figure 5 A cross-sectional view of a modified example of the foot shown.

[0018] Figure 12 This is a cross-sectional view showing the foot of the vibration generating device according to the second embodiment.

[0019] Figure 13 It means Figure 12 A cross-sectional view of a modified example of the foot shown.

[0020] Explanation of reference numerals in the attached figures

[0021] 100… Pickup system, 200… Vibration generating device, 210… Base, 220… Foot, 221… Spring, 222… First fixing part, 223… Second fixing part, 224… Flange, 225… Flange, 230… Transmission part, 231… Protrusion, 232… Through hole, 233… Through hole, 240… Groove support, 250… Groove body, 260A… First vibration motor, 260B… Second vibration motor, 261A… Rotating shaft, 261B… Rotating shaft, 290… Groove, 300… Conveyor belt, 310… Belt, 320… Conveyor roller, 330… Conveyor quantity sensor, 400… Imaging device, 410… Camera, 420… Detection unit, 500… Robot, 510… Base, 520… Robotic arm, 521… First arm, 522… Second arm Two arms, 530…working head, 531…spline nut, 532…ball screw nut, 533…spline shaft, 540…end actuator, 571…first drive device, 572…second drive device, 573…third drive device, 574…fourth drive device, 600…control device, A…horizontal width, B…vertical width, B1…bolt, B2…bolt, B3…bolt, B4…bolt, B5…bolt, B6…bolt, B7…bolt, D…image data, H1…hole, H2…hole, H3…hole, H4…hole, H5…hole, H6…hole, H7…hole, J…center shaft, J1…first rotating shaft, J2…second rotating shaft, J3…third rotating shaft, P…spacing, S1…step, S2…step, S3…step, S4…step, S5…step, W…workpiece. Detailed Implementation

[0022] Hereinafter, a preferred embodiment of the vibration generating device and the pickup system will be described with reference to the accompanying drawings.

[0023] First Implementation Method

[0024] Figure 1 This is a front view showing the overall structure of the pickup system according to the first embodiment. Figure 2 This is the front view of the robot. Figure 3 This is the front view showing the vibration generating device. Figure 4 This is a top view showing the vibration generating device. Figure 5 It is a cross-sectional view showing the foot of the vibration generating device. Figure 6 This is a flowchart representing the driving method of the picking system. Figures 7 to 11 They represent respectively Figure 5 A cross-sectional view of a modified example of the foot shown. Furthermore, the following will, except... Figure 4 and Figure 6 For all other figures, the top side is designated as "top" and the bottom side as "bottom".

[0025] Figure 1The pickup system 100 shown includes: a vibration generating device 200 on which a workpiece W, which is to be transported, is placed; a conveyor belt 300 as a conveying device for transporting the workpiece W; an imaging device 400 for capturing images of the workpiece W placed on the vibration generating device 200; a robot 500 for picking up the workpiece W placed on the vibration generating device 200 and releasing it onto the conveyor belt 300 based on the detection results of the imaging device 400; and a control device 600 for controlling the drive of these components.

[0026] Robot 500

[0027] Robot 500 is a SCARA robot (horizontal articulated robot). For example... Figure 2 As shown, the robot 500 has a base 510 fixed to the ground and a robotic arm 520 connected to the base 510. The robotic arm 520 has: a first arm 521, the base end of which is connected to the base 510 and rotates relative to the base 510 about a first rotation axis J1 along the vertical direction; and a second arm 522, the base end of which is connected to the front end of the first arm 521 and rotates relative to the first arm 521 about a second rotation axis J2 along the vertical direction.

[0028] Additionally, a working head 530 is provided at the front end of the second arm 522. The working head 530 includes a spline nut 531 and a ball screw nut 532 coaxially disposed at the front end of the second arm 522; and a spline shaft 533 inserted into the spline nut 531 and the ball screw nut 532. The spline shaft 533 is rotatable relative to the second arm 522 about a third rotation axis J3 in the vertical direction, and is also capable of moving up and down along the third rotation axis J3.

[0029] Additionally, an end effector 540 is mounted on the lower end of the splined shaft 533. The end effector 540 is freely detachable, and an end effector suitable for the target operation can be appropriately selected. In this embodiment, the end effector 540 is a robotic arm that clamps and holds the workpiece W.

[0030] Additionally, the robot 500 includes: a first drive device 571 that rotates the first arm 521 relative to the base 510 about a first rotation axis J1; a second drive device 572 that rotates the second arm 522 relative to the first arm 521 about a second rotation axis J2; a third drive device 573 that rotates the spline nut 531 to rotate the spline shaft 533 about a third rotation axis J3; and a fourth drive device 574 that rotates the ball screw nut 532 to move the spline shaft 533 up and down in the direction along the third rotation axis J3.

[0031] In addition, the first, second, third, and fourth drive devices 571, 572, 573, and 574 are respectively equipped with motors as drive sources and encoders for detecting the rotation of the motors. During the operation of the pickup system 100, the control device 600 performs feedback control to make the position of the robotic arm 520 represented by the output of each encoder consistent with the target position as the control objective.

[0032] The above describes Robot 500. However, Robot 500 is not particularly limited. For example, it could also be a 6-axis robot with a robotic arm having 6 rotation axes.

[0033] Conveyor belt 300

[0034] like Figure 1 As shown, the conveyor belt 300 includes: a belt 310 for carrying the workpiece W; a conveyor roller 320 for conveying the belt 310; 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 the 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, as 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 conveyed stably at the desired speed.

[0035] Image device 400

[0036] like Figure 1 As shown, the imaging device 400 is a device that captures images of a workpiece W on the vibration generating device 200 from above and detects the position and overlap state of the workpiece W based on the captured images. This imaging 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. Furthermore, in this embodiment, the detection unit 420 is integrated into the control device 600.

[0037] 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 through 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 structure of imaging device 400 is not particularly limited. For example, it can be a structure combining a 2D camera and a depth sensor, or it can be a structure using a measuring device that measures three-dimensional shape using a phase-shifting method.

[0038] Vibration generating device 200

[0039] 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 groove 290 connected to the base 210 via these legs 220; and a first vibration motor 260A and a second vibration motor 260B that impart vibration to the groove 290. The groove 290 also includes: a plate-shaped transmission section 230 connected to the base 210 via the legs 220, with the first and second vibration motors 260A and 260B disposed on its lower surface; a plate-shaped groove support section 240 overlapping the upper surface of the transmission section 230; and a groove body 250 disposed on the upper surface of the groove support section 240, on which the workpiece W is placed. Furthermore, the structure of the groove 290 is not particularly limited; for example, the transmission section 230 and the groove support section 240 may be omitted.

[0040] The vibration generating device 200 with this structure can induce vibration in the groove 290 by controlling the first and second vibration motors 260A and 260B via the control device 600, thereby changing the position and overlap of the workpiece W placed on the groove body 250. Furthermore, by changing the phase (angular difference in the eccentric direction) and rotation direction of the first and second vibration motors 260A and 260B, the direction of the vibration inducing in the groove 290 can be changed.

[0041] The plate-shaped transmission section 230 is fixed to the base 210 substantially horizontally via four legs 220. Therefore, the transmission section 230 can easily swing relative to the base 210, amplifying the vibrations of the first and second vibration motors 260A and 260B and transmitting them to the groove 290. The groove support section 240 is plate-shaped and overlaps the upper surface of the transmission section 230. Furthermore, the groove support section 240 is threadedly fixed to the transmission section 230 by multiple screws. Additionally, the groove body 250 is box-shaped and is disposed substantially horizontally on the upper surface of the groove support section 240. Furthermore, multiple workpieces W are arbitrarily housed within the groove body 250.

[0042] A first vibration motor 260A and a second vibration motor 260B are disposed on the lower surface of the transmission section 230. Furthermore, the rotation shaft 261A of the first vibration motor 260A and the rotation shaft 261B of the second vibration motor 260B are both horizontal and parallel to each other. Moreover, the rotation shafts 261A and 261B are located on the same horizontal plane. In addition, the first and second vibration motors 260A and 260B are not particularly limited as long as they can generate vibration. For example, an electromagnetic motor (not shown) can be used, in which an eccentric hammer is disposed on the rotation shafts 261A and 261B, and centrifugal vibration is generated on the rotation shafts 261A and 261B by the action of the eccentric hammer.

[0043] like Figure 4As shown, the four legs 220 are well balanced and arranged at the four corners of the base 210. The four legs 220 will be described below, but since they have the same structure, only one leg 220 will be described below, and the descriptions of the other legs 220 will be omitted.

[0044] like Figure 5 As shown, the foot 220 includes: a spring portion 221 capable of elastic deformation; a first fixing portion 222 located between the spring portion 221 and the groove 290, fixing the spring portion 221 to the groove 290; and a second fixing portion 223 located between the spring portion 221 and the base 210, fixing the spring portion 221 to the base 210. Furthermore, the spring portion 221 is a helical spring. Moreover, the spring portion 221, the first fixing portion 222, and the second fixing portion 223 are integrally formed. Thus, by integrally forming the foot 220 as a whole, compared to a structure where they are formed separately, the mechanical strength of the foot 220 is increased, effectively suppressing damage to the foot 220. Therefore, it becomes a highly reliable vibration generating device 200.

[0045] Furthermore, when the spring portion 221, the first fixing portion 222, and the second fixing portion 223 are separate components, connecting the first and second fixing portions 222 and 223 to the spring portion 221 alters the characteristics of the spring portion 221 (spring coefficient, etc.), making it difficult to ensure consistent characteristics of the spring portion 221 across the four legs 220. Specifically, when fixed with adhesive, the characteristics of the spring portion 221 change due to the adhesive adhering to it; when fixed by welding, the characteristics of the spring portion 221 change due to the heat during welding. Therefore, it is difficult to make the groove 290 vibrate stably in a predetermined direction. In contrast, as in this embodiment, if the spring portion 221, the first fixing portion 222, and the second fixing portion 223 are integrally formed, the aforementioned changes in the characteristics of the spring portion 221 do not occur, and the elasticity of the spring portion 221 can be easily made consistent across the four legs 220. Therefore, the groove 290 can vibrate stably in a predetermined direction.

[0046] In particular, in this embodiment, for example, the spring portion 221, the first fixing portion 222, and the second fixing portion 223 are integrally formed by machining a cylindrical block. That is, the foot portion 220 is composed of a machined body. As a result, the foot portion 220 is inexpensive and easy to form, and can be formed with high machining accuracy. Therefore, the groove 290 can vibrate stably in a predetermined direction.

[0047] Furthermore, through machining, the transverse width A, longitudinal width B, and spacing P of the spring section 221 can be easily set and adjusted to arbitrary values. Therefore, the longitudinal amplitude and transverse amplitude of the groove 290 can be independently made to conform to arbitrary ranges, resulting in a vibration generating device 200 with excellent vibration characteristics.

[0048] However, there are no particular limitations on the method of forming the foot 220. For example, it can be formed by electrical discharge machining, injection molding, casting, forging, or molding using a 3D printer. With such a forming method, the shape of the spring part 221 can be designed with more freedom.

[0049] The first fixing part 222, located on the upper side of the spring part 221 in the vertical direction, is a bottomed cylindrical shape with a closed upper end. A hole H1 is formed at its upper end along the vertical direction. Specifically, in this embodiment, the hole H1 extends along the central axis J of the foot part 220. A thread is cut into the hole H1, and a bolt B1, which secures the through-slot support part 240 and the transmission part 230, is tightened therein. This allows for easy fixing of the first fixing part 222 and the slot 290.

[0050] However, there is no particular limitation on the method of fixing the first fixing part 222 to the groove 290; for example, it can be bonding, welding, etc. In particular, when welding is used, it is preferable to extend the first fixing part 222 axially to make it difficult for the heat during welding to be transferred to the spring part 221 through the first fixing part 222.

[0051] Here, when viewed from a vertical direction along the arrangement direction of the spring part 221 and the first fixing part 222, the hole H1 is located inside the spring part 221. Therefore, the first fixing part 222 can be miniaturized. In addition, since the first fixing part 222 and the groove 290 can be fixed with a single bolt B1, the components of the vibration generating device 200 can be reduced and the assembly can be simplified.

[0052] On the other hand, the second fixing part 223, located on the lower side of the spring part 221 in the vertical direction, is cylindrical with an open lower end. Furthermore, the second fixing part 223 has an annular flange 224 that protrudes from the spring part 221 toward its outer periphery when viewed from the vertical direction, and a pair of holes H2 are formed in this flange 224 along the vertical direction. Moreover, bolts B2 inserted into these holes H2 are fastened in threaded holes formed in the base 210. Thus, the spring part 221 is fixed to the base 210 via the second fixing part 223.

[0053] However, there is no particular limitation on the method of fixing the second fixing part 223 to the base 210; for example, it can be bonding, welding, etc. In particular, when welding is used, it is preferable to extend the second fixing part 223 in the axial direction to make it difficult for the heat during welding to be transferred to the spring part 221 through the second fixing part 223.

[0054] Here, when viewed from above in the vertical direction, the hole H2 is located on the outside of the spring portion 221. Therefore, as described above, when viewed from above in the vertical direction, the hole H1 is larger than the first fixing portion 222 located inside the spring portion 221, but correspondingly, the strength of the second fixing portion 223 and the bonding strength with the base 210 can be improved.

[0055] If the second fixing part 223 is designed to have the same structure as the first fixing part 222, the foot 220 can be further miniaturized, its components reduced, and its assembly simplified. However, this would result in a hollow structure with closed upper and lower ends, which cannot be formed by machining. Therefore, in this embodiment, the first fixing part 222 on the upper end is formed into a bottomed cylindrical shape, and the second fixing part 223 on the lower end is formed into a cylindrical shape. That is, by optimizing the shapes of the first and second fixing parts 222 and 223, they are formed into shapes that can be formed by machining, resulting in a small foot 220 that achieves high strength.

[0056] The material used to construct the foot 220 described above is not particularly limited; it can be any metal material (including alloys) such as stainless steel or aluminum alloys, or any resin material. In this embodiment, stainless steel is used, thereby providing the foot 220 with excellent corrosion resistance and mechanical strength.

[0057] Control device 600

[0058] The control device 600 controls the vibration generating device 200, conveyor belt 300, imaging device 400, and robot 500 respectively. Such a control device 600 may be configured as a computer, having a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface for connecting to external devices. The memory stores various programs executable by the processor, which can read and execute these programs. Some or all of the components of the control device 600 may be housed inside the frame of the robot 500. Alternatively, the control device 600 may be configured with multiple processors.

[0059] The picking system 100 has been described above. Next, based on... Figure 6The driving method of the picking system 100 will be briefly described. First, as step S1, with the robot 500 in a posture that does not obstruct the shooting, the camera 410 captures an image of the workpiece W within the slot body 250, acquiring image data D. Next, as step S2, the position and overlap state of at least one workpiece W are detected based on the image data D. Furthermore, in detecting the position and overlap state of the workpiece W, template matching can be used, for example.

[0060] Next, as step S3, it is detected whether there is a workpiece W that can be held by the robot 500 from among the workpieces W at the detected positions. The criteria for determining whether it can be held include, for example, its position within the slot body 250 and its overlap with other workpieces W. If there is a workpiece W that can be held by the robot 500, as step S4, the robot 500 holds the workpiece W and releases it onto the belt 310 of the conveyor belt 300. Thus, the workpiece W is transported by the conveyor belt 300 to the designated position.

[0061] On the other hand, in step S3, if there is no workpiece W that can be held by the robot 500, as in step S5, the vibration generating device 200 is driven to reset the position of the workpiece W in the groove body 250 or eliminate the overlap of the workpieces W, and the process restarts from step S1. According to this driving method, the workpiece W can be held more reliably by the robot 500.

[0062] The pickup system 100 has been described above. As described above, the vibration generating device 200 included in such a pickup system 100 has: a groove 290 for placing the workpiece W; a foot 220 supporting the groove 290; and first and second vibration motors 260A and 260B, which act as vibration motors that impart vibration to the groove 290. The foot 220 has: a spring portion 221 capable of elastic deformation; and a first fixing portion 222 located between the spring portion 221 and the groove 290, fixing the spring portion 221 to the groove 290. The spring portion 221 and the first fixing portion 222 are integral. Therefore, compared to a separate structure, the mechanical strength of the foot 220 is improved, effectively suppressing damage to the foot 220. Thus, it becomes a highly reliable vibration generating device 200.

[0063] Furthermore, as described above, the foot 220 is a machined part. Therefore, the foot 220 is inexpensive and easy to form, and can be formed with high machining accuracy. Thus, the groove 290 can vibrate stably in a predetermined direction. Additionally, the spring part 221 can be easily set and adjusted to any shape. Therefore, the longitudinal and lateral amplitudes of the groove 290 can be independently controlled within arbitrary ranges, resulting in a vibration generating device 200 with excellent vibration characteristics.

[0064] Furthermore, as described above, the first fixing part 222 has a hole H1 for fixing to the groove 290. Therefore, the first fixing part 222 can be easily fixed to the groove 290.

[0065] Furthermore, as described above, when viewed from the vertical direction (the direction in which the spring portion 221 and the first fixing portion 222 are arranged), the hole H1 is located inside the spring portion 221. This allows for the miniaturization of the first fixing portion 222.

[0066] Furthermore, as described above, the foot 220 also has a second fixing part 223 located opposite to the first fixing part 222 and fixing the spring part 221, with the spring part 221 and the second fixing part 223 being integral. This allows the spring part 221 to be easily fixed to the base 210 via the second fixing part 223. Additionally, compared to structures formed separately, the mechanical strength of the foot 220 is improved, effectively suppressing damage to the foot 220. Therefore, it becomes a highly reliable vibration generating device 200.

[0067] Furthermore, as described above, the pickup system 100 includes: a vibration generating device 200 that holds a workpiece W and applies vibration to the workpiece W to change its position; an imaging device 400 that captures an image of the workpiece W placed on the vibration generating device 200 and detects the position of the workpiece W based on the image capture result; and a robot 500 that picks up the workpiece W placed on the vibration generating device 200 based on the detection result of the imaging device 400. Moreover, the vibration generating device 200 includes: a groove 290 for holding the workpiece W; a foot 220 supporting the groove 290; and first and second vibration motors 260A and 260B, which act as vibration motors that apply vibration to the groove 290. The foot 220 includes: a spring portion 221 capable of elastic deformation; and a first fixing portion 222 located between the spring portion 221 and the groove 290, fixing the spring portion 221 to the groove 290. The spring portion 221 and the first fixing portion 222 are integral. Therefore, compared to structures formed by separate parts, the mechanical strength of the foot 220 is improved, effectively suppressing damage to the foot 220. Thus, it becomes a highly reliable pickup system 100.

[0068] The pickup system 100 according to the first embodiment has been described above, but the structure of the pickup system 100, especially the structure of the foot 220, is not limited thereto. Hereinafter, several variations of the first fixing part 222 will be described, but these can of course also be applied to the second fixing part 223.

[0069] For example, in Figure 7In the modified example shown, the first fixing part 222 has the same structure as the second fixing part 223 of this embodiment. That is, the first fixing part 222 is a cylindrical shape with an open top and has an annular flange 225 protruding outward. In addition, a pair of holes H1 are formed in the flange 225 along the vertical direction. Furthermore, when viewed from a vertical position, the pair of holes H1 are located outside the spring part 221. Moreover, the bolts B1 inserted through these holes H1 are fastened in the threaded holes formed in the transmission part 230. Thus, the spring part 221 is fixed to the transmission part 230 via the first fixing part 222.

[0070] Thus, when viewed from above in the vertical direction (the direction in which the spring portion 221 and the first fixing portion 222 are arranged), the hole H1 can also be located outside the spring portion 221. This improves the strength of the first fixing portion 222 and the engagement strength of the groove 290.

[0071] In addition, Figure 8 In the modified example shown, the first fixing part 222 is a cylindrical shape with an open top, and has a pair of holes H1 located between the inner and outer circumferences of the spring part 221 when viewed from a vertical direction. Threads are cut into these holes H1, and bolts B1, which pass through the slot support part 240 and the transmission part 230, are fastened in them. Thus, the spring part 221 is fixed to the transmission part 230 via the first fixing part 222. With this mechanism, the first fixing part 222 can be miniaturized.

[0072] In addition, such as Figure 9 As shown, the transmission part 230 has a downwardly protruding protrusion 231. On the other hand, the first fixing part 222 is cylindrical with an open top to allow the protrusion 231 to pass through, and also has a hole H3 extending horizontally through both the outer and inner circumferential surfaces. Furthermore, threads are cut into the hole H3. The foot 220 can be arranged such that the protrusion 231 is inserted into the first fixing part 222, allowing the bolt B3 to engage with the hole H3, tightening the bolt B3 and pressing it against the side of the protrusion 231, thereby fixing the first fixing part 222 and the transmission part 230. With this structure, since the hole H3 can be accessed horizontally from the space between the base 210 and the groove 290, the tightening operation of the bolt B3 becomes easier. In particular, in this embodiment, a hexagonal locking screw is used as the bolt B3. This prevents the bolt B3 from protruding to the outer periphery of the first fixing part 222, thus enabling the miniaturization of the first fixing part 222.

[0073] In this way, hole H3 can also extend in a direction that intersects the vertical direction with the direction in which spring part 221 and first fixing part 222 are arranged. As a result, approaching hole H3 becomes easier, and tightening bolt B3 becomes easier.

[0074] In addition, such as Figure 10 As shown, the transmission part 230 has: a downwardly protruding protrusion 231; an insertion hole 232 opening on the lower surface of the protrusion 231 for the first fixing part 222 to pass through; and a hole H4 extending horizontally through the outer and inner peripheral surfaces of the protrusion 231. Furthermore, threads are cut into the hole H4. Moreover, the first fixing part 222 can be inserted into the insertion hole 232, and a bolt B4 can be screwed into the hole H4, tightening the bolt B4 and pressing it against the side of the first fixing part 222, thereby fixing the first fixing part 222 and the transmission part 230.

[0075] In addition, such as Figure 11 As shown, the transmission part 230 has: an insertion hole 233 with an opening on its lower surface through which the first fixing part 222 is inserted; and a hole H5 extending horizontally through the side surface of the transmission part 230 and the inner peripheral surface of the insertion hole 233. Furthermore, a thread is cut into the hole H5. Moreover, the first fixing part 222 can be inserted into the insertion hole 233, and a bolt B5 can be screwed into the hole H5, tightening the bolt B5 and pressing it against the side surface of the first fixing part 222, thereby fixing the first fixing part 222 and the transmission part 230.

[0076] Second Implementation Method

[0077] Figure 12 This is a cross-sectional view showing the foot of the vibration generating device according to the second embodiment. Figure 13 It means Figure 12 A cross-sectional view of a modified example of the foot shown.

[0078] The vibration generating device 200 of this embodiment is the same as the vibration generating device 200 of the first embodiment described above, except for the structure of the feet 220. Therefore, in the following description, this embodiment will be described mainly for the differences from the first embodiment, and the same items will be omitted. In addition, in the figures of this embodiment, the same reference numerals are used to mark the same structures as in the embodiment. Furthermore, since the four feet 220 have the same structure, for ease of explanation, only one foot 220 will be described below, and the descriptions of the other feet 220 will be omitted.

[0079] like Figure 12 As shown, in the foot 220 of this embodiment, the spring portion 221 is composed of a leaf spring. Furthermore, first and second fixing portions 222 and 223 are integrally connected to both ends of the spring portion 221. With this structure, the foot 220 can be formed simply by bending the sheet metal at multiple points along its length, making the formation of the foot 220 extremely easy.

[0080] A hole H6 is formed in the first fixing part 222. The first fixing part 222 is fixed to the transmission part 230 by fastening a bolt B6 inserted through the hole H6 into the threaded hole of the transmission part 230. Similarly, a hole H7 is formed in the second fixing part 223. The second fixing part 223 is fixed to the base 210 by fastening a bolt B7 inserted through the hole H7 into the threaded hole of the base 210. However, the method of fixing the first and second fixing parts 222 and 223 is not particularly limited.

[0081] As described above, in the vibration generating device 200 of this embodiment, the spring portion 221 is a leaf spring. As a result, the foot portion 220 has a simple structure and is easy to form.

[0082] This second embodiment also achieves the same effect as the first embodiment described above. Furthermore, the shape of the spring portion 221 is not particularly limited; for example, as shown... Figure 13 As shown, it can also be a shape that bends or curves midway.

[0083] The vibration generating device and pickup system of the present invention have been described above with reference to the illustrated embodiments. However, the present invention is not limited thereto, and the structure of each part can be replaced with any structure having the same function. Furthermore, other arbitrary components may be added to the present invention. Additionally, the various embodiments may be appropriately combined.

Claims

1. A vibration generating device, characterized in that, have: plate-shaped abutment; A groove for holding workpieces; The four legs, erected on the base and supporting the groove, and A vibrating motor that imparts vibration to the groove. The groove has a plate-shaped transmission section for arranging the vibration motor, and a plate-shaped groove support section overlaps on the upper surface of the transmission section. The groove support section is fixed to the transmission section by a plurality of screw threads. A groove body for holding the workpiece is disposed on the upper surface of the groove support. The foot has: A spring section capable of elastic deformation; A first fixing part is located between the spring part and the groove, and fixes the spring part to the groove; as well as The second fixing part is located on the opposite side of the first fixing part relative to the spring part, and the second fixing part fixes the spring part. The spring portion, the first fixing portion, and the second fixing portion are integrated into one unit. The transmission part has: an insertion hole that opens on its lower surface and allows the first fixing part to pass through; and a hole that passes through the side surface of the transmission part and the inner peripheral surface of the insertion hole and extends in a horizontal direction. The second fixing part has an annular flange that protrudes outward from the spring part when viewed from a vertical direction, and a pair of holes are formed in the flange along the vertical direction. The foot is a machined part.

2. The vibration generating device according to claim 1, characterized in that, The spring part is a leaf spring.

3. A pickup system, characterized in that, have: A vibration generating device is used to hold a workpiece and to impart vibration to the workpiece, thereby causing the position of the workpiece to change. An imaging device that captures an image of the workpiece placed on the vibration generating device and detects the position of the workpiece based on the image capture results; and The robot picks up the workpiece placed on the vibration generating device based on the detection results of the imaging device. The vibration generating device has: plate-shaped abutment; A groove for holding the workpiece; The four legs, erected on the base and supporting the groove, and A vibrating motor that imparts vibration to the groove. The groove has a plate-shaped transmission section for arranging the vibration motor, and a plate-shaped groove support section overlaps on the upper surface of the transmission section. The groove support section is fixed to the transmission section by a plurality of screw threads. A groove body for holding the workpiece is disposed on the upper surface of the groove support. The foot has: A spring section capable of elastic deformation; A first fixing part is located between the spring part and the groove, and fixes the spring part to the groove; and The second fixing part is located on the opposite side of the first fixing part relative to the spring part, and the second fixing part fixes the spring part. The spring portion, the first fixing portion, and the second fixing portion are integrated into one unit. The first fixing part has a hole for fixing to the groove. When viewed from above from the direction in which the spring portion and the first fixing portion are arranged, the hole is located on the outside of the spring portion. The transmission part has: an insertion hole that opens on its lower surface and allows the first fixing part to pass through; and a hole that passes through the side surface of the transmission part and the inner peripheral surface of the insertion hole and extends in a horizontal direction. The second fixing part has an annular flange that protrudes outward from the spring part when viewed from a vertical direction, and a pair of holes are formed in the flange along the vertical direction. The foot is a machined part.

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