A vertically arranged longitudinal bending composite rotary feeding device and its working method

Abstract

The present invention discloses a vertically arranged longitudinal-bending composite rotary feeding device and its working method. The device comprises a base, a material tray, and n piezoelectric vibrators. During operation, a simple harmonic excitation signal of a specified frequency is applied to the piezoelectric ceramic pieces arranged in diagonal positions on the n piezoelectric vibrators, stimulating the longitudinal-bending composite mode of the n piezoelectric vibrators, driving the material tray to produce reciprocating motion in the vertical and torsional directions; the material in the material tray thereby produces horizontal and vertical motion. When the material reaches the top, the material tray moves back, and at this time the material continues to move horizontally in a parabola due to inertia and falls; when the material falls onto the material tray, the material tray begins the next cycle of vibration. Rotational transportation of the material is achieved in this cyclic motion; in addition, reverse transportation of the material can be achieved by applying an excitation signal to the piezoelectric ceramic piece at another diagonal position on the n piezoelectric vibrators. The present invention has a simple structure and is easy to assemble, and can achieve bidirectional rotational transportation.

Description

Technical Field

[0001] The present invention relates to the fields of piezoelectric feeders, material conveying and micro-particle transportation, and in particular to a vertically arranged longitudinal-bending composite rotary feeder and a working method thereof. Background Art

[0002] Piezoelectric vibration material conveying device uses the inverse piezoelectric effect of piezoelectric material to generate vibration, which is used as a driving source to drive the material trough to realize material conveying. It has the advantages of simple structure, no need for transmission mechanism, and no electromagnetic interference. It is widely used in automatic processing, automatic packaging and automatic assembly systems.

[0003] Piezoelectric vibrating material conveying devices can be divided into linear and rotary piezoelectric vibrating feeding devices according to the form of material transportation. The linear piezoelectric vibrating feeder is mainly composed of a base, a piezoelectric vibrator, a spring sheet, a top plate, etc. The working principle is that when the piezoelectric vibrator is excited by an alternating excitation signal, due to the inverse piezoelectric effect, the spring sheet produces reciprocating bending deformation under the excitation of the piezoelectric ceramic, inducing the top plate to produce elliptical motion, thereby conveying the material. The above-mentioned piezoelectric vibrating feeder has the advantages of simple structure, small size, light weight, low noise and low energy consumption, but it still has the disadvantages of fixed structure, inability to achieve bidirectional motion, and high processing and assembly requirements.

[0004] The rotary piezoelectric vibratory feeder is based on the linear piezoelectric vibratory feeder and operates on a similar principle. Using multiple sets of tilted springs and piezoelectric vibrators, when the piezoelectric vibrators are subjected to an alternating excitation voltage, the inverse piezoelectric effect induces reciprocating bending deformation of the piezoelectric vibrators and springs, driving the feed tray to produce vertical and torsional vibrations, thereby conveying the material. However, this structure suffers from rigidity, difficulty in assembly and processing, and inability to achieve bidirectional transport. Summary of the Invention

[0005] The technical problem to be solved by the present invention is to provide a vertically arranged longitudinal bending composite rotary feeding device and a working method thereof in view of the defects involved in the background technology.

[0006] The present invention adopts the following technical solutions to solve the above technical problems:

[0007] A vertically arranged longitudinal-bending composite rotary feeding device comprises a base, a feeding tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3;

[0008] The material tray is in the shape of a disk, and a material outlet is provided on its side wall. The lower bottom surface is evenly provided with n first fixing seats corresponding to the piezoelectric vibrators in a one-to-one manner.

[0009] The base is provided with n second fixing seats corresponding one to one with the first fixing seats;

[0010] The piezoelectric vibrator includes a metal substrate and first to fourth piezoelectric ceramic sheets;

[0011] The first to fourth piezoelectric ceramic sheets have the same shape and are all rectangular; one side of the metal substrate is provided with a first groove and a second groove for arranging the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet, respectively; the other side is provided with a third groove and a fourth groove for arranging the third piezoelectric ceramic sheet and the fourth piezoelectric ceramic sheet, respectively; the first groove and the third groove are symmetrical, and the second groove and the fourth groove are symmetrical;

[0012] The first to fourth piezoelectric ceramic sheets are disposed in the first to fourth grooves in a one-to-one correspondence, are polarized along the thickness direction, and the polarization directions are all outward or inward;

[0013] The upper end of the metal substrate is fixedly connected to the first fixing seat corresponding to the piezoelectric vibrator, and the lower end is fixedly connected to the second fixing seat corresponding to the piezoelectric vibrator, so that the metal substrate and the material tray are vertical and the material tray is placed horizontally.

[0014] As a further optimization solution of the vertically arranged longitudinal-bending composite rotary feeding device of the present invention, the first to fourth piezoelectric ceramic sheets are glued in a one-to-one correspondence in the first to fourth grooves by epoxy resin glue.

[0015] As a further optimization solution of the vertically arranged longitudinal bending composite rotary feeding device of the present invention, the n is 4.

[0016] The present invention also discloses a working method of the vertically arranged longitudinal bending composite rotary feeding device, comprising the following steps:

[0017] Simultaneously, a simple harmonic excitation signal of a preset frequency is applied to the first and fourth piezoelectric ceramic plates of the n piezoelectric vibrators, stimulating the longitudinal-bending composite modes of the n piezoelectric vibrators, driving the tray to produce reciprocating motion in the vertical and torsional directions. The material in the tray is thereby displaced horizontally around the tray's central axis and vertically along the tray's central axis. When the material reaches the apex, the tray moves back, while the material continues to move horizontally in a parabola and falls due to inertia. During the periodic vibration process, the material rotates in the tray and is discharged from the tray's material outlet.

[0018] If the material needs to be transported in the reverse direction, a simple harmonic excitation signal of a preset frequency can be applied to the second and third piezoelectric ceramic pieces of the n piezoelectric vibrators at the same time.

[0019] The present invention also discloses another vertically arranged longitudinal-bending composite rotary feeding device, comprising a base, a feeding tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3;

[0020] The material tray is in the shape of a disk, and a material outlet is provided on its side wall. The lower bottom surface is evenly provided with n first fixing seats corresponding to the piezoelectric vibrators in a one-to-one manner.

[0021] The base is provided with n second fixing seats corresponding one to one with the first fixing seats;

[0022] The piezoelectric vibrator includes a pre-tightening bolt, first to fourth beams, and first to third piezoelectric driving units;

[0023] The first to fourth beams are columns with the same cross-sectional shape, wherein the center of the lower end surface of the fourth beam is provided with a countersunk through hole that cooperates with the pre-tightening bolt, the third beam and the second beam are provided with through holes that cooperate with the pre-tightening bolt along their axes, and the center of the lower end surface of the first beam is provided with a pre-tightening threaded blind hole that cooperates with the pre-tightening bolt;

[0024] The first and third piezoelectric drive units each comprise 2m dual-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam, where m is a natural number greater than or equal to 1; the dual-partition piezoelectric ceramic sheets are provided with through holes at their centers for engaging with the pre-tightening bolts, are polarized along their thickness directions, and the polarization directions of the two partitions are opposite; the 2m dual-partition piezoelectric ceramic sheets are stacked sequentially with their dividing lines coplanar, and the polarization directions of adjacent dual-partition piezoelectric ceramic sheets are opposite;

[0025] The second piezoelectric drive unit comprises 2m single-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam; the single-partition piezoelectric ceramic sheets are provided with through holes in their centers for engaging with the pre-tightening bolts, and are polarized along their thickness directions; the 2m single-partition piezoelectric ceramic sheets are stacked in sequence, with adjacent single-partition piezoelectric ceramic sheets having opposite polarization directions;

[0026] The polarization direction of the first piezoelectric ceramic piece in the first piezoelectric driving unit is opposite to the polarization direction of the first piezoelectric ceramic piece in the third piezoelectric driving unit;

[0027] The pre-tightening bolt passes through the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, and the first piezoelectric drive unit in sequence and is threadedly connected to the pre-tightening threaded blind hole of the first beam, clamping the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, the first piezoelectric drive unit, and the first beam and making them coaxial;

[0028] The upper end of the first beam is fixedly connected to the first fixing seat corresponding to the driving unit where it is located, and the lower end of the fourth beam is fixedly connected to the second fixing seat corresponding to the driving unit where it is located, so that the piezoelectric vibrator and the material tray are vertical and the material tray is placed horizontally.

[0029] As a further optimization solution for the vertically arranged longitudinal bending composite rotary feeding device, the value of n is 4.

[0030] The present invention also discloses a working method of the vertically arranged longitudinal bending composite rotary feeding device, comprising the following steps:

[0031] A preset simple harmonic excitation signal U1 is applied to the second piezoelectric unit of the n piezoelectric vibrators, and a preset simple harmonic excitation signal U2 is applied to the first and third piezoelectric units of the n piezoelectric vibrators. The voltage and frequency of U1 and U2 are the same and the phase difference is π / 2. At this time, each piezoelectric vibrator is excited to generate a coupled vibration mode of first-order longitudinal vibration and second-order bending vibration. The coupled vibration modes of the n piezoelectric vibrators drive the material tray to generate reciprocating motion in the vertical and torsional directions. Under the composite vibration of the material tray, the material placed in the material tray generates a horizontal rotation around the central axis of the material tray and a vertical displacement along the central axis of the material tray. When the material reaches the top, the material tray moves back, and the material continues to move horizontally in a parabola due to inertia and falls. During the periodic vibration process, the material rotates in the material tray and is discharged from the material outlet of the material tray.

[0032] If the material needs to be transported in the reverse direction, the phase difference between U1 and U2 can be adjusted to -π / 2.

[0033] Compared with the prior art, the present invention adopts the above technical solution and has the following technical effects:

[0034] 1. It adopts a vertically arranged piezoelectric vibrator drive, eliminating the spring structure, with the advantages of simple structure and easy processing and assembly;

[0035] 2. Using the coupled modal drive of the first-order longitudinal vibration and second-order bending vibration of the piezoelectric vibrator, the diagonally arranged piezoelectric ceramic plates are excited to obtain oblique elliptical motion, thereby inducing vertical and torsional vibrations of the discharge tray;

[0036] 3. By stimulating piezoelectric ceramic pieces arranged at different diagonals, oblique elliptical motion trajectories with different inclination angles can be stimulated, thereby realizing bidirectional movement of the material. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a structural schematic diagram of the present invention;

[0038] Figure 2 It is a structural schematic diagram of the material tray in the present invention;

[0039] Figure 3 It is a structural schematic diagram of the base in the present invention;

[0040] Figure 4 It is a structural schematic diagram of the piezoelectric vibrator in the present invention;

[0041] Figure 5Schematic diagram of the simulation of the coupled modes of the first-order longitudinal vibration and the second-order bending vibration of the piezoelectric vibrator in the present invention;

[0042] Figure 6 This is a schematic diagram of the working principle of the material tray in the present invention;

[0043] Figure 7 It is another structural schematic diagram of the present invention;

[0044] Figure 8 Schematic diagram of driving a piezoelectric vibrator in another structure of the present invention.

[0045] In the figure, 1-base, 2-piezoelectric vibrator, 3-material tray, 4-first fixing seat, 5-second fixing seat, 6-metal base, 7-first piezoelectric ceramic sheet, 8-second piezoelectric ceramic sheet, 9-third piezoelectric ceramic sheet, 10-fourth piezoelectric ceramic sheet. DETAILED DESCRIPTION

[0046] The technical solution of the present invention is further described in detail below with reference to the accompanying drawings:

[0047] The present invention can be implemented in many different forms and should not be considered to be limited to the embodiments described herein. On the contrary, these embodiments are provided to make this disclosure thorough and complete and will fully convey the scope of the invention to those skilled in the art. In the accompanying drawings, components are enlarged for clarity.

[0048] It should be understood that although the terms first, second, third, etc. may be used herein to describe various elements, components, and / or parts, these elements, components, and / or parts are not limited by these terms. These terms are merely used to distinguish elements, components, and / or parts from each other. Therefore, the first element, component, and / or part discussed below can become the second element, component, or part without departing from the teachings of the present invention.

[0049] like Figure 1 As shown, the present invention discloses a vertically arranged longitudinal-bending composite rotary feeding device, comprising a base, a material tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3;

[0050] like Figure 2 As shown, the material tray is in the shape of a disk, a material outlet is provided on its side wall, and n first fixing seats corresponding to the piezoelectric vibrators are evenly arranged on the bottom surface in a circumferential direction;

[0051] like Figure 3 As shown, the base is provided with n second fixing seats corresponding one to one with the first fixing seats;

[0052] like Figure 4 As shown, the piezoelectric vibrator includes a metal substrate and first to fourth piezoelectric ceramic sheets;

[0053] The first to fourth piezoelectric ceramic sheets have the same shape and are all rectangular; one side of the metal substrate is provided with a first groove and a second groove for arranging the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet, respectively; the other side is provided with a third groove and a fourth groove for arranging the third piezoelectric ceramic sheet and the fourth piezoelectric ceramic sheet, respectively; the first groove and the third groove are symmetrical, and the second groove and the fourth groove are symmetrical;

[0054] The first to fourth piezoelectric ceramic sheets are disposed in the first to fourth grooves in a one-to-one correspondence, are polarized along the thickness direction, and the polarization directions are all outward or inward;

[0055] The upper end of the metal substrate is fixedly connected to the first fixing seat corresponding to the piezoelectric vibrator, and the lower end is fixedly connected to the second fixing seat corresponding to the piezoelectric vibrator, so that the metal substrate and the material tray are vertical and the material tray is placed horizontally.

[0056] The first to fourth piezoelectric ceramic sheets are glued in a one-to-one correspondence in the first to fourth grooves by epoxy resin glue, and n is preferably 4.

[0057] The present invention also discloses a working method of the vertically arranged longitudinal bending composite rotary feeding device, comprising the following steps:

[0058] Simultaneously, a simple harmonic excitation signal of a preset frequency is applied to the first and fourth piezoelectric ceramic pieces of the n piezoelectric vibrators to excite the longitudinal-bending composite modes of the n piezoelectric vibrators, such as Figure 5 As shown, the tray is driven to produce reciprocating motion in the vertical and torsional directions; the material in the tray is thereby rotated horizontally around the center axis of the tray and displaced vertically along the center axis of the tray, as shown Figure 6 As shown in the figure, when the material reaches the top, the tray moves back, and the material continues to move horizontally in a parabola due to inertia and falls; during the periodic vibration process, the material rotates in the tray and is discharged from the material outlet of the tray;

[0059] If the material needs to be transported in the reverse direction, a simple harmonic excitation signal of a preset frequency can be applied to the second and third piezoelectric ceramic pieces of the n piezoelectric vibrators at the same time.

[0060] like Figure 7 As shown, the present invention also discloses another vertically arranged longitudinal and bending composite rotary feeding device, comprising a base, a material tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3;

[0061] The material tray is in the shape of a disk, and a material outlet is provided on its side wall. The lower bottom surface is evenly provided with n first fixing seats corresponding to the piezoelectric vibrators in a one-to-one manner.

[0062] The base is provided with n second fixing seats corresponding one to one with the first fixing seats;

[0063] The piezoelectric vibrator includes a pre-tightening bolt, first to fourth beams, and first to third piezoelectric driving units;

[0064] The first to fourth beams are columns with the same cross-sectional shape, wherein the center of the lower end surface of the fourth beam is provided with a countersunk through hole that cooperates with the pre-tightening bolt, the third beam and the second beam are provided with through holes that cooperate with the pre-tightening bolt along their axes, and the center of the lower end surface of the first beam is provided with a pre-tightening threaded blind hole that cooperates with the pre-tightening bolt;

[0065] The first and third piezoelectric drive units each comprise 2m dual-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam, where m is a natural number greater than or equal to 1; the dual-partition piezoelectric ceramic sheets are provided with through holes at their centers for engaging with the pre-tightening bolts, are polarized along their thickness directions, and the polarization directions of the two partitions are opposite; the 2m dual-partition piezoelectric ceramic sheets are stacked sequentially with their dividing lines coplanar, and the polarization directions of adjacent dual-partition piezoelectric ceramic sheets are opposite;

[0066] The second piezoelectric drive unit comprises 2m single-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam; the single-partition piezoelectric ceramic sheets are provided with through holes in their centers for engaging with the pre-tightening bolts, and are polarized along their thickness directions; the 2m single-partition piezoelectric ceramic sheets are stacked in sequence, with adjacent single-partition piezoelectric ceramic sheets having opposite polarization directions;

[0067] The polarization direction of the first piezoelectric ceramic piece in the first piezoelectric driving unit is opposite to the polarization direction of the first piezoelectric ceramic piece in the third piezoelectric driving unit;

[0068] The pre-tightening bolt passes through the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, and the first piezoelectric drive unit in sequence and is threadedly connected to the pre-tightening threaded blind hole of the first beam, clamping the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, the first piezoelectric drive unit, and the first beam and making them coaxial;

[0069] The upper end of the first beam is fixedly connected to the first fixing seat corresponding to the driving unit where it is located, and the lower end of the fourth beam is fixedly connected to the second fixing seat corresponding to the driving unit where it is located, so that the piezoelectric vibrator and the material tray are vertical and the material tray is placed horizontally.

[0070] As a further optimization solution for the vertically arranged longitudinal bending composite rotary feeding device, the value of n is 4.

[0071] The present invention also discloses a working method of the vertically arranged longitudinal bending composite rotary feeding device, comprising the following steps:

[0072] like Figure 8As shown, a preset simple harmonic excitation signal U1 is applied to the second piezoelectric unit of the n piezoelectric vibrators, and a preset simple harmonic excitation signal U2 is applied to the first and third piezoelectric units of the n piezoelectric vibrators, with U1 and U2 having the same voltage and frequency and a phase difference of π / 2; at this time, each piezoelectric vibrator is excited to generate a coupled vibration mode of first-order longitudinal vibration and second-order bending vibration; the coupled vibration modes of the n piezoelectric vibrators drive the material tray to generate reciprocating motion in the vertical and torsional directions, and the material placed in the material tray generates a horizontal rotation around the central axis of the material tray and a vertical displacement along the central axis of the material tray under the composite vibration of the material tray; when the material reaches the top, the material tray moves back, and the material continues to move horizontally in a parabola due to inertia and falls; during the periodic vibration process, the material rotates in the material tray and is output from the material outlet of the material tray;

[0073] If the material needs to be transported in the reverse direction, the phase difference between U1 and U2 can be adjusted to -π / 2.

[0074] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by those skilled in the art in the art to which this invention belongs. It should also be understood that terms such as those defined in common dictionaries should be understood to have meanings consistent with their meanings in the context of the prior art and, unless defined as such, will not be interpreted in an idealized or overly formal sense.

[0075] The specific implementation methods described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific implementation method of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A vertically arranged longitudinal bending composite rotary feeding device, characterized in that: It includes a base, a material tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3; The material tray is in the shape of a disk, and a material outlet is provided on its side wall. The lower bottom surface is evenly provided with n first fixing seats corresponding to the piezoelectric vibrators in a one-to-one manner. The base is provided with n second fixing seats corresponding one to one with the first fixing seats; The piezoelectric vibrator includes a metal substrate and first to fourth piezoelectric ceramic sheets; The first to fourth piezoelectric ceramic sheets have the same shape and are all rectangular; one side of the metal substrate is provided with a first groove and a second groove for arranging the first piezoelectric ceramic sheet and the second piezoelectric ceramic sheet, respectively; the other side is provided with a third groove and a fourth groove for arranging the third piezoelectric ceramic sheet and the fourth piezoelectric ceramic sheet, respectively; the first groove and the third groove are symmetrical, and the second groove and the fourth groove are symmetrical; The first to fourth piezoelectric ceramic sheets are disposed in the first to fourth grooves in a one-to-one correspondence, are polarized along the thickness direction, and the polarization directions are all outward or inward; The upper end of the metal substrate is fixedly connected to the first fixing seat corresponding to the piezoelectric vibrator, and the lower end is fixedly connected to the second fixing seat corresponding to the piezoelectric vibrator, so that the metal substrate and the material tray are vertical and the material tray is placed horizontally.

2. The vertically arranged longitudinal bending composite rotary feeding device according to claim 1 is characterized in that: The first to fourth piezoelectric ceramic sheets are adhered in the first to fourth grooves in a one-to-one correspondence using epoxy resin glue.

3. The vertically arranged longitudinal bending composite rotary feeding device according to claim 1, characterized in that: The n is 4.

4. The working method of the vertically arranged longitudinal bending composite rotary feeding device according to claim 1, characterized in that: The following steps are involved: Simultaneously, a simple harmonic excitation signal of a preset frequency is applied to the first and fourth piezoelectric ceramic plates of the n piezoelectric vibrators, stimulating the longitudinal-bending composite modes of the n piezoelectric vibrators, driving the tray to produce reciprocating motion in the vertical and torsional directions. The material in the tray is thereby displaced horizontally around the tray's central axis and vertically along the tray's central axis. When the material reaches the apex, the tray moves back, while the material continues to move horizontally in a parabola and falls due to inertia. During the periodic vibration process, the material rotates in the tray and is discharged from the tray's material outlet. If the material needs to be transported in the reverse direction, a simple harmonic excitation signal of a preset frequency can be applied to the second and third piezoelectric ceramic pieces of the n piezoelectric vibrators at the same time.

5. A vertically arranged longitudinal bending composite rotary feeding device, characterized in that: It includes a base, a material tray, and n piezoelectric vibrators, where n is a natural number greater than or equal to 3; The material tray is in the shape of a disk, and a material outlet is provided on its side wall. The lower bottom surface is evenly provided with n first fixing seats corresponding to the piezoelectric vibrators in a one-to-one manner. The base is provided with n second fixing seats corresponding one to one with the first fixing seats; The piezoelectric vibrator includes a pre-tightening bolt, first to fourth beams, and first to third piezoelectric driving units; The first to fourth beams are columns with the same cross-sectional shape, wherein the center of the lower end surface of the fourth beam is provided with a countersunk through hole that cooperates with the pre-tightening bolt, the third beam and the second beam are provided with through holes that cooperate with the pre-tightening bolt along their axes, and the center of the lower end surface of the first beam is provided with a pre-tightening threaded blind hole that cooperates with the pre-tightening bolt; The first and third piezoelectric drive units each comprise 2m dual-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam, where m is a natural number greater than or equal to 1; the dual-partition piezoelectric ceramic sheets are provided with through holes at their centers for engaging with the pre-tightening bolts, are polarized along their thickness directions, and the polarization directions of the two partitions are opposite; the 2m dual-partition piezoelectric ceramic sheets are stacked sequentially with their dividing lines coplanar, and the polarization directions of adjacent dual-partition piezoelectric ceramic sheets are opposite; The second piezoelectric drive unit comprises 2m single-partition piezoelectric ceramic sheets having the same cross-sectional shape as the first beam; the single-partition piezoelectric ceramic sheets are provided with through holes in their centers for engaging with the pre-tightening bolts, and are polarized along their thickness directions; the 2m single-partition piezoelectric ceramic sheets are stacked in sequence, with adjacent single-partition piezoelectric ceramic sheets having opposite polarization directions; The polarization direction of the first piezoelectric ceramic piece in the first piezoelectric driving unit is opposite to the polarization direction of the first piezoelectric ceramic piece in the third piezoelectric driving unit; The pre-tightening bolt passes through the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, and the first piezoelectric drive unit in sequence and is threadedly connected to the pre-tightening threaded blind hole of the first beam, clamping the fourth beam, the third piezoelectric drive unit, the third beam, the second piezoelectric drive unit, the second beam, the first piezoelectric drive unit, and the first beam and making them coaxial; The upper end of the first beam is fixedly connected to the first fixing seat corresponding to the driving unit where it is located, and the lower end of the fourth beam is fixedly connected to the second fixing seat corresponding to the driving unit where it is located, so that the piezoelectric vibrator and the material tray are vertical and the material tray is placed horizontally.

6. The vertically arranged longitudinal bending composite rotary feeding device according to claim 5, characterized in that: The n is 4.

7. The working method of the vertically arranged longitudinal bending composite rotary feeding device according to claim 5, characterized in that: The following steps are involved: A preset simple harmonic excitation signal U1 is applied to the second piezoelectric unit of the n piezoelectric vibrators, and a preset simple harmonic excitation signal U2 is applied to the first and third piezoelectric units of the n piezoelectric vibrators. The voltage and frequency of U1 and U2 are the same and the phase difference is π / 2. At this time, each piezoelectric vibrator is excited to generate a coupled vibration mode of first-order longitudinal vibration and second-order bending vibration. The coupled vibration modes of the n piezoelectric vibrators drive the material tray to generate reciprocating motion in the vertical and torsional directions. Under the composite vibration of the material tray, the material placed in the material tray generates a horizontal rotation around the central axis of the material tray and a vertical displacement along the central axis of the material tray. When the material reaches the top, the material tray moves back, and the material continues to move horizontally in a parabola due to inertia and falls. During the periodic vibration process, the material rotates in the material tray and is discharged from the material outlet of the material tray. If the material needs to be transported in the reverse direction, the phase difference between U1 and U2 can be adjusted to -π / 2.

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