Vibration generating device and pick-up system

Abstract

Provided is a vibration generating device and a pickup system capable of reciprocally moving a work. The vibration generating device includes a groove having a placement surface on which a work is placed; two plate springs that support the groove; and a vibration generating portion that vibrates the groove while elastically deforming each of the plate springs, thereby moving the work on the placement surface. The two plate springs are arranged in a direction in which the work moves, and each has a bent portion that protrudes in a direction along the moving direction.

Description

TECHNICAL FIELD

[0001] The present application relates to a vibration generating device and a picking system. BACKGROUND

[0002] The vibration feeder described in Patent Document 1 has a base, an electromagnet disposed on the base, a vibration plate disposed above the base, and a pair of plate springs linking the base and the vibration plate. In such a vibration feeder, the vibration plate is vibrated by attracting or separating the vibration plate using the electromagnet, thereby moving a component on the vibration plate in a prescribed moving direction.

[0003] Patent Document 1: Japanese Patent Application Publication No. H6-292862

[0004] However, in the vibration feeder of Patent Document 1, in order to easily move a component on the vibration plate in the moving direction, each plate spring is inclined so that the upper end portion (connection portion with the vibration plate) is located more downstream in the conveying direction than the lower end portion (connection portion with the base). Therefore, the component cannot move in the opposite direction of the moving direction, and it is difficult to reciprocally move the component in both directions. SUMMARY

[0005] The vibration generating device of the present application has: a groove having a placement surface on which a workpiece is placed; two plate springs that support the groove; and a vibration generating portion that vibrates the groove while elastically deforming each of the plate springs, thereby moving the workpiece on the placement surface, the two plate springs being disposed in a moving direction of the workpiece and each having a bent portion that protrudes in a direction along the moving direction.

[0006] The picking system of the present application has: a vibration generating device in which a workpiece is placed; a vision system that photographs the workpiece placed in the vibration generating device; and a robot that picks up the workpiece placed in the vibration generating device based on a photographing result of the vision system, the vibration generating device having: a groove having a placement surface on which a workpiece is placed; two plate springs that support the groove; and a vibration generating portion that vibrates the groove while elastically deforming each of the plate springs, thereby moving the workpiece on the placement surface, the two plate springs being disposed in a moving direction of the workpiece and each having a bent portion that protrudes in a direction along the moving direction. BRIEF DESCRIPTION OF DRAWINGS

[0007] Figure 1 is a front view showing the overall configuration of the picking system to which the first embodiment relates.

[0008] Figure 2 is a front view showing the robot.

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

[0010] Figure 4 is a front view for explaining driving of the vibration generating apparatus.

[0011] Figure 5 is a front view for explaining driving of the vibration generating apparatus.

[0012] Figure 6 is a front view for explaining driving of the vibration generating apparatus.

[0013] Figure 7 is a front view for explaining driving of the vibration generating apparatus.

[0014] Figure 8 is a perspective view showing a leaf spring.

[0015] Figure 9 is a front view showing a leaf spring.

[0016] Figure 10 is a front view showing a vibration state of a groove.

[0017] Figure 11 is a front view showing a vibration state of a groove.

[0018] Figure 12 is a flowchart showing a driving method of a pickup system.

[0019] Figure 13 is a front view showing a vibration generating apparatus according to a second embodiment.

[0020] Figure 14 is a front view showing a vibration generating apparatus according to a third embodiment.

[0021] Figure 15 is a front view showing a vibration generating apparatus according to a fourth embodiment.

[0022] Figure 16 is a front view showing a leaf spring.

[0023] Figure 17 is a front view showing a leaf spring provided to a vibration generating apparatus according to a fifth embodiment.

[0024] Figure 18 is a front view showing a modification example of a leaf spring.

[0025] Figure 19 is a front view showing a leaf spring provided to a vibration generating apparatus according to a sixth embodiment.

[0026] Figure 20 is a front view showing a modification example of a leaf spring.

[0027] Figure 21 is a front view showing a deformation example of the plate spring.

[0028] Figure 22 is a plan view showing a vibration generation device according to the seventh embodiment.

[0029] Figure 23 is a front view showing a vibration generation device according to the eighth embodiment.

[0030] Figure 24 is a front view showing a plate spring.

[0031] Figure 25 is a front view showing a deformation example of the vibration generation device.

[0032] Figure 26 is a front view showing a deformation example of the vibration generation device.

[0033] Figure 27 is a front view showing a vibration generation device according to the ninth embodiment.

[0034] Figure 28 is a front view showing a vibration generation device according to the tenth embodiment.

[0035] BRIEF DESCRIPTION OF DRAWINGS

[0036] 100… pickup system, 200… vibration generating device, 210… base, 211… base body, 212… column portion, 213… column portion, 220… groove, 221… first seat, 221a… window portion, 222… spacer, 223… second seat, 224… groove main body, 224a… placement surface, 230… plate spring, 230a… bent portion, 231… first member, 231a… upper end portion, 231b… lower end portion, 231c… first inclined portion, 232… second member, 232a… upper end portion, 232b… lower end portion, 232c… second inclined portion, 233a… plate, 233b… plate, 233c… plate, 233d… plate, 234… connecting portion, 240… plate spring, 240a… bent portion, 250… frame, 251… seat, 252… support pillar, 260… illumination portion, 270… vibration generating portion, 271… first vibration motor, 271A… main body portion, 271B… rotation shaft, 271C… eccentric weight, 272… second vibration motor, 272A… main body portion, 272B… rotation shaft, 272C… eccentric weight, 273… voice coil motor, 273A… main body, 273B… vibration shaft, 290… movable portion, 300… conveyor, 310… belt, 320… conveyance roller, 330… conveyance amount sensor, 400… vision system, 410… camera, 420… detection portion, 500… robot, 510… base, 520… mechanical 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, A1… vibration, A2… vibration, A3… vibration, A4… vibration, B… bolt, B1… bolt, B2… bolt, D… image data, F… X-Y plane, G… center of gravity, H1… eccentric direction, H2… eccentric direction, J1… first rotation axis, J2… second rotation axis, J3… third rotation axis, L1… length, L2… length, LL… light, N… nut, P1… natural state, P2… lowest point state, P3… highest point state, S1… step, S2… step, S3… step, S4… step, S5… step, W… workpiece, θ1… angle, θ2… angle, θa… inclination, θβ… inclination DETAILED DESCRIPTION

[0037] Hereinafter, preferred embodiments of the vibration generating device and the pickup system will be described based on the drawings.

[0038] First Embodiment

[0039] Figure 1 is a front view showing the overall configuration of the pickup system according to the first embodiment. Figure 2This is the front view of the robot. Figure 3 This is the front view showing the vibration generating device. Figures 4 to 7 These are the front views used to illustrate the drive of the vibration generating device. Figure 8 This is a three-dimensional diagram representing a leaf spring. Figure 9 This is the front view of the leaf spring. Figure 10 and Figure 11 These are the main views representing the vibration state of the groove. Figure 12 This is a flowchart representing the driving method of the picking system.

[0040] Figure 1 The pickup system 100 shown includes: a vibration generating device 200 that holds a workpiece W as the object to be transported; a conveyor 300 that transports the workpiece W; a vision system 400 that takes pictures of 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 and releases it onto the conveyor 300 based on the picture taken by the vision system 400; and a control device 600 that controls the drive of these parts.

[0041] Robot 500

[0042] 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 floor and a robotic arm 520 connected to the base 510. The robotic arm 520 has a first arm 521 and a second arm 522. The base end of the first arm 521 is connected to the base 510 and rotates relative to the base 510 about a first rotation axis J1 along the vertical direction. The base end of the second arm 522 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.

[0043] Additionally, a working head 530 is provided at the front end of the second arm 522. The working head 530 has 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 that passes through 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 movable up and down along the third rotation axis J3.

[0044] Additionally, an end effector 540 is mounted on the lower end of the splined shaft 533. The end effector 540 is easily detachable and detachable, and an appropriate end effector suitable for the target operation can be selected. In this embodiment, the end effector 540 is a gripper that clamps and holds the workpiece W.

[0045] 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.

[0046] Additionally, although not shown in the diagram, the first, second, third, and fourth drive units 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 unit 600 performs feedback control to make the position of the robotic arm 520 indicated by the output of each encoder consistent with the target position as the control objective.

[0047] The above describes Robot 500. However, Robot 500 is not particularly limited. For example, it could also be a six-axis robot with a robotic arm having six rotation axes.

[0048] Conveyor 300

[0049] like Figure 1 As shown, the conveyor 300 includes a belt 310 for carrying the workpiece W, a conveyor roller 320 of the conveyor 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 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.

[0050] Vision System 400

[0051] like Figure 1 As shown, the vision system 400 captures images of a workpiece W on the vibration generating device 200 from above, and detects the position and pose of the workpiece W based on the captured images. This vision system 400 includes a camera 410 and a detection unit 420, which detects the position and pose of at least one workpiece W on the vibration generating device 200 based on the image data captured by the camera 410. It should be noted that in this embodiment, the detection unit 420 is embedded in the control device 600. In other words, the control device 600 also functions as the detection unit 420.

[0052] 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 (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 system 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.

[0053] Vibration generating device 200

[0054] like Figure 3 As shown, the vibration generating device 200 includes: a plate-shaped base 210; a groove 220 disposed above the base 210; two leaf springs 230 and 240 connecting the base 210 and the groove 220; a frame 250 fixed to the base 210; an illumination unit 260 supported by the frame 250; and a vibration generating unit 270 disposed in the groove 220 and vibrating the groove 220. In this vibration generating device 200, the drive of the vibration generating unit 270 is controlled by the control device 600, thereby enabling the leaf springs 230 and 240 to elastically deform while imparting a desired vibration to the groove 220, thus changing the position and posture of the workpiece W placed in the groove 220.

[0055] It should be noted that, for ease of explanation, the three mutually orthogonal axes are designated as the X-axis, Y-axis, and Z-axis. The direction along the X-axis is also referred to as the "X-axis direction," the direction along the Y-axis as the "Y-axis direction," and the direction along the Z-axis as the "Z-axis direction." Furthermore, the arrow side of each axis is referred to as the "positive side," and the opposite side as the "negative side." Additionally, the Z-axis direction is along the vertical direction; the positive side of the Z-axis direction is the upper part of the vertical direction, and the negative side of the Z-axis direction is the lower part of the vertical direction. It should be noted that, in this specification, "vertical" includes not only the case of being perfectly vertical but also cases where the verticality is considered to be equal to that in common technical knowledge. Similarly, "horizontal" in this specification includes not only the case of being perfectly horizontal but also cases where the horizontality is considered to be equal to that in common technical knowledge.

[0056] The base 210 has a plate-shaped base 211 and two upright posts 212 and 213 extending upward from the base 211. The lower end of the leaf spring 230 is connected to the upper surface of the post 212, and the lower end of the leaf spring 240 is connected to the upper surface of the post 213. Thus, by providing the posts 212 and 213, sufficient space can be ensured above the base 211 for mounting the slot 220 and the lighting unit 260. However, the configuration of the base 210 is not particularly limited.

[0057] The tank 220 is disposed above the base 210 and is horizontally disposed. Further, the tank 220 has a first base 221 of a plate shape which is coupled to the base 210 via leaf springs 230, 240, a second base 223 of a plate shape which is disposed below the first base 221 and is coupled to the first base 221 via a spacer 222 which extends in the Z-axis direction, and a tank main body 224 of a box shape which is disposed in the first base 221. The workpiece W is dropped into the tank main body 224. The tank main body 224 has a placement surface 224a which is constituted by an inner bottom surface of the tank main body 224 and on which the workpiece W is placed.

[0058] Further, the placement surface 224a has a light-transmitting property. In the present embodiment, the bottom of the tank main body 224 is constituted by a material having a light-transmitting property. Further, the first base 221 has a window portion 221a which has a light-transmitting property in a portion overlapping the placement surface 224a. The window portion 221a of the present embodiment is a through-hole which penetrates the first base 221 in the thickness direction. However, the present embodiment is not limited thereto, and for example, the first base 221 can be constituted by a material having a light-transmitting property.

[0059] The frame 250 has a base 251 of a plate shape which is disposed between the first base 221 and the second base 223, and a plurality of supports 252 which couple the base 251 to the base 210. That is, the frame 250 is not vibrated with respect to the base 210 as with the tank 220, but is fixed with respect to the base 210.

[0060] The illumination portion 260 is disposed in the base 251 of the frame 250 and is disposed below the first base 221. The illumination portion 260 emits light LL toward the upper side, that is, the tank main body 224, and irradiates the workpiece W placed in the tank main body 224 from the lower side thereof via the window portion 221a and the placement surface 224a. Thus, it is possible to acquire bright image data from the camera 410. Alternatively, it is possible to increase the shutter speed of the camera 410. Therefore, it is possible to acquire clear image data without shaking. Thus, it is possible to more accurately perform image recognition of the workpiece W by the vision system 400.

[0061] The vibration generation portion 270 is disposed in the second base 223. Further, the vibration generation portion 270 has a first vibration motor 271 and a second vibration motor 272 which are disposed on the lower surface of the second base 223.

[0062] The first vibration motor 271 has a main body portion 271A which accommodates a stator and a rotor which are not shown, a rotation shaft 271B which is supported by the main body portion 271A, and an eccentric weight 271C which is disposed on the rotation shaft 271B. When the first vibration motor 271 is driven, the rotation shaft 271B rotates, and centrifugal force vibration is generated by the action of the eccentric weight 271C.

[0063] Similarly, the second vibration motor 272 has a main body 272A that houses a stator and rotor (not shown), a rotating shaft 272B supported by the main body 272A, and an eccentric hammer 272C disposed on the rotating shaft 272B. When the second vibration motor 272 is driven, the rotating shaft 272B rotates, and centrifugal vibration is generated by the action of the eccentric hammer 272C.

[0064] However, the configuration of the first and second vibration motors 271 and 272 is not particularly limited as long as they can generate vibration.

[0065] When viewed from above along the Z-axis, the first and second vibration motors 271 and 272 are positioned separately on either side of the center of the groove 220. Specifically, the first vibration motor 271 is positioned on the negative side of the center along the X-axis, and the second vibration motor 272 is positioned on the positive side along the X-axis. Furthermore, the rotation shafts 271B and 272B are horizontal and parallel to each other. In particular, in this embodiment, the rotation shafts 271B and 272B extend along the Y-axis and rotate about the Y-axis. Additionally, the rotation shafts 271B and 272B are located on the same horizontal plane. By arranging the first and second vibration motors 271 and 272 in this way, multiple vibrations, as described later, can be easily generated.

[0066] Furthermore, the vibration generating unit 270 includes a first sensor (not shown) for detecting the rotation of the first vibration motor 271 and a second sensor (not shown) for detecting the rotation of the second vibration motor 272. The first sensor can detect the eccentricity direction H1 of the rotation shaft 271B. Similarly, the second sensor can detect the eccentricity direction H2 of the rotation shaft 272B.

[0067] For example, such as Figure 4 As shown, when the first and second vibration motors 271 and 272 are driven to rotate in opposite directions with both eccentric directions H1 and H2 pointing downwards in the vertical direction, the vibrations of the first vibration motor 271 and the second vibration motor 272 cancel each other out and overlap, causing the leaf springs 230 and 240 to elastically deform while simultaneously imparting a vertical vibration A1 to the groove 220. As a result, the workpiece W within the groove 220 vibrates in a vertical jumping manner. This allows the workpiece W to flip.

[0068] Additionally, for example, such as Figure 5 As shown, when the first and second vibration motors 271 and 272 are driven to rotate in opposite directions with the eccentric directions H1 and H2 both pointing to the lower left, the vibrations of the first vibration motor 271 and the second vibration motor 272 cancel each other out and overlap, causing the leaf springs 230 and 240 to elastically deform while simultaneously imparting an oblique vibration A2 to the groove 220. Consequently, the workpiece W within the groove 220 moves towards the negative X-axis direction.

[0069] Additionally, for example, such as Figure 6 As shown, when the first and second vibration motors 271 and 272 are driven to rotate in opposite directions with the eccentric directions H1 and H2 both pointing to the right and downward, the vibrations of the first vibration motor 271 and the second vibration motor 272 cancel each other out and overlap, causing the leaf springs 230 and 240 to elastically deform while simultaneously imparting an oblique vibration A3 to the groove 220. Consequently, the workpiece W within the groove 220 moves towards the positive X-axis direction.

[0070] Additionally, for example, such as Figure 7 As shown, when the first and second vibration motors 271 and 272 are driven to rotate in the same direction with eccentricity H1 pointing downwards in the vertical direction and eccentricity H2 pointing upwards in the vertical direction, the vibrations of the first vibration motor 271 and the second vibration motor 272 cancel each other out and overlap, causing the leaf springs 230 and 240 to elastically deform while simultaneously imparting vibration A4 to the groove 220. As a result, the workpiece W within the groove 220 moves in the X-axis direction closer to the center.

[0071] As described above, in the vibration generating device 200, the workpiece W moves in the X-axis direction. Therefore, the X-axis direction will be referred to as the direction of movement of the workpiece W below.

[0072] In particular, in this embodiment, since the vibration generating unit 270 is disposed on the second base 223, the vibration generating unit 270 can be separated from the groove body 224 in the Z-axis direction. Therefore, the vibration generated by driving the vibration generating unit 270 is amplified and transmitted to the groove body 224, and a larger vibration can be imparted to the groove body 224. Therefore, the position and orientation of the workpiece W can be changed efficiently.

[0073] Next, leaf springs 230 and 240 will be explained. For example... Figure 3 As shown, leaf springs 230 and 240 are arranged in the X-axis direction. Leaf spring 230 is located on the negative side of the slot 220 in the X-axis direction, with its upper end connected to the first base 221 and its lower end connected to the base 210. On the other hand, leaf spring 240 is located on the positive side of the slot 220 in the X-axis direction, with its upper end connected to the first base 221 and its lower end connected to the base 210. These two leaf springs 230 and 240 are arranged symmetrically with respect to a plane, which is the YZ plane intersecting the centroid G of the slot 220.

[0074] With this configuration, leaf springs 230 and 240 support the groove 220 on both sides in the X-axis direction. By utilizing leaf springs 230 and 240 to support the groove 220 on both sides, the groove 220 can be stably supported and stable vibration can be provided to the groove 220.

[0075] Furthermore, leaf spring 230 has a generally L-shaped bend 230a that bends at the center in the Z-axis direction and protrudes to the negative side in the X-axis direction. Similarly, leaf spring 240 has a generally L-shaped bend 240a that bends at the center in the Z-axis direction and protrudes to the positive side in the X-axis direction. By forming leaf springs 230 and 240 in such shapes, leaf spring 230 can smoothly elastically deform in each of the vibration directions A1, A2, A3, and A4, and vibrations A1, A2, A3, and A4 can be easily generated respectively. Therefore, the position and orientation of workpiece W can be easily changed. In particular, workpiece W can be smoothly moved back and forth in both directions in the X-axis direction.

[0076] The following is a detailed description of the structure of leaf springs 230 and 240. However, since leaf springs 230 and 240 have the same structure, the following description will use leaf spring 230 as an example and omit the description of leaf spring 240.

[0077] like Figure 8 and Figure 9 As shown, the leaf spring 230 has a curved portion 230a that bends at its center in the Z-axis direction and protrudes towards the negative side in the X-axis direction. Furthermore, the leaf spring 230 has a first component 231 forming the lower half and a second component 232 forming the upper half. These first components 231 and second components 232 are separately constructed and arranged symmetrically with respect to the XY plane. It should be noted that the materials used to construct the first and second components 231 and 232 are not particularly limited; for example, various metal materials such as aluminum, copper, and stainless steel can be used.

[0078] Furthermore, the first component 231 has an upper end 231a, a lower end 231b, and a first inclined portion 231c. The upper end 231a and lower end 231b are formed by bending a flat plate at both ends and are both horizontal. The first inclined portion 231c is located between the upper end 231a and the lower end 231b and is inclined with its upper surface facing the positive side of the X-axis direction. Similarly, the second component 232 has an upper end 232a, a lower end 232b, and a second inclined portion 232c. The upper end 232a and lower end 232b are formed by bending a flat plate at both ends and are both horizontal. The second inclined portion 232c is located between the upper end 232a and the lower end 232b and is inclined with its upper surface facing the negative side of the X-axis direction. Thus, the lower end 231b of the first component 231 constitutes the lower end of the leaf spring 230, and the upper end 232a of the second component 232 constitutes the upper end of the leaf spring 230. Thus, by having the first inclined portion 231c and the second inclined portion 232c, and in particular, the leaf spring 230 can smoothly and elastically deform in both directions of vibration A2 and A3, and can easily generate vibrations A2 and A3 respectively. Therefore, it is easier and smoother to move the workpiece W back and forth in both directions of the X-axis.

[0079] Further, the first inclined portion 231c is inclined at an angle θ1 about the Y axis with respect to the X-Y plane. Further, a plurality of insertion holes for insertion of a bolt (screw) are formed in alignment in the Y axis direction on the upper end portion 231a and the lower end portion 231b, respectively. Similarly, the second inclined portion 232c is inclined at an angle θ2 about the Y axis with respect to the X-Y plane. Further, a plurality of insertion holes for insertion of a bolt are formed in alignment in the Y axis direction on the upper end portion 232a and the lower end portion 232b, respectively.

[0080] The upper end portion 231a of the first member 231 and the lower end portion 232b of the second member 232 are joined by fastening of the bolt B and the nut N. Thereby, the joined portion of the first member 231 and the second member 232 becomes the plate spring 230 of the curved portion 230a. For example, although it is also possible to form the plate spring 230 by bending one flat plate as in the embodiment described later, in this case, the flat plate needs to be bent substantially at the portion of the curved portion 230a, and it is possible that the strength of the plate spring 230 is reduced due to plastic deformation. In contrast to this, according to the configuration of joining the first and second members 231, 232 in separate bodies, it is not necessary to bend substantially at the curved portion 230a, and it is possible to suppress reduction in the strength of the plate spring 230 due to plastic deformation. Note that the method of joining the first member 231 and the second member 232 is not particularly limited, and for example, a rivet can be used, welding can be performed, or an adhesive can be used.

[0081] In particular, in the present embodiment, screw fastening is performed in a state in which the upper end portion 231a and the lower end portion 232b are overlapped with each other, and further, the portions are sandwiched from both the upper and lower sides by the plates 233a, 233b. Thereby, it is possible to strengthen the joined portion of the first member 231 and the second member 232. Further, since stress generated by fastening of the bolt B and the nut N is dispersed by the plates 233a, 233b, it is also possible to suppress concentration of stress in the vicinity of the bolt B. Therefore, the mechanical strength of the plate spring 230 is improved.

[0082] Further, the lower end portion 231b of the first member 231 is joined to the base 210 by the bolt B1. In particular, in the present embodiment, screw fastening is performed from above in a state in which the plate 233c is overlaid above the lower end portion 231b. Thereby, it is possible to strengthen the joined portion of the first member 231 and the base 210. Further, since stress generated by fastening of the bolt B1 is dispersed by the plate 233c, it is also possible to suppress concentration of stress in the vicinity of the bolt B1. Therefore, the mechanical strength of the plate spring 230 is improved. Note that the method of joining the first member 231 and the base 210 is not particularly limited, and for example, a rivet can be used, welding can be performed, or an adhesive can be used.

[0083] Furthermore, the upper end portion 232a of the second component 232 is connected to the groove 220 via bolt B2. Specifically, in this embodiment, the screw is tightened from below while the plate 233d is overlapped below the upper end portion 232a. This strengthens the connection between the second component 232 and the groove 220. Additionally, since the stress generated by the tightening of bolt B2 is dispersed by the plate 233d, stress concentration around bolt B2 is also suppressed. Therefore, the mechanical strength of the leaf spring 230 is improved. However, the method of connecting the second component 232 to the groove 220 is not particularly limited; for example, rivets, welding, or adhesives can be used.

[0084] Here, as Figure 9 As shown, when the length of the first inclined portion 231c is set as L1 and the length of the second inclined portion 232c is set as L2, the error between L1 and L2 is not particularly limited, but is preferably within ±20%, more preferably within ±10%, and even more preferably within ±5%. That is, it is preferably 0.8≤L1 / L2≤1.2, more preferably 0.9≤L1 / L2≤1.1, and even more preferably 0.95≤L1 / L2≤1.05. As a result, the vertical symmetry of the leaf spring 230 is increased, and the stress can be distributed evenly from top to bottom. Therefore, the durability of the leaf spring 230 is improved.

[0085] Furthermore, while the error between angles θ1 and θ2 is not particularly limited, it is preferably within ±20%, more preferably within ±10%, and even more preferably within ±5%. That is, it is preferably 0.8 ≤ θ1 / θ2 ≤ 1.2, more preferably 0.9 ≤ θ1 / θ2 ≤ 1.1, and even more preferably 0.95 ≤ θ1 / θ2 ≤ 1.05. This increases the vertical symmetry of the leaf spring 230, enabling it to distribute stress evenly from top to bottom. Therefore, the durability of the leaf spring 230 is improved.

[0086] In particular, in this embodiment, L1 = L2 and θ1 = θ2, and the leaf spring 230 is symmetrically arranged with respect to the XY plane F intersecting the bent portion 230a. That is, the leaf spring 230 has a vertically symmetrical shape. As a result, the aforementioned effects are more pronounced. In addition, vibrations A2 and A3 can be generated with equal intensity. Therefore, the workpiece W can be moved back and forth in both directions along the X-axis more smoothly.

[0087] Furthermore, while the error between the spring constant kx in the X-axis direction and the spring constant kz in the Z-axis direction of the leaf spring 230 is not particularly limited, it is preferably within ±50%, more preferably within ±25%, and even more preferably within ±5%. That is, it is preferably 0.5 ≤ kx / kz ≤ 1.5, more preferably 0.25 ≤ kx / kz ≤ 1.25, and even more preferably 0.95 ≤ kx / kz ≤ 1.05. Thus, if the spring constants kx and kz are set to the same degree, the oblique spring constant kxz, which is tilted relative to the X-axis and Z-axis directions, is also equal to them. Therefore, vibrations A1, A2, A3, and A4 can be generated in a resonant manner, and the position and orientation of the workpiece W can be changed efficiently. Therefore, the workpiece W can be moved back and forth in both directions along the X-axis more smoothly.

[0088] In particular, in this embodiment, kx = kz. Therefore, the above-mentioned effect becomes significant. It should be noted that although the spring constants kx and kz vary depending on the material, L1, L2, thickness, etc. of the leaf springs 230 and 240, by setting the angles θ1 and θ2 to be above 40° and below 70°, it is easy to make the spring constants kx and kz the same.

[0089] The above has described leaf springs 230 and 240. Here, as... Figure 3 As shown, the movable part 290, supported by leaf springs 230 and 240 and movable relative to the base 210, in this embodiment, is the assembly of the groove 220 and the vibration generating part 270. Its center of gravity G is located between leaf springs 230 and 240. Specifically, in this embodiment, the center of gravity of the groove 220 is equidistant from the leaf springs 230 and 240 and lies on the XY plane F intersecting the curved portions 230a and 240a. Thus, by positioning the center of gravity G between leaf springs 230 and 240, tilting of the groove 220 during vibration can be suppressed. Hereinafter, examples are listed... Figure 5 The vibration A2 shown is used as an example for explanation.

[0090] Figure 10The diagram shows the natural state P1, the lowest point state P2, and the highest point state P3 of the groove 220 that generates vibration A2. It should be noted that the natural state P1 is the state without vibration, the lowest point state P2 is the state where the groove 220 is at its lowest point, and the highest point state P3 is the state where the groove 220 is at its highest point. As shown in the figure, when the center of gravity G is located between leaf springs 230 and 240, the inclination θα of the mounting surface 224a in the lowest point state P2 relative to the mounting surface 224a in the natural state P1 and the inclination θβ of the mounting surface 224a in the highest point state P3 relative to the mounting surface 224a in the natural state P1 can be reduced, preferably to zero. Therefore, the mounting surface 224a maintains translational vibration, i.e., vibration on a horizontal side, which makes the magnitude of the vibration applied to each part of the mounting surface 224a uniform. As a result, the workpiece W on the mounting surface 224a can be moved more smoothly towards the negative X-axis direction.

[0091] It should be noted that the center of gravity G of the movable part 290 may not be located between the leaf springs 230 and 240. For example, the center of gravity G of the movable part 290 may be located higher or lower than the leaf springs 230 and 240. However, in this case, the tilt angles θα and θβ are more likely to increase. Figure 11 As shown, the larger the inclination angles θα and θβ become, the more uneven the magnitude of the vibration applied to each part of the mounting surface 224a becomes, and the moving speed of the workpiece W may deviate depending on the location.

[0092] Control device 600

[0093] like Figure 1 As shown, the control device 600 controls the vibration generating device 200, the conveyor 300, the vision system 400, and the robot 500, respectively. Such a control device 600 may be configured as a computer, having a processor (CPU) for processing information, a memory connected to the processor in a communicative manner, and an external interface for connecting to external devices. The memory stores various programs that can be executed 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 robot 500's casing. Alternatively, the control device 600 may be configured with multiple processors.

[0094] The above has described the structure of the picking system 100. Next, based on... Figure 12The driving method of the pickup system 100 will be described. First, as step S1, the control device 600 captures the workpieces W in the tank 220 with the camera 410 in a state where the robot 500 is in a posture that does not interfere with the capturing, and acquires image data D. Next, as step S2, the control device 600 detects the position posture of at least one workpiece W based on the image data D. Note that the detection of the posture of the workpiece W can use, for example, template matching.

[0095] Next, as step S3, the control device 600 detects whether there is a workpiece W in a position posture that can be gripped by the robot 500 from among the workpieces W whose position postures are detected. When there is a workpiece W in a position posture that can be gripped by the robot 500, as step S4, the control device 600 grips the workpiece W by the robot 500 and releases it onto the belt 310 of the conveyor 300. Thereby, the workpiece W is conveyed to a prescribed place by the conveyor 300.

[0096] On the other hand, when there is no workpiece W in a position posture that can be gripped by the robot 500 in step S3, as step S5, the control device 600 drives the vibration generating device 200 to reset the position postures of the workpieces W in the tank 220, and starts over from step S1. According to such a driving method, the workpiece W can be more reliably gripped by the robot 500.

[0097] The pickup system 100 has been described above. The vibration generating device 200 of such a pickup system 100 has: a tank 220 having a placement surface 224a on which a workpiece W is placed; two plate springs 230, 240 that support the tank 220; and a vibration generating section 270 that vibrates the tank 220 while elastically deforming each plate spring 230, 240, thereby moving the workpiece W on the placement surface 224a. In addition, the two plate springs 230, 240 are arranged along the direction of movement of the workpiece W, that is, the X-axis direction, and each has a bent portion 230a, 240a that protrudes in a direction along the X-axis direction. By forming the plate springs 230, 240 in such a shape, the vibrations A1, A2, A3 shown in Figs. 6A to 6C can be generated easily, respectively. Figure 8 The vibrations A1, A2, A3 shown in Figs. 6A to 6C can be generated easily, respectively. Thus, the workpiece W can be moved reciprocally to the left and right in the X-axis direction easily. Figure 9 The vibrations A1, A2, A3 shown in Figs. 6A to 6C can be generated easily, respectively. Thus, the workpiece W can be moved reciprocally to the left and right in the X-axis direction easily.

[0098] In addition, as described above, the plate spring 230 has a first inclined portion 231c and a second inclined portion 232c that are plate-shaped and inclined in opposite directions. The same applies to the plate spring 240. Thereby, the vibrations A2, A3 can be generated more easily. Thus, the workpiece W can be moved reciprocally to the left and right in the X-axis direction more easily.

[0099] Further, as described above, the first inclined portion 231c and the second inclined portion 232c are symmetrically arranged. That is, the leaf spring 230 is symmetrically arranged with respect to the X-Y plane intersecting the bent portion 230a. Thereby, it is possible to balance the stress in the up and down directions and improve the durability of the leaf spring 230. Further, it is possible to generate the vibrations A2, A3 with the same strength. Therefore, it is possible to more smoothly move the workpiece W to both sides in the X-axis direction.

[0100] Further, as described above, the first inclined portion 231c and the second inclined portion 232c are separately formed. By forming the first and second inclined portions 231c, 232c separately, it is not necessary to largely bend the flat plate that is the base material of the leaf spring 230 at the bent portion 230a, and it is possible to obtain a leaf spring 230 having sufficiently high strength.

[0101] Further, as described above, the center of gravity G of the movable portion 290, which is a portion supported by the two leaf springs 230, 240, is located between the two leaf springs 230, 240. Thereby, it is possible to suppress the inclination of the groove 220 at the time of vibration and more smoothly move the workpiece W in the X-axis direction.

[0102] Further, as described above, the vibration generating portion 270 has the first vibration motor 271 and the second vibration motor 272 that are parallel to each other along the horizontal direction. By configuring the first and second vibration motors 271, 272 in this way, it is possible to easily generate the plurality of vibrations described above.

[0103] Further, as described above, the pickup system 100 has the vibration generating apparatus 200 on which the workpiece W is placed, the vision system 400 that photographs the workpiece W placed on the vibration generating apparatus 200, and the robot 500 that picks up the workpiece W placed on the vibration generating apparatus 200 based on the photographing result of the vision system 400. Further, the vibration generating apparatus 200 has the groove 220 having a placement surface 224a on which the workpiece W is placed, the two leaf springs 230, 240 that support the groove 220, and the vibration generating portion 270 that vibrates the groove 220 while elastically deforming each of the leaf springs 230, 240, thereby moving the workpiece W on the placement surface 224a. Further, the two leaf springs 230, 240 are arranged along the movement direction of the workpiece W, that is, the X-axis direction, and each has a bent portion 230a, 240a that protrudes in a direction along the X-axis direction. By forming the leaf springs 230, 240 in this shape, it is possible to easily generate the vibrations A2, A3, respectively. Therefore, it is possible to easily move the workpiece W to both sides in the X-axis direction.

[0104] Second Embodiment

[0105] Figure 13 is a front view illustrating a vibration generating apparatus according to the second embodiment.

[0106] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the accompanying drawings of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment.

[0107] like Figure 13 As shown, in the vibration generating device 200 of this embodiment, the leaf spring 230 is configured such that the bent portion 230a faces the positive side in the X-axis direction, and the leaf spring 240 is configured such that the bent portion 240a faces the negative side in the X-axis direction.

[0108] According to this second embodiment, the same effect as the first embodiment described above can also be achieved.

[0109] Third Implementation Method

[0110] Figure 14 This is a front view showing the vibration generating device according to the third embodiment.

[0111] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the accompanying drawings of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment.

[0112] like Figure 14 As shown, in the vibration generating device 200 of this embodiment, the leaf spring 240 is configured such that the bent portion 240a faces the negative side in the X-axis direction.

[0113] According to this third embodiment, the same effect as the first embodiment described above can also be achieved.

[0114] Fourth Implementation Method

[0115] Figure 15 This is a front view showing the vibration generating device according to the fourth embodiment. Figure 16 This is a front view showing the leaf spring.

[0116] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the figures of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment. Since leaf springs 230 and 240 have the same configuration, the following description will use leaf spring 230 as an example, omitting the description of leaf spring 240.

[0117] like Figure 15 As shown, in the vibration generating device 200 of this embodiment, the leaf spring 230 is rhomboid in shape. Furthermore, as... Figure 16 As shown, the first component 231 is bent into a downwardly protruding valley shape and has a lower end portion 231b located in the center, a pair of upper end portions 231a located at both ends, and a pair of first inclined portions 231c located between the lower end portion 231b and each of the upper end portions 231a. Thus, the first inclined portion 231c located on the negative side of the X-axis direction is inclined with its lower surface facing the negative side of the X-axis direction, and the first inclined portion 231c located on the positive side of the X-axis direction is inclined with its lower surface facing the positive side of the X-axis direction.

[0118] In contrast, the second component 232 is bent into an upwardly protruding mountain shape and has an upper end portion 232a located in the center, a pair of lower end portions 232b located at both ends, and a pair of second inclined portions 232c located between the upper end portion 232a and each of the lower end portions 232b. The upper surface of the second inclined portion 232c located on the negative side of the X-axis direction is inclined toward the negative side of the X-axis direction, and the upper surface of the second inclined portion 232c located on the positive side of the X-axis direction is inclined toward the positive side of the X-axis direction.

[0119] Therefore, the upper end 231a and lower end 232b on the negative side of the X-axis direction are fastened, and the upper end 231a and lower end 232b on the positive side of the X-axis direction are also fastened. In this way, by forming the leaf spring 230 into a rhomboid shape, stress can be evenly distributed in the vertical and horizontal directions (Z-axis and X-axis directions). Therefore, the durability of the leaf spring 230 is improved.

[0120] According to this fourth embodiment, the same effect as the first embodiment described above can also be achieved.

[0121] Fifth Implementation Method

[0122] Figure 17 This is a front view showing the leaf spring included in the vibration generating device according to the fifth embodiment. Figure 18 This is a front view showing a modified example of a leaf spring.

[0123] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the figures of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment. Since leaf springs 230 and 240 have the same configuration, the following description will use leaf spring 230 as an example, omitting the description of leaf spring 240.

[0124] like Figure 17 As shown, in the vibration generating device 200 of this embodiment, the leaf spring 230, in addition to the first component 231 and the second component 232, also has a connecting portion 234 that connects the first component 231 and the second component 232.

[0125] Furthermore, the first component 231 is made of a flat plate, and unlike the first embodiment described above, its upper end 231a and lower end 231b are not bent. Similarly, the second component 232 is made of a flat plate, and unlike the first embodiment described above, its upper end 232a and lower end 232b are not bent. Therefore, plastic deformation caused by bending is avoided, effectively suppressing the reduction in strength of the first and second components 231 and 232. Additionally, the first and second components 231 and 232 can also be made of materials that are difficult to bend.

[0126] The connecting portion 234 is triangular prism-shaped. Thus, the upper end portion 231a of the first component 231 is fastened to one side of the connecting portion 234, and the lower end portion 232b of the second component 232 is fastened to the other side. As a result, a leaf spring 230 with a generally L-shaped curved portion 230a protruding to the negative side in the X-axis direction is formed.

[0127] According to this fifth embodiment, the same effects as the first embodiment described above can be achieved. It should be noted that, as... Figure 18 As shown, the first and second components 231 and 232 can also be arranged in multiple overlapping configurations. This increases the mechanical strength of the leaf spring 230 and improves its durability. In this case, the overlapping first components 231 can also engage with each other, but it is preferable not to engage. By not engaging, the first components 231 are allowed to shift relative to each other, thus releasing stress.

[0128] Sixth Implementation Method

[0129] Figure 19 This is a front view showing the leaf spring included in the vibration generating device according to the sixth embodiment. Figure 20 and Figure 21These are front views showing a modified example of a leaf spring.

[0130] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the figures of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment. Since leaf springs 230 and 240 have the same configuration, the following description will use leaf spring 230 as an example, omitting the description of leaf spring 240.

[0131] like Figure 19 As shown, in the vibration generating device 200 of this embodiment, the leaf spring 230 is formed by bending a flat plate. That is, the first component 231 and the second component 232 are integrally formed. As a result, the leaf spring 230 can be manufactured more cost-effectively.

[0132] According to this sixth embodiment, the same effects as the first embodiment described above can be achieved. It should be noted that the shape of the leaf spring 230 is not particularly limited; for example, it can be as follows: Figure 20 The image shows a curved shape bent into an arc, which can also be like... Figure 21 The image shows a circular shape.

[0133] Seventh Implementation Method

[0134] Figure 22 This is a top view showing the vibration generating device according to the seventh embodiment.

[0135] The vibration generating device 200 of this embodiment is identical to the vibration generating device 200 of the first embodiment, except for the different configurations of the leaf springs 230 and 240. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment; identical details will be omitted. Furthermore, in the accompanying drawings of this embodiment, the same reference numerals are used for configurations identical to those in the previous embodiment.

[0136] like Figure 22 As shown, in the vibration generating device 200 of this embodiment, a pair of leaf springs 230 and a pair of leaf springs 240 are arranged in the Y-axis direction. That is, the groove 220 is supported by four leaf springs 230 and 240.

[0137] According to this seventh embodiment, the same effect as the first embodiment described above can also be achieved.

[0138] Eighth Embodiment

[0139] Figure 23 is a front view showing a vibration generating apparatus according to the eighth embodiment. Figure 24 is a front view showing a leaf spring. Figure 25 and Figure 26 are front views showing modified examples of the vibration generating apparatus, respectively.

[0140] The vibration generating apparatus 200 according to the present embodiment is the same as the vibration generating apparatus 200 according to the first embodiment except for the configuration of the leaf springs 230, 240. Note that in the following description, the vibration generating apparatus 200 according to the present embodiment will be described focusing on the differences from the first embodiment, and the description of the same matters will be omitted. In addition, in each drawing of the present embodiment, the same reference numerals are attached to the same configurations as those of the first embodiment. In addition, since the leaf springs 230, 240 have the same configuration, the following description will be given focusing on the leaf spring 230, and the description of the leaf spring 240 will be omitted.

[0141] As shown in Figure 23 , in the vibration generating apparatus 200 according to the present embodiment, the upper end of each of the leaf springs 230, 240 is connected to the base 210, and the lower end is connected to the groove 220. Specifically, as shown in Figure 24 , the lower end 231b of the first member 231 is connected to the second base 223 of the groove 220, and the upper end 232a of the second member 232 is connected to the column portion 212 of the base 210. By having such a configuration, for example, compared to the first embodiment, the vibration generating apparatus 200 can be made low in height.

[0142] In the case where the illumination portion 260 is configured as in the present embodiment, it is difficult to make the vibration generating apparatus 200 low in height, but in a simpler configuration, for example, as shown in Figure 25 and Figure 26 , the vibration generating apparatus 200 can be made lower in height than the configuration in which the upper end of the leaf spring 230 is connected to the groove 220 and the lower end is connected to the base 210. Note that in the configurations shown in Figure 25 and Figure 26 , the frame 250 and the illumination portion 260 are omitted, and further, the spacer 222 and the second base 223 are omitted from the groove 220, and the first and second vibration motors 271, 272 are disposed on the lower surface of the first base 221. Figure 25 Figure 26

[0143] ​​As described above, in the vibration generating apparatus 200 of the present embodiment, the both end portions of each of the plate springs 230, 240 are arranged in the vertical direction, and the lower end portion is connected to the groove 220. Thus, the vibration generating apparatus 200 can be made low in height.

[0144] According to the eighth embodiment as well, the same effects as those of the first embodiment described above can be obtained.

[0145] Ninth Embodiment

[0146] Figure 27 is a front view showing the vibration generating apparatus according to the ninth embodiment.

[0147] The vibration generating apparatus 200 according to the present embodiment is the same as the vibration generating apparatus 200 according to the seventh embodiment described above except for the configuration of the plate springs 230, 240. Note that in the following description, the vibration generating apparatus 200 according to the present embodiment will be described focusing on the differences from the seventh embodiment described above, and the description of the same matters will be omitted. In the drawings of the present embodiment, the same reference numerals are given to the same components as those of the previous embodiments.

[0148] As shown in Figure 27 , in the vibration generating apparatus 200 of the present embodiment, the four plate springs 230, 240 are in a rhombus shape as shown in Figure 16 . Further, the column portions 212, 213 are omitted from the base 210, and the four plate springs 230, 240 are arranged between the base 210 and the second base 223. Thus, the lower end portions of the plate springs 230, 240 are connected to the base 210, and the upper end portions are connected to the second base 223 of the groove 220. By being configured in this way, the plate springs 230, 240 are arranged so as to overlap the groove 220, and the expansion of the vibration generating apparatus 200 in the X-Y plane can be suppressed. Thus, the vibration generating apparatus 200 can be made small in size.

[0149] According to the ninth embodiment as well, the same effects as those of the first embodiment described above can be obtained.

[0150] Tenth Embodiment

[0151] Figure 28 is a front view showing the vibration generating apparatus according to the tenth embodiment.

[0152] The vibration generating device 200 according to this embodiment is the same as the vibration generating device 200 of the seventh embodiment described above, except for the different configurations of the leaf springs 230 and 240 and the vibration generating part 270. It should be noted that in the following description, the vibration generating device 200 of this embodiment will be described focusing on the differences from the first embodiment described above; identical details will be omitted. Furthermore, in the accompanying drawings of this embodiment, the same reference numerals are used for configurations identical to those in the aforementioned embodiments.

[0153] In the vibration generating device 200 of this embodiment, the four leaf springs 230 and 240 are Figure 16 The diamond shape shown. Additionally, as... Figure 28 As shown, the vibration generating unit 270 has four voice coil motors 273. Each voice coil motor 273 is respectively disposed within one of the four leaf springs 230 and 240. It should be noted that, in Figure 28 For ease of explanation, only the two leaf springs 230 and 240 located on the negative side of the Y-axis (near the front of the paper) and the two voice coil motors 273 disposed within these two leaf springs 230 and 240 are shown in the diagram.

[0154] Furthermore, each voice coil motor 273 has a main body 273A and a vibration shaft 273B that vibrates in the vertical direction relative to the main body 273A when energized. The main body 273A is fixed to the base 210, and the vibration shaft 273B is fixed to the slot 220. With this configuration, by controlling the magnitude and timing of the vibration of each voice coil motor 273, the aforementioned vibrations A1, A2, A3, and A4 can be imparted to the slot 220. It should be noted that the voice coil motor 273 may also be a coil on one side and a magnet on the other side, or an electromagnet on one side and a magnetic metal on the other. In other words, it can also be called an electromagnetic vibration generator.

[0155] According to this tenth embodiment, the same effect as the first embodiment described above can also be achieved.

[0156] The vibration generating device and pickup system of the present invention have been described above based on the illustrated embodiments. However, the present invention is not limited thereto, and the configuration of each part can be replaced with any configuration 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 apparatus, characterized by comprising: Having: a groove having a placement surface on which a work is placed; two plate springs that support the groove; and a vibration generating portion that vibrates the groove while elastically deforming each of the plate springs, thereby moving the work on the placement surface, the two plate springs are arranged in a direction in which the work moves, and each has a bent portion that protrudes in a direction along the moving direction, each of the plate springs has a first inclined portion that is plate-shaped and inclined in an opposite direction, and a second inclined portion that is plate-shaped, the first inclined portion is inclined at an angle of 40° or more and 70° or less with respect to a plane of the placement surface about an axis orthogonal to the moving direction, and the second inclined portion is inclined at an angle of 40° or more and 70° or less with respect to the plane of the placement surface about the axis orthogonal to the moving direction.

2. The vibration generating apparatus according to claim 1, wherein the first inclined portion and the second inclined portion are symmetrically arranged.

3. The vibration generating apparatus according to claim 1, wherein the first inclined portion and the second inclined portion are formed separately.

4. The vibration generating apparatus according to claim 1, wherein both end portions of each of the plate springs are arranged in a vertical direction, and a lower end portion is connected to the groove.

5. The vibration generating apparatus according to any one of claims 1 to 4, wherein a center of gravity of a portion supported by the two plate springs is located between the two plate springs.

6. The vibration generating apparatus according to claim 1, wherein the vibration generating portion has a first vibration motor and a second vibration motor, and rotation axes of the first vibration motor and the second vibration motor are parallel to each other in a horizontal direction. Having:

7. A pick-up system characterized in that, a vibration generating apparatus in which a work is placed; a vision system that captures the work placed in the vibration generating apparatus; and a robot that picks up the work placed in the vibration generating apparatus based on a captured result of the vision system, the vibration generating apparatus has: a groove having a placement surface on which a work is placed; two plate springs that support the groove; and a vibration generating portion that vibrates the groove while elastically deforming each of the plate springs, thereby moving the work on the placement surface, the two plate springs are arranged in a direction in which the work moves, and each has a bent portion that protrudes in a direction along the moving direction, each of the plate springs has a first inclined portion that is plate-shaped and inclined in an opposite direction, and a second inclined portion that is plate-shaped, the first inclined portion is inclined at an angle of 40° or more and 70° or less with respect to a plane of the placement surface about an axis orthogonal to the moving direction, and the second inclined portion is inclined at an angle of 40° or more and 70° or less with respect to the plane of the placement surface about the axis orthogonal to the moving direction. ​ ​

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