Vibratory carrier device

Abstract

To provide a vibratory carrier device capable of adjusting a vibration angle of a trough to a desired value by controlling two vibration motors which mutually reverse with a drawing-in phenomenon allowed.SOLUTION: A carrier device is so constituted that a first vibration motor M1 and a second vibration motor M2 rotate synchronously at the same frequency and the same rotating speed with a first drive signal Sg1 and a second drive signal Sg2 by outputting the first drive signal Sg1 and the second drive signal Sg2 from a first inverter D1 and a second inverter D2 to the first vibration motor M1 and the second vibration motor M2 which reversely rotate with respect to each other under V / F open loop control based upon a speed command assuming a drawing-in phenomenon through a trough T, and then executing control to adjust rotating speeds of the first vibration motor M1 and the second vibration motor M2 so that a calculated vibration angle estimated value (an angle when the trough T vibrates) approximates a target vibration angle.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a vibrating conveying device that conveys an object by vibrating a trough. [Background technology]

[0002] Patent Document 1 describes a vibration conveying device that vibrates a trough by rotating two vibration motors to convey a conveyed object supplied to the trough. The vibration motor has an eccentric body that is eccentric with respect to the rotation axis, and the rotation of the eccentric body can apply a vibration force to the trough. Patent Document 1 describes that the vibration angle of the trough can be controlled by adjusting the phase at which the mechanical angles of the eccentric bodies of the vibration motors are synchronized using the phase difference detected from the two vibration motors.

[0003] However, in a vibration conveying device, in a configuration in which the vibration angle is controlled using the phase difference of the eccentric body in the vibration motor, for example, a disturbance to the trough may cause a change in the relationship between the phase difference and the vibration angle, and the vibration angle of the trough may not be controlled to a desired angle. In addition, a sensor is required to detect the phase of the vibration motor, which may complicate the configuration of the vibration motor.

[0004] Therefore, the applicant has proposed a vibrating conveying device capable of conveying an object by controlling a trough to a predetermined vibration angle without detecting the phase of a vibration motor (see Patent Document 2 below). Specifically, the controller calculates a vibration angle estimate (angle at which the trough vibrates) based on a physical quantity (for example, at least one of acceleration, speed, and position change associated with vibration of the trough) detected by a sensor attached to the trough, and causes a drive unit (a first inverter that drives the first vibration motor to rotate, and a second inverter that drives the second vibration motor to rotate) to adjust the rotation speed of the first vibration motor and the rotation speed of the second vibration motor so as to bring the vibration angle estimate value closer to a target angle. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Special Publication No. 11-511106 [Patent Document 2] JP 2022-184324 A Summary of the Invention [Problem to be solved by the invention]

[0006] Incidentally, the vibrating conveying device described in Patent Document 2 employs a configuration in which the speed of each vibration motor is controlled individually, based on the idea that the two vibration motors can be controlled independently. However, in reality, the reaction forces caused by the vibrations of the two vibration motors act on and influence each other through the installation surface (in this case the trough to which both motors are attached), and a phenomenon of entrainment (synchronization phenomenon) in which the motors move at the same frequency is attempted.

[0007] However, although each vibration motor is independently controlled by an individual speed command, the natural phenomenon of entrainment (synchronization) inevitably occurs. That is, while each vibration motor is rotated at a rotation speed based on the speed command, after each vibration motor is activated, an entrainment (synchronization) occurs via the trough, and the two vibration motors synchronize and try to rotate at the same frequency, and a conflict occurs between them, so that neither the control by the speed command nor the entrainment converges, and the target rotation speed is not reached. The inventor has ascertained that if a motor with a large torque that can shake off the entrainment is used, it is possible to reach the target speed, but this is unrealistic in terms of cost.

[0008] The present invention has been made with attention to these problems, and its main objective is to provide a vibrating conveying device that can adjust the vibration angle of the trough to a desired value by controlling at least two vibration motors that rotate in opposite directions to each other in a state that allows the entrainment phenomenon (synchronization phenomenon). [Means for solving the problem]

[0009] That is, the vibrating conveying device according to the present invention includes a trough that conveys an object to be conveyed in a predetermined conveying direction by vibrating, a vibration motor that applies a vibration force to the trough for vibrating the trough by rotating an eccentric body that is eccentric with respect to a rotating shaft, a drive unit that drives and rotates the vibration motor, a control unit that controls the rotation of the vibration motor by the drive unit, and a sensor that is attached to the trough and detects a physical quantity that is at least any one of acceleration, speed, and position change due to the vibration of the trough. The vibrating conveying device according to the present invention includes at least a first vibration motor and a second vibration motor as the vibration motors, the rotation axes of the first vibration motor and the second vibration motor are attached to the trough in a horizontal direction intersecting the conveying direction, the rotation direction of the rotation axis of the first vibration motor and the rotation direction of the rotation axis of the second vibration motor are set to be opposite to each other, and the drive unit performs V / F control (control that outputs a voltage (V / F characteristic) corresponding to the frequency when changing the frequency for speed control) and open loop control (open loop control; there is no feedback loop and the control is performed in response to the command value) based on a speed command for the first vibration motor and the second vibration motor. The control unit calculates an estimated vibration angle, which is the angle at which the trough vibrates, based on the physical quantity detected by the sensor, and executes control to have the drive unit adjust at least one of the rotation speeds of the first vibration motor and the second vibration motor in order to bring the estimated vibration angle value closer to a target angle. After the first vibration motor and the second vibration motor are operated by the drive signal output from the drive unit under V / F open loop control, the first vibration motor and the second vibration motor are synchronized (there occurs a phenomenon in which they move at the same frequency) and rotate at the same rotation speed.

[0010] The inventors have obtained the above-mentioned results of their investigation, which show that even if a drive signal is issued without taking into consideration the natural phenomenon that when two vibration motors attached to a common trough are driven, a pull-in phenomenon occurs in the vibrations of each vibration motor through the trough, causing the rotation of each vibration motor to attempt to synchronize, and the two vibration motors are driven individually to realize vibration of the target vibration angle in the trough, a conflict occurs between the speed commands for each vibration motor and the pull-in phenomenon, making it difficult to rotate the two vibration motors at the target rotational speed. From this, if the natural occurrence of the entrainment phenomenon (synchronization phenomenon) is taken into consideration as a control goal from the beginning, there is no need to detect the rotation number or rotation speed of each vibration motor with a sensor, and after each inverter outputs to each vibration motor a drive signal for adjusting at least one of the rotation speed of the first vibration motor and the rotation speed of the second vibration motor to the drive unit so as to bring the vibration angle estimate value calculated based on the physical quantity detected from the trough closer to the target angle, the inventors have arrived at the idea that if open-loop control is used and the entrainment phenomenon (synchronization phenomenon) occurring between the first vibration motor and the second vibration motor via the trough is left to itself, there will be no conflict between the speed command and the entrainment phenomenon, and after the entrainment phenomenon has converged, the motors will be driven in sync at a predetermined rotation speed, which has led to the invention.

[0011] In such a vibration conveying device according to the present invention, the drive unit outputs a drive signal based on a speed command for the first vibration motor and the second vibration motor in a V / F open loop control that takes into account frequency and voltage, so that the first vibration motor and the second vibration motor operate at a frequency based on the drive signal, and then rotate at the same rotation speed due to the entrainment phenomenon (synchronization phenomenon). By providing a difference between the speed commands for the first vibration motor and the second vibration motor, the vibration angle of the trough can be controlled by utilizing the fact that the vibration angle changes due to the entrainment phenomenon (synchronization phenomenon). Even if the speed command for the first vibration motor and the second vibration motor differs from the actual rotation speed (actual measurement value), the rotation speed of each vibration motor is not forcibly controlled individually to eliminate the difference, and the control of the first vibration motor and the second vibration motor by the drive unit is open loop control, thereby solving the problem of "control not converging" that may occur due to the configuration of Patent Document 2 in which the speed control is performed individually for each vibration motor without taking into account the occurrence of the entrainment phenomenon, and the vibration angle of the trough can be controlled to a desired vibration angle. Moreover, the present invention can be said to contribute to the realization of a vibrating conveying device that does not employ a powerful motor (one that generates large torque).

[0012] In particular, in the vibrating conveying device according to the present invention, a drive unit including a first drive unit that outputs a drive signal to the first vibration motor under V / F open loop control and a second drive unit that outputs a drive signal to the second vibration motor under V / F open loop control is applied, and the first drive unit adjusts the rotation speed of the first vibration motor, while the second drive unit adjusts the rotation speed of the second vibration motor. This results in a configuration in which the first drive unit and the second drive unit output drive signals under V / F open loop control based on a speed command for the first vibration motor and a speed command for the second vibration motor, respectively, and by individually adjusting and setting the speed commands for the respective vibration motors that are the source of the respective drive signals for the first vibration motor and the second vibration motor, it is possible to more accurately control the vibration angle of the trough to be or approach a desired vibration angle. Here, as the drive signal, a frequency, a rotation speed, a rotation number, etc. can be applied as a signal related to the rotation of the first vibration motor and the second vibration motor.

[0013] Further, as a preferred embodiment of the vibration conveying device according to the present invention, a deviation value from a reference frequency (for example, 50 Hz) of the first vibration motor and the second vibration motor corresponding to a target vibration angle is set in advance in the control unit, and the first driving unit outputs a frequency obtained by adding or subtracting the deviation value corresponding to the target vibration angle specified by the control unit to the reference frequency as a driving signal to the first vibration motor, and the second driving unit outputs a frequency obtained by adding or subtracting the deviation value corresponding to the target vibration angle specified by the control unit to the reference frequency as a driving signal to the second vibration motor. Here, the reference frequency means a common frequency that is assumed to be generated when the first vibration motor and the second vibration motor are synchronized (converged) by the entrainment phenomenon. When a rotation speed or a rotation number is applied as a driving signal instead of a frequency, the reference frequency may be replaced with a reference rotation speed or a reference rotation number. Effect of the Invention

[0014] According to the present invention, it is possible to provide a vibrating conveying device capable of adjusting the vibration angle of a trough to a desired vibration angle by controlling at least two vibration motors that rotate in opposite directions to each other in a state that allows the pull-in phenomenon. [Brief description of the drawings]

[0015] [Figure 1] 1 is an overall configuration diagram of a vibration conveying device according to an embodiment of the present invention; [Diagram 2] 5 is an explanatory diagram regarding control of the vibration angle in the embodiment. FIG. [Diagram 3] 5 is a flowchart showing a vibration angle control process performed by the vibrating conveying device according to the embodiment. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0017] As shown in FIG. 1, the vibrating conveying device X according to this embodiment mainly includes a trough T that conveys the conveyed object in a predetermined conveying direction by vibrating, vibration motors M1 and M2 that apply a vibration force to the trough T to vibrate the trough T by rotating eccentric bodies W1 and W2 that are eccentric with respect to the rotation axis, a driving unit D (first inverter D1, second inverter D2) that rotates the vibration motors M1 and M2, a control unit C that controls the rotation of the vibration motors M1 and M2 by the driving unit D (first inverter D1, second inverter D2), and a sensor V that is attached to the trough T and detects a physical quantity that is at least one of acceleration, speed, and position change due to the vibration of the trough T. In the following description, the direction parallel to the installation surface on which the vibrating conveying device X is installed is defined as a horizontal direction d1, and the direction in which gravity is applied is defined as a vertical direction d2. The vertical direction d2 is also a direction perpendicular to the horizontal direction d1. In FIG. 1, the right side of the horizontal direction d1 is defined as positive, and the left side is defined as negative. The objects to be transported by the vibration transport device X include, for example, powders and granular materials of a predetermined size (food, medicines, materials for industrial products, lime, etc.).

[0018] The trough T has an upwardly open concave cross section and has a bottom wall T1 and a pair of side walls T2 extending in a vertical direction D2 from both ends of the bottom wall T1, and transports the transported object in a transport direction d3 by vibrating.

[0019] In this embodiment, when the vibrating conveying device X is stopped, the bottom wall T1 of the trough T is in a horizontal position, and the conveying direction of the conveyed object by the vibration of the trough T can be switched between a positive direction d3 from one end Ta to the other end Tb in the longitudinal direction of the trough T, and a reverse direction d4 (negative direction) from the other end Tb to the one end Ta. The direction in which the pair of left and right side walls T2 face each other can be regarded as the width direction.

[0020] The trough T is installed in a state of being suspended at the installation location via the vibration-proof spring B. In this embodiment, hook portions are provided at both longitudinal ends of the trough T, and the vibration-proof spring B is hooked on each hook portion, thereby configuring the trough T to be vibrable. Note that the vibration-proof spring B can also be supported from below by legs, and the trough T can be placed on the vibration-proof spring B, thereby configuring the trough T to be vibrable.

[0021] A motor mounting part T3 is provided on the downward surface of the bottom wall T1 of the trough T, and vibration motors M1 and M2 are attached to the motor mounting part T3. In this embodiment, the motor mounting parts T3 are provided at positions sandwiching the center of gravity of the trough T in the conveying directions d3 and d4, and a first vibration motor M1 is attached to one motor mounting part T3, while a second vibration motor M2 is attached to the other motor mounting part T3. Each vibration motor M1 and M2 is attached with its rotation axis extending in the width direction of the trough T.

[0022] The first vibration motor M1 and the second vibration motor M2 are AC motors, and are eccentric motors that generate vibration by rotating a first unbalanced weight W1 (corresponding to the eccentric body of the present invention) attached to the rotating shaft of the first vibration motor M1 and a second unbalanced weight W2 (corresponding to the eccentric body of the present invention) attached to the rotating shaft of the second vibration motor M2. In other words, as the first unbalanced weight W1 and the second unbalanced weight W2 rotate with the rotation of the first vibration motor M1 and the second vibration motor M2, a centrifugal force directed outward from the rotating shaft is applied to the trough T as an excitation force. In FIG. 1, each unbalanced weight W1, W2 is shown as a schematic black circle.

[0023] In the vibrating conveying device X according to this embodiment, a sensor V is provided on each of the first vibration motor M1 and the second vibration motor M2. In this embodiment, a vibration angle sensor (e.g., an absolute encoder) is used that can detect the vibration angles of the first vibration motor M1 and the second vibration motor M2 based on a Z-phase pulse that detects one rotation of the first vibration motor M1 and the second vibration motor M2. The value (vibration angle, position change) detected by the vibration angle sensor V is an example of a physical quantity (physical quantity in the present invention) associated with the vibration of the trough T.

[0024] In the vibrating conveying device X of this embodiment, the control unit C and the operation unit O are implemented in a common controller R. The operation unit O is a user interface that receives an operation by an operator and outputs a signal according to the received operation. The operation unit O can be provided with appropriate operation buttons and keys, such as a power-on button that receives an operation to turn on the main power, a start button that receives an operation to start conveying by the vibrating conveying device X, a stop button that receives an operation to stop conveying, and a change key that receives an operation to change the type of the conveyed object. The controller R can be installed in a suitable location separate from the trough T where the operator can appropriately input operations, etc. The controller R can be regarded as a control device equipped with the control unit C.

[0025] The control unit C is a programmable controller equipped with a CPU, ROM, RAM, etc., and receives signals from the operation unit O and detection values ​​(shown as pulse signals in FIG. 1) from the vibration angle sensor V. Output commands from the control unit C are input to a first inverter D1 (corresponding to a first drive unit of the present invention) and a second inverter D2 (corresponding to a second drive unit of the present invention) that constitute the drive unit D.

[0026] The control unit C executes the programs stored in the ROM to perform the functions of a command value setting unit C1, a vibration angle calculation unit C2, a deviation calculation unit C3, a correction value calculation unit C4, and command value correction units C5 and C6. The control unit C performs vibration angle control to control the vibration angles of the first vibration motor M1 and the second vibration motor M2 to a predetermined vibration angle command value by using the functions of these units. Specifically, the control unit C outputs a first speed command Ts1 (a speed command value in the counterclockwise direction (reverse rotation; CCW) as viewed from the output shaft side) for controlling the vibration angle of the first vibration motor M1 to the first inverter D1, and outputs a second speed command Ts2 (a speed command value in the clockwise direction (forward rotation; CW) as viewed from the output shaft side) for controlling the vibration angle of the second vibration motor M2 to the second inverter D2. Details of each unit in the control unit C will be described later.

[0027] When the rotation of the first vibration motor M1 and the second vibration motor M2 is controlled to rotate counterclockwise, the phase of the first vibration motor M1 and the second vibration motor M2 is defined in a range of up to 360° with 0° as the reference. On the other hand, when the rotation of the first vibration motor M1 and the second vibration motor M2 is controlled to rotate clockwise, the phase of the first vibration motor M1 and the second vibration motor M2 is defined in a range of up to 0° with -360° as the reference.

[0028] The first inverter D1 outputs a frequency and a voltage according to a first speed command Ts1 as a first drive signal Sg1 to the first vibration motor M1 by V / F open loop control. The V / F open loop control is a method of controlling an output voltage so that the ratio (V / F) between the output voltage V (Voltage) and the frequency f (frequency) is constant when the frequency f (frequency) is varied, and determines the first drive signal Sg1 without feeding back a physical quantity indicating the state of the first vibration motor M1 being driven. The second inverter D2 outputs a frequency and a voltage according to a second speed command Ts2 as a second drive signal Sg2 to the second vibration motor M2 by V / F open loop control without feeding back a physical quantity indicating the state of the second vibration motor M2 being driven. Note that, although the first inverter D1 and the second inverter D2 are shown as devices different from the controller R in FIG. 1, the controller R may be configured to include the first inverter D1 and the second inverter D2.

[0029] The first vibration motor M1 and the second vibration motor M2 are driven to rotate in opposite directions by the first speed command Ts1 and the second speed command Ts2. When the object is transported in a transport direction d3 (positive direction) from one end Ta to the other end Tb in the longitudinal direction of the trough T, the phase angles of the first unbalanced weight W1 and the second unbalanced weight W2 are adjusted so that the vibration angle of the trough T is in the range of 0° to 90°. On the other hand, when the object is transported in a transport direction d4 (reverse direction, negative direction) from the other end Tb to one end Ta in the longitudinal direction of the trough T, the phase angles of the first unbalanced weight W1 and the second unbalanced weight W2 are adjusted so that the vibration angle of the trough T is in the range of 90° to 180°. When the transport speed of the object on the trough T is set to zero, the vibration angle of the trough T is set to 90° or 0°.

[0030] Next, the relationship between the vibration angle Yw indicating the vibration direction of the trough T and the mechanical angles Ym1, Ym2 of the first unbalanced weight W1 and the second unbalanced weight W2 will be described with reference to Fig. 2. Fig. 2, which shows the first vibration motor M1 and the second vibration motor M2 from the side, shows an example of the vibration angle Yw when the transported object is transported in the forward direction d3, with the mechanical angle of the first unbalanced weight W1 in the first vibration motor M1 indicated as "Ym1" and the mechanical angle of the second unbalanced weight W2 in the second vibration motor M2 indicated as "Ym2".

[0031] By the rotation of the first unbalanced weight W1 and the second unbalanced weight W2, an excitation force F is applied to the trough T in the direction of the vibration angle Yw with respect to the excitation point P. Here, the excitation point P is a virtually defined position in the trough T where the excitation force F is applied by the rotation of the first unbalanced weight W1 and the second unbalanced weight W2. The excitation force F is a combined force generated by the rotation of the first unbalanced weight W1 and the second unbalanced weight W2. By arranging the first vibration motor M1 and the second vibration motor M2 at positions sandwiching the center of gravity of the trough T in the conveying directions d3 and d4, the excitation force F can be expressed as a force from the excitation point P that is virtually present between the first vibration motor M1 and the second vibration motor M2 in the conveying directions d3 and d4 with respect to the trough T.

[0032] When the mechanical angle Ym1 of the first unbalanced weight W1 and the mechanical angle Ym2 of the second unbalanced weight W2 are synchronized, the directions of the forces generated by the rotation of the first unbalanced weight W1 and the second unbalanced weight W2 are the same, so the excitation force F is maximized, and the mechanical angles Ym1, Ym2 at this time are defined as the vibration angle Yw. In other words, the vibration angle Yw can be said to be the phase at which the excitation force F applied to the trough T by the rotation of the first vibration motor M1 and the second vibration motor M2 is maximized. The rotation directions of the first vibration motor M1 and the second vibration motor M2 are opposite to each other, but the same angle is obtained because the definitions of the phase ranges are different for clockwise and counterclockwise rotations. On the other hand, when the mechanical angle Ym1 of the first unbalanced weight W1 and the mechanical angle Ym2 of the second unbalanced weight W2 differ by 180° on the circular coordinate system shown in FIG. 2, the directions of the forces generated by the rotation of the first unbalanced weight W1 and the second unbalanced weight W2 are opposite to each other, and the excitation force F is minimized.

[0033] The vibrating conveying device X can convey the conveyed object by controlling the vibration angle Yw of the trough T at any angle. That is, the vibrating conveying device X of this embodiment can convey the conveyed object at a vibration angle Yw corresponding to each drive mode when conveying the conveyed object in different drive modes, such as a drive mode in which the trough T is vibrated mainly for the purpose of conveying the conveyed object, and a retention mode in which the conveying speed of the conveyed object is set slower than in the conveying mode and the trough T is vibrated mainly for the purpose of stagnating the conveyed object on the trough T and drying it. In addition, the vibrating conveying device X can also convey the conveyed object at a vibration angle Yw set for each type of conveyed object.

[0034] The control unit C adjusts the vibration angle Yw of the trough T to an arbitrary angle by adjusting the phase at which the first unbalanced weight W1 and the second unbalanced weight W2 are synchronized. For example, as shown by the dotted line in FIG. 2, the rotation speed of the first vibration motor M1 is slower than the rotation speed of the second vibration motor M2, so that the mechanical angles Ym1', Ym2' at which the first unbalanced weight W1 and the second unbalanced weight W2 are synchronized are increased in the range of 0° or more and 90° or less, and the vibration angle Ywa after adjustment is made larger than the vibration angle Yw before adjustment. On the other hand, the rotation speed of the first vibration motor M1 is faster than the rotation speed of the second vibration motor M2, so that the mechanical angle Ym at which the first unbalanced weight W1 and the second unbalanced weight W2 are synchronized is reduced in the range of 0° or more and 90° or less, and the vibration angle after adjustment can be made smaller than the vibration angle Yw before adjustment (not shown).

[0035] In this embodiment, the control unit C executes control to adjust the rotational speeds of the first vibration motor M1 and the second vibration motor M2 to bring the vibration angle estimated value, which is the vibration angle of the trough T detected by the vibration angle sensor V and calculated by a predetermined calculation process, closer to the target vibration angle, which is the target vibration angle of the trough T.

[0036] Next, referring to the overall configuration diagram shown in FIG. 1 and the flowchart shown in FIG. 3, a processing procedure for adjusting the vibration angle Yw of the trough T by the control unit C and the drive unit D (first inverter D1, second inverter D2) of the vibrating conveying device X according to this embodiment will be described. The processing shown in FIG. 3 is a processing that is started by the control unit C when an operation to start conveying the conveyed object is accepted via the operation unit O, and is mainly performed by the control unit C and the drive unit D (first inverter D1, second inverter D2). Note that in FIG. 3, the processing mainly performed by the "drive unit (first inverter, second inverter)" (first drive signal output step S10 and second drive signal output step S11 described later) is shown in a common frame, and the processing outside the frame indicates that it is mainly performed by the control unit C.

[0037] First, the control unit C judges whether or not the stop condition is satisfied (stop condition satisfaction judgment step S1). For example, the stop condition is satisfied when all drive modes in the vibrating conveying device X are completed, or when an operator operates the operation unit O to stop the vibrating conveying device X. When the control unit C judges that the stop condition is satisfied, it ends the process, whereas when it judges that the stop condition is not satisfied, it judges whether or not to continue to control the vibration angle Yw (vibration angle control judgment step S2). Since the controller R executes a program corresponding to each drive mode on a badge-by-batch basis, when controlling the vibration angle, it is possible to judge the currently executed drive mode. It is also possible to judge the current drive mode according to the time measured by the counter.

[0038] When it is determined in the vibration angle control determination step S2 that the vibration angle control is to be performed, the command value setting unit C1 (see FIG. 1) of the control unit C sets a command value for controlling the rotation speed of the first vibration motor M1 and the second vibration motor M2 (command value setting step S3). The command value setting unit C1 can set an angle command value Ty, a first speed command Ts1, and a second speed command Ts2 for controlling the rotation speed of the first vibration motor M1 and the second vibration motor M2, for example, according to the above-mentioned drive mode and the type of the transported object. The angle command value Ty is the target vibration angle Yw. In this embodiment, the speed commands corresponding to the frequencies (deviation value added / subtracted frequencies) obtained by adding or subtracting the deviation value from the reference frequency (e.g., 50 Hz) of the first vibration motor M1 and the second vibration motor M2 to or from the reference frequency (e.g., 50 Hz) for each target vibration angle Yw are set as the first speed command Ts1 and the second speed command Ts2 for each target vibration angle Yw. The first speed command Ts1 and the second speed command Ts2 have opposite rotation directions. For example, when the target vibration angle Yw is X degrees, the first speed command Ts1 may be a speed command corresponding to a frequency X-αHz obtained by subtracting the deviation value αHz from the reference frequency 50Hz, while the second speed command Ts2 may be a speed command corresponding to a frequency X+αHz obtained by adding the deviation value αHz to the reference frequency 50Hz. In this way, it is essential that the deviation value-added / subtracted frequency reflected in one of the speed command values ​​(e.g., the second speed command Ts2) of the first speed command Ts1 and the second speed command Ts2 is set to a value obtained by adding the deviation value to the reference frequency (deviation value-added frequency), and the deviation value-added / subtracted frequency reflected in the other speed command value (e.g., the first speed command Ts1) is set to a value obtained by subtracting the deviation value from the reference frequency (deviation value-subtracted frequency). The deviation value is a value that increases as the target vibration angle Yw decreases from 90 degrees toward 0 degrees, and the transported object on the trough T is transported from the side of the vibration motor M (e.g., the first vibration motor M1) that rotates based on a speed command value (e.g., the first speed command Ts1) corresponding to the deviation value added / subtracted frequency with the deviation value subtracted therefrom, toward the side of the vibration motor M (e.g., the second vibration motor M2) that rotates based on a speed command value (e.g., the second speed command Ts2) corresponding to the deviation value added / subtracted frequency with the deviation value added thereto.The deviation values ​​taken into account in the first speed command Ts1 and the second speed command Ts2 at a certain target vibration angle Yw may be the same value or different values.

[0039] Following the command value setting step S3, the vibration angle calculation unit C2 of the control unit C calculates the vibration angle estimate value Ye of the trough T based on the detection values ​​detected by the vibration angle sensors V attached to the first vibration motor M1 and the second vibration motor M2, respectively (vibration angle estimate calculation step S4). The vibration angle estimate value Ye is an estimated value of the vibration angle Yw of the trough T. In this embodiment, the vibration angle calculation unit C2 is configured to calculate the vibration angle estimate value Ye of the trough T from the Z-phase pulses that detect one rotation of the first vibration motor M1 and the second vibration motor M2. For example, since it is assumed that the first vibration motor M1 and the second vibration motor M2 rotate synchronously at the same frequency and the same rotation speed when the entrainment phenomenon is converged, the rotation speed can be calculated from the period of the Z-phase pulse of either the first vibration motor M1 or the second vibration motor M2, and the positions of the weights (first unbalanced weight W1 and second unbalanced weight W2) of the first vibration motor M1 and the second vibration motor M2 can be inferred from the time difference between the generation of the Z-phase pulse of the first vibration motor M1 and the generation of the Z-phase pulse of the second vibration motor M2. Note that the generation of the Z-phase pulse and the positional deviation of the weights (first unbalanced weight W1 and second unbalanced weight W2) can be specified and grasped by first rotating the first vibration motor M1 and the second vibration motor M2 at the same period and vibrating them up and down by 90 degrees, and therefore it can be used for the control of the vibration conveying device X according to this embodiment by performing initial calibration internally with software.

[0040] Next, the deviation calculation unit C3 of the control unit C calculates an angle deviation indicating the difference (Ty-Ye) between the angle command value Ty set in the command value setting step S3 and the vibration angle estimated value Ye calculated in the vibration angle estimated value calculation step S4 (angle deviation calculation step S5). The angle deviation is a value indicating how much the calculated vibration angle estimated value Ye deviates from the angle command value Ty.

[0041] Next, the correction value calculation unit C4 of the control unit C calculates a speed correction value according to the angle deviation calculated in the angle deviation calculation step S5 (speed correction value calculation step S6). The speed correction value is a correction value for the first speed command Ts1 and the second speed command Ts2. The correction value calculation unit C4 calculates a speed correction value by a well-known PI (Proportional-Integral) control such that the corrected first speed command Ts1 and the second speed command Ts2 bring the angle deviation closer to zero. In the speed correction value calculation step S6, the correction value calculation unit C4 may calculate the speed correction value from the angle deviation by a well-known P control (Proportional Control) or PID control instead of the PI control.

[0042] Subsequently, the first command value correcting unit C5 of the control unit C corrects the first speed command Ts1 by adding or subtracting the speed correction value calculated in the speed correction value calculating step S6 to the first speed command Ts1, and the second command value correcting unit C6 of the control unit C corrects the second speed command Ts2 by adding or subtracting the speed correction value calculated in the speed correction value calculating step S6 to the second speed command Ts2 (speed command value correcting step S7). Fig. 3 illustrates an example of control in which the first command value correcting unit C5 adds the speed correction value to the first speed command Ts1, while the second command value correcting unit C6 subtracts the speed correction value from the second speed command Ts2, thereby correcting the first speed command Ts1 and the second speed command Ts2, respectively.

[0043] Next, the control unit C outputs the first speed command Ts1 corrected in the speed command value correction step S7 to the first inverter D1 (first speed command output step S8), and outputs the second speed command Ts2 corrected in the speed command value correction step S7 to the second inverter D2 (second speed command output step S9).

[0044] The first inverter D1 to which the first speed command Ts1 is input in the first speed command output step S8 outputs the first drive signal Sg1 to the first vibration motor M1 by V / F open loop control (first drive signal output step S10), and the second inverter D2 to which the second speed command Ts2 is input in the second speed command output step S9 outputs the second drive signal Sg2 to the second vibration motor M2 by V / F open loop control (second drive signal output step S11). As described above, in the control unit C, the deviation value from the reference frequency (e.g., 50 Hz) of the first vibration motor M1 and the second vibration motor M2 is set in advance for each target vibration angle, and the speed command corresponding to the deviation value added / subtracted frequency obtained by adding or subtracting the deviation value to or from the reference frequency is set as the first speed command Ts1 and the second speed command Ts2. The reference frequency is a frequency that is expected to occur when the first vibration motor M1 and the second vibration motor M2 rotate in synchronization after the entrainment phenomenon has converged, and this reference frequency is acquired and determined in advance for each vibration conveying device X, and further for each first vibration motor M1 and second vibration motor M2, and for each target vibration angle. The first speed command Ts1 and the second speed command Ts2 are corrected in a speed command value correction step S7, and the corrected first speed command Ts1 and the corrected second speed command Ts2 are output to the first inverter D1 and the second inverter D2 in a first speed command output step S8 and a second speed command output step S9, and the first inverter D1 and the second inverter D2 output the first drive signal Sg1 to the first vibration motor M1 by V / F control (first drive signal output step S10), and output the second drive signal Sg2 to the second vibration motor M2 (second drive signal output step S11).

[0045] In the vibration conveying device X according to the present embodiment, a V / F control is adopted, which is a control method for making the ratio of the voltage and frequency applied to the vibration motor M constant (V / F=constant value). This allows the first drive signal Sg1 output from the first inverter D1 to the first vibration motor M1 to rotate the first vibration motor M1 with a frequency corresponding to the corrected first speed command Ts1 and a voltage corresponding to the frequency, and allows the second drive signal Sg2 output from the second inverter D2 to rotate the second vibration motor M2 with a frequency corresponding to the corrected second speed command Ts2 and a voltage corresponding to the frequency. The corrected first speed command Ts1 and the corrected second speed command Ts2 reflect (take into account) a frequency obtained by adding or subtracting a deviation value preset for each target vibration angle to or from a reference frequency (deviation value added / subtracted frequency).

[0046] As a result, when the first vibration motor M1 and the second vibration motor M2 start to rotate at a rotation speed corresponding to the frequency output by the V / F open loop control, the reaction forces of the first vibration motor M1 and the second vibration motor M2 act on and influence each other through the trough T, causing a pull-in phenomenon (synchronization phenomenon) in which the motors move at the same frequency, and the pull-in phenomenon (synchronization phenomenon) converges, causing the first vibration motor M1 and the second vibration motor M2 to rotate at the same rotation speed. The frequency that defines the rotation speed when the first vibration motor M1 and the second vibration motor M2 rotate at the same rotation speed in synchronization with each other is a frequency that is set in advance for each target vibration angle, so that the actual vibration angle of the trough T can be controlled to the same value or approximately the same value as the target vibration angle. That is, the vibration conveying device X according to this embodiment performs vibration angle control based on the pull-in phenomenon (synchronization phenomenon).

[0047] Furthermore, when the vibration angle estimated value Ye of the trough T calculated in the vibration angle estimated value calculation step S4 differs from the angle command value Ty, which is the target vibration angle set in the command value setting step S3, the first command value corrector C5 adds a speed correction value to the first speed command Ts1 using the angle deviation (Ty-Ye) in the speed command value correcting step S7, while the second command value corrector C6 subtracts the speed correction value from the second speed command Ts2. In other words, the first speed command Ts1 and the second speed command Ts2 are corrected by inputting speed correction values ​​having the same absolute value as opposite values ​​(positive value and negative value) to the first speed command Ts1 and the second speed command Ts2, respectively. Then, according to the vibration conveying device X of this embodiment, even if the first speed command Ts1 and the second speed command Ts2 are corrected (=the speed command changes), the actual rotation speeds of the first vibration motor M1 and the second vibration motor M2 become substantially the same as the first speed command Ts1 and the second speed command Ts2 set corresponding to the angle command value Ty, which is the target vibration angle, due to the entrainment phenomenon (synchronization phenomenon). Also, if the actual vibration angle of the trough T changes due to the entrainment phenomenon (synchronization phenomenon) and does not reach the angle command value Ty, which is the target vibration angle, the first speed command Ts1 and the second speed command Ts2 are further corrected using the angle deviation (Ty-Ye), so that the actual vibration angle of the trough T reaches the angle command value Ty.

[0048] In this way, the vibrating conveying device X according to this embodiment allows the entrainment phenomenon (synchronization phenomenon) and performs vibration angle control based on the entrainment phenomenon (synchronization phenomenon), thereby controlling the vibration angle of the trough T to a desired vibration angle. Therefore, the vibrating conveying device X according to this embodiment can adjust the vibration angle Yw of the trough T to a desired vibration angle according to each different drive mode, such as a drive mode in which the trough T is vibrated mainly for the purpose of transporting the transported object, and a retention mode in which the trough T is vibrated with the vibration angle Yw of the trough T set larger than that of the drive mode mainly for the purpose of drying the transported object on the trough T.

[0049] Here, as a comparative example of the control mode by the vibration conveying device X according to the present embodiment, a configuration in which the speed control is performed individually on the first vibration motor M1 and the second vibration motor M2 can be cited. In this case, although it is possible to detect a physical quantity accompanying the rotation of the first vibration motor M1 and the second vibration motor M2 and rotate each vibration motor M1, M2 individually at a desired rotation speed in accordance with a speed command generated based on the detected physical quantity, in a state in which each vibration motor M1, M2 is rotated at a rotation speed based on the speed command, a pull-in phenomenon (synchronization phenomenon) occurs and the two vibration motors M1, M2 try to rotate at the same frequency. As a result, a conflict occurs between the control that tries to make the motors follow the speed command and the behavior that tries to rotate at the same frequency due to the pull-in phenomenon (synchronization phenomenon), and the control and the pull-in phenomenon do not converge, and the target rotation speed may not be reached.

[0050] Then, it was found that, taking the entrainment phenomenon into consideration, when a frequency that becomes a speed command corresponding to a target vibration angle is applied to each of the first vibration motor M1 and the second vibration motor M2, the first vibration motor M1 and the second vibration motor M2 driven in response to the speed command will eventually naturally cause the entrainment phenomenon (synchronization phenomenon) to occur and converge through the trough T. In other words, by adopting V / F open loop control and performing vibration angle control that allows and actively utilizes the entrainment phenomenon (synchronization phenomenon), the vibration conveying device X according to this embodiment has been devised, which is capable of adjusting the vibration angle of the trough T to a desired vibration angle.

[0051] That is, according to the vibrating conveying device X of this embodiment, the first inverter D1 and the second inverter D2 constituting the drive unit D output drive signals based on speed commands for the first vibration motor M1 and the second vibration motor M2 using V / F open loop control, which is control that takes into account frequency and voltage, so that the first vibration motor M1 and the second vibration motor M2 operate at a frequency contained in the drive signal, and then rotate at the same rotational speed as each other due to a pull-in phenomenon (synchronization phenomenon) that naturally occurs via the trough T. Furthermore, by providing a difference in the speed commands for the first vibration motor M1 and the second vibration motor M2, the vibration angle of the trough T can be controlled by utilizing the fact that the vibration angle changes due to the entrainment phenomenon (synchronization phenomenon).Even if the speed command for the first vibration motor M1 and the second vibration motor M2 differs from the actual rotation speed (actual measured value), the rotation speed of the first vibration motor M1 and the second vibration motor M2 is not forcibly controlled to eliminate the difference.Instead, the drive unit D (first inverter D1 and second inverter D2) adopts V / F open loop control that simply outputs to the first vibration motor M1 and the second vibration motor M2 according to the set value (speed command).This solves the problem of "control not converging" that can occur in a configuration in which speed control is performed individually for each vibration motor, and the vibration angle of the trough T can be controlled to the desired vibration angle.

[0052] In particular, according to the vibration conveying device X of this embodiment, a drive unit D is applied that includes a first inverter D1 that outputs a drive signal to the first vibration motor M1 by V / F open loop control and a second inverter D2 that outputs a drive signal to the second vibration motor M2 by V / F open loop control. The first inverter D1 adjusts the rotation speed of the first vibration motor M1, and the second inverter D2 adjusts the rotation speed of the second vibration motor M2. Therefore, by outputting drive signals including a frequency that makes the vibration angle of the trough T a desired vibration angle (target vibration angle) from the first inverter D1 and the second inverter D2 to the first vibration motor M1 and the second vibration motor M2 individually in anticipation of the occurrence of a pull-in phenomenon (synchronization phenomenon), the rotation speeds of the first vibration motor M1 and the second vibration motor M2 are adjusted, and the vibration angle of the trough T can be adjusted to the desired vibration angle (target vibration angle) when they eventually rotate at the same rotation speed due to the pull-in phenomenon (synchronization phenomenon).

[0053] Furthermore, in the vibrating conveying device X according to the present embodiment, the control unit C preliminarily sets deviation values ​​from the reference frequency (e.g., 50 Hz) of the first vibration motor M1 and the second vibration motor M2 in correspondence with the target vibration angle, and the first inverter D1 outputs a frequency obtained by subtracting the deviation value corresponding to the target vibration angle designated by the control unit C from the reference frequency as a drive signal to the first vibration motor M1, while the second inverter D2 outputs a frequency obtained by adding the deviation value corresponding to the target vibration angle designated by the control unit C to the reference frequency as a drive signal to the second vibration motor M2. Therefore, the deviation value can be reflected in the frequency that defines the rotation speed of the first vibration motor M1 and the second vibration motor M2, and the vibration angle of the trough T can be adjusted to a desired target vibration angle by utilizing the fact that the vibration angle changes due to the entrainment phenomenon (synchronization phenomenon).

[0054] In addition, when the first speed command output step S8 and the second speed command output step S9 are completed, the vibrating conveying device X according to this embodiment returns to the stop condition satisfaction determination step S1, and if it is determined in the stop condition satisfaction determination step S1 that the stop condition is not satisfied, proceeds to the vibration angle control determination step S2. Then, it is determined whether or not to control the vibration angle Yw, and if the control of the vibration angle Yw is to be continued, the control unit C executes the above-mentioned command value setting step S3 to second speed command output step S9, and accordingly the first inverter D1 and the second inverter D2 execute the first drive signal output step S10 and the second drive signal output step S11, whereby the vibration angle Yw of the trough T can be controlled to the angle command value Ty set in the command value setting step S3.

[0055] When it is determined in the vibration angle control determination step S2 that the vibration angle Yw is not to be controlled, the process proceeds to a first speed command output step S8 and a second speed command output step S9. In this case, in the first speed command output step S8, a predetermined first speed command Ts1 set by the command value setting unit C1 is output to the first inverter D1, and in the second speed command output step S9, a predetermined second speed command Ts2 set by the command value setting unit C1 is output to the second inverter D21. This makes it possible to vibrate the trough T to transport the transported object without forcibly controlling the vibration angle Yw of the trough T. The vibrating transport device X according to this embodiment repeats the above-mentioned process until it is determined in the stop condition establishment determination step S1 that the stop condition of the vibrating transport device X is established.

[0056] The present invention is not limited to the above-mentioned embodiment. For example, the first speed command corresponding to a certain target vibration angle is a command corresponding to a frequency obtained by subtracting a deviation value from a reference frequency (deviation value subtracted frequency), and the second speed command is a command corresponding to a frequency obtained by adding a deviation value to a reference frequency (deviation value subtracted frequency). Conversely, the first speed command may be a command corresponding to a frequency obtained by adding a deviation value to a reference frequency (deviation value added frequency), and the second speed command may be a command corresponding to a frequency obtained by subtracting a deviation value from a reference frequency (deviation value subtracted frequency). The deviation value is set in advance for each target vibration angle, but is set in consideration of individual differences, etc. for each vibrating conveying device. In addition, the reference frequency may be appropriately changed or selected in consideration of individual differences, use environment, use area, etc. of the vibrating conveying device. Furthermore, instead of the reference frequency, the concept of a reference rotation speed or a reference rotation speed may be used, and a drive signal based on a command corresponding to a rotation speed or rotational toxicity calculated using a deviation value based on them may be applied.

[0057] The control unit may also calculate an estimated vibration angle of the trough based on the physical quantity detected by the sensor, and execute control to cause the drive unit to adjust only one of the rotation speeds of the first vibration motor and the second vibration motor in order to bring the estimated vibration angle closer to the target vibration angle. Even in this case, by executing vibration angle control that allows for the entrainment phenomenon (synchronization phenomenon), the first vibration motor and the second vibration motor rotate at the same rotation speed, and the vibration angle of the trough T can be adjusted to the desired target vibration angle.

[0058] In each of the above-mentioned embodiments, a vibration angle sensor capable of calculating a vibration angle (amount of displacement) from a Z-phase pulse detecting one rotation of a motor is used as a sensor for detecting a physical quantity associated with the vibration of the trough, and a vibration angle estimate is calculated based on a value detected by the vibration angle sensor. Alternatively, a sensor for detecting the horizontal and vertical speed or acceleration of the trough may be provided, and a vibration angle estimate may be calculated based on a value detected by the sensor. Note that various information such as the number of rotations and vibration frequency information of each vibration motor obtained by operating the vibration conveying device may be converted into data, and the vibration conveying device may be operated while automatically checking the situation at that time and making corrections based on the data.

[0059] As the eccentric body, something other than an unbalanced weight may be used.

[0060] In the above-described embodiment, a configuration in which two vibration motors are used to vibrate the trough to transport the transported object is exemplified, but the present invention also includes a configuration in which three or more vibration motors are provided and two vibration motors selected according to the vibration drive mode, etc. are driven as the first vibration motor and the second vibration motor in the present invention to vibrate the trough and transport the transported object.

[0061] The control unit may be a so-called motor controller integrated with the first vibration motor and the second vibration motor. In this case, the control unit is not mounted on the controller, but is attached to the trough together with the first vibration motor and the second vibration motor.

[0062] Furthermore, the first vibration motor and the second vibration motor in the present invention are not limited to AC motors, and may be DC motors.

[0063] The first vibration motor and the second vibration motor may be disposed in the space below or above the bottom wall of the trough T. Also, one vibration motor may be disposed in the space below the bottom wall of the trough, and the other vibration motor may be disposed in the space above the bottom wall of the trough.

[0064] In the above-mentioned embodiment, the control unit executes the program stored in the ROM to realize the functions of the command value setting unit, the vibration angle calculation unit, the deviation calculation unit, the correction value calculation unit, and the command value correction unit. Alternatively, a control unit having a hardware circuit that realizes the functions of the above-mentioned units may be applied.

[0065] In addition, the vibrating conveying device of the present invention has the function of drying the transported objects by adjusting the vibration angle of the trough to slow down the transporting speed of the transported objects on the trough, but it can also be applied to applications where a drying function is not particularly required.

[0066] Furthermore, the specific configuration of each part is not limited to the above embodiment, and various modifications are possible without departing from the spirit of the present invention. [Explanation of symbols]

[0067] C…Control unit D...Drive unit D1, D2...First drive unit, second drive unit (first inverter, second inverter) M1, M2...Vibration motors (first vibration motor, second vibration motor) T...Trough V…Sensor W1, W2...Eccentric body (1st unbalanced weight, 2nd unbalanced weight) X...Vibration conveyor

Claims

1. a trough that vibrates to transport the object in a predetermined transport direction; a vibration motor that applies a vibration force to the trough to vibrate the trough by rotating an eccentric body that is eccentric with respect to a rotation axis; A drive unit that rotates the vibration motor; A control unit that controls the rotation of the vibration motor by the drive unit; A sensor attached to the trough for detecting a physical quantity that is at least one of an acceleration, a velocity, and a position change caused by vibration of the trough; the vibration motor includes at least a first vibration motor and a second vibration motor, the first vibration motor and the second vibration motor are attached to the trough with their respective rotation shafts facing a horizontal direction intersecting the conveying direction, and a rotation direction of the rotation shaft of the first vibration motor is opposite to a rotation direction of the rotation shaft of the second vibration motor; the drive unit outputs a drive signal by V / F open loop control based on a speed command for the first vibration motor and the second vibration motor, The control unit is Calculating an estimated vibration angle, which is an angle at which the trough vibrates, based on the physical quantity detected by the sensor; a control for adjusting at least one of the rotation speed of the first vibration motor and the rotation speed of the second vibration motor by the drive unit so as to bring the vibration angle estimation value closer to a target vibration angle, which is a target vibration angle of the trough; A vibrating conveying device characterized in that after the first vibration motor and the second vibration motor are activated by the drive signal, the first vibration motor and the second vibration motor are configured to rotate synchronously at the same frequency and the same rotational speed.

2. 2. The vibrating conveying device according to claim 1, wherein the drive unit includes a first drive unit that outputs the drive signal to the first vibration motor under V / F open loop control, and a second drive unit that outputs the drive signal to the second vibration motor under V / F open loop control, and the rotation speed of the first vibration motor is adjusted by the first drive unit, and the rotation speed of the second vibration motor is adjusted by the second drive unit.

3. In the control unit, deviation values ​​from a reference frequency of the first vibration motor and the second vibration motor are set in advance in correspondence with the target vibration angle, the first driving unit outputs, as the driving signal, a frequency obtained by adding or subtracting the deviation value corresponding to the target vibration angle designated by the control unit to the reference frequency, to the first vibration motor; The vibrating conveying device according to claim 2 , wherein the second driving section outputs a frequency obtained by subtracting or adding the deviation value corresponding to the target vibration angle from the reference frequency as the driving signal to the second vibrating motor.

Images