Vibration generator, vibration generator control method, and pickup system

Abstract

To provide a vibration generator which can control a vibration direction of a trough accurately, and to provide a control method of the vibration generator and a pickup system.SOLUTION: A vibration generator includes: a trough on which a workpiece is placed; a first vibration motor and a second vibration motor whose rotary shafts are arranged along a horizontal direction and parallel to each other; a transmission part in which the first vibration motor and the second vibration motor are disposed and transmits vibration of the first vibration motor and the second vibration motor to the trough; a first sensor which detects a rotation position of the rotary shaft of the first vibration motor; and a second sensor which detects a rotation position of the rotary shaft of the second vibration motor.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] The present invention relates to a vibration generator, a control method for a vibration generator, and a pickup system. [Background technology]

[0002] Patent Document 1 describes a vibration transfer device that transfers powder and granular material by vibrating a transfer trough supported by multiple spring legs with a vibration motor. In this vibration transfer device, the vibration motor is composed of two standard motors and one offset motor, and by individually controlling these three vibration motors, it is possible to impart vibration in a certain direction to the transfer trough. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Registered Utility Model No. 3175501 Summary of the Invention [Problem to be solved by the invention]

[0004] However, the vibration transfer device of Patent Document 1 has a problem in that the vibration direction of the transfer trough cannot be controlled with high precision because the eccentric angle (position of the eccentric weight) of the rotation shaft of each vibration motor is unknown. [Means for solving the problem]

[0005] The vibration generator of the present invention comprises: a trough on which a workpiece is placed; a first vibration motor and a second vibration motor whose rotation axes are parallel to each other and aligned in a horizontal direction; a transmission unit in which the first vibration motor and the second vibration motor are disposed and which transmits vibrations of the first vibration motor and the second vibration motor to the trough; a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; and a second sensor that detects the rotational position of the rotation shaft of the second vibration motor.

[0006] The method for controlling a vibration generator of the present invention includes: a trough on which a workpiece is placed; a first vibration motor and a second vibration motor whose rotation axes are parallel to each other and aligned in a horizontal direction; a transmission unit in which the first vibration motor and the second vibration motor are disposed and which transmits vibrations of the first vibration motor and the second vibration motor to the trough; a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; a second sensor that detects a rotation position of the rotation shaft of the second vibration motor, The driving of the first vibration motor and the second vibration motor is controlled based on the detection results of the first sensor and the second sensor.

[0007] The pickup system of the present invention includes: a vibration generator on which a workpiece is placed and which applies vibration to the workpiece to change its position; a vision system that captures an image of the workpiece placed on the vibration generator and detects the position of the workpiece based on the captured image; a robot that picks up the workpiece placed on the vibration generator based on the detection result of the vision, The vibration generator includes a trough on which the workpiece is placed; a first vibration motor and a second vibration motor whose rotation axes are parallel to each other and aligned in a horizontal direction; a transmission unit in which the first vibration motor and the second vibration motor are disposed and which transmits vibrations of the first vibration motor and the second vibration motor to the trough; a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; and a second sensor that detects the rotational position of the rotation shaft of the second vibration motor. [Brief explanation of the drawings]

[0008] [Figure 1] 1 is a front view showing the overall configuration of a pickup system according to a first embodiment. [Figure 2] FIG. [Figure 3] FIG. 2 is a front view showing the vibration generator. [Figure 4] FIG. 2 is a top view showing the vibration generator. [Figure 5] FIG. 2 is a top view showing two vibration motors included in the vibration generator. [Figure 6] FIG. 2 is a side view showing a vibration motor and a sensor. [Figure 7] FIG. 2 is a front view illustrating the driving of the vibration generator. [Figure 8] FIG. 2 is a front view illustrating the driving of the vibration generator. [Figure 9] FIG. 2 is a front view illustrating the driving of the vibration generator. [Figure 10] FIG. 2 is a front view illustrating the driving of the vibration generator. [Figure 11] 10 is a flowchart illustrating a method for driving the pickup system. [Figure 12] 10 is a side view showing a vibration motor and a sensor included in the vibration generator according to the second embodiment. FIG. [Figure 13] FIG. 10 is a front view showing a vibration generator according to a third embodiment. [Figure 14] FIG. 10 is a top view showing three vibration motors included in a vibration generator according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0009] Hereinafter, preferred embodiments of a vibration generator, a control method for a vibration generator, and a pickup system will be described with reference to the accompanying drawings.

[0010] First Embodiment FIG. 1 is a front view showing the overall configuration of a pickup system according to a first embodiment. FIG. 2 is a front view showing a robot. FIG. 3 is a front view showing a vibration generator. FIG. 4 is a top view showing the vibration generator. FIG. 5 is a top view showing two vibration motors provided in the vibration generator. FIG. 6 is a side view showing the vibration motors and a sensor. FIGS. 7 to 10 are each a front view for explaining how the vibration generator is driven. FIG. 11 is a flowchart showing a method for driving the pickup system.

[0011] The pickup system 100 shown in Figure 1 includes a vibration generator 200 on which a workpiece W to be transported is placed, a conveyor 300 as a transport device for transporting the workpiece W, a vision 400 that captures an image of the workpiece W placed on the vibration generator 200, a robot 500 that picks up the workpiece W placed on the vibration generator 200 based on the detection results of the vision 400 and releases it onto the conveyor 300, and a control device 600 that controls the operation of each of these parts.

[0012] [Robot 500] The robot 500 is a SCARA robot (horizontally articulated robot). As shown in Fig. 2, the robot 500 has a base 510 fixed to the floor surface and a robot arm 520 connected to the base 510. The robot arm 520 has a first arm 521 whose base end is connected to the base 510 and which rotates around a first rotation axis J1 that is aligned vertically relative to the base 510, and a second arm 522 whose base end is connected to a tip end of the first arm 521 and which rotates around a second rotation axis J2 that is aligned vertically relative to the first arm 521.

[0013] A work head 530 is provided at the tip of the second arm 522. The work head 530 has a spline nut 531 and a ball screw nut 532 that are coaxially arranged at the tip of the second arm 522, and a spline shaft 533 that is inserted through the spline nut 531 and the ball screw nut 532. The spline shaft 533 is rotatable around a third rotation axis J3 that is perpendicular to the second arm 522, and is movable up and down along the third rotation axis J3.

[0014] An end effector 540 is attached to the lower end of the spline shaft 533. The end effector 540 is detachable and can be selected appropriately for the intended task. The end effector 540 in this embodiment is a hand that clamps and holds the workpiece W.

[0015] The robot 500 also has a first drive unit 571 that rotates the first arm 521 around a first rotation axis J1 relative to the base 510, a second drive unit 572 that rotates the second arm 522 around a second rotation axis J2 relative to the first arm 521, a third drive unit 573 that rotates the spline nut 531 to rotate the spline shaft 533 around a third rotation axis J3, and a fourth drive unit 574 that rotates the ball screw nut 532 to raise and lower the spline shaft 533 in a direction along the third rotation axis J3.

[0016] Each of the first, second, third, and fourth driving devices 571, 572, 573, and 574 is provided with a motor as a driving source and an encoder that detects the amount of rotation of the motor. During operation of the pickup system 100, the control device 600 executes feedback control to match the position of the robot arm 520 indicated by the output of each encoder with a target position that is a control target.

[0017] Although the robot 500 has been described above, the robot 500 is not particularly limited, and may be, for example, a six-axis robot equipped with a robot arm having six rotation axes.

[0018] [Conveyor 300] 1, the conveyor 300 includes a belt 310 on which the workpiece W is placed, transport rollers 320 that move the belt 310, a motor (not shown) that drives the transport rollers 320, and a transport distance sensor 330 that outputs a signal corresponding to the amount of rotation of the transport rollers 320 to the control device 600. During operation of the pickup system 100, the control device 600 performs feedback control to match the transport speed of the workpiece W indicated by the output of the transport distance sensor 330 with a target transport speed, which is a control target. This allows the workpiece W to be transported stably at the desired speed.

[0019] [Vision 400] 1, the vision 400 is a device that captures images of the workpieces W on the vibration generator 200 from above the vibration generator 200 and detects the positions and overlapping state of the workpieces W based on the captured image. The vision 400 has a camera 410 and a detection unit 420 that detects the position of at least one workpiece W on the vibration generator 200 based on the image data captured by the camera 410. In this embodiment, the detection unit 420 is incorporated into the control device 600.

[0020] Furthermore, the camera 410 is a 3D camera (stereo camera) capable of capturing distance images in which each pixel has depth information. Each pixel of the camera 410 is associated with world coordinates by the detection unit 420, and when a workpiece W is present within the angle of view of the camera 410, the coordinates of the workpiece W can be identified based on the position of the workpiece W within the image data. However, the configuration of the vision 400 is not particularly limited, and may be, for example, a configuration that combines a 2D camera and a depth sensor, or a configuration that uses a measuring device that measures three-dimensional shapes using a phase shift method.

[0021] [Vibration generator 200] As shown in Figure 3, the vibration generating device 200 has a plate-shaped base 210, four legs 220 erected on the base 210, a plate-shaped transmission unit 230 connected to the base 210 via these legs 220, a plate-shaped trough support unit 240 stacked on the upper surface of the transmission unit 230, a trough 250 placed on the upper surface of the trough support unit 240 and on which the workpiece W is placed, a first vibration motor 260A and a second vibration motor 260B placed on the lower surface of the transmission unit 230, a first sensor 270A that detects the rotation of the first vibration motor 260A, and a second sensor 270B that detects the rotation of the second vibration motor 260B.

[0022] With the vibration generator 200 configured as described above, the control device 600 controls the driving of the first and second vibration motors 260A, 260B, thereby applying vibrations in a predetermined direction to the trough 250 and changing the position and overlapping state of the workpieces W placed on the trough 250. In particular, with the vibration generator 200, the first and second sensors 270A, 270B can detect the rotation (eccentric directions H1, H2) of the first and second vibration motors 260A, 260B, so vibrations in the predetermined direction can be generated with high precision.

[0023] Each of the four legs 220 has a coil spring 221 and is elastically deformable. Furthermore, these four legs 220 are arranged at the four corners of the base 210 in a balanced manner, as shown in FIG.

[0024] 3, the plate-shaped transmission part 230 is fixed approximately horizontally to the base 210 via these four legs 220. Therefore, the transmission part 230 is more likely to shake relative to the base 210, and the vibrations of the first and second vibration motors 260A, 260B are amplified and transmitted to the trough 250.

[0025] The trough support part 240 is plate-shaped and is placed on top of the upper surface of the transmission part 230. The trough support part 240 is screwed to the transmission part 230 with a plurality of screws N. The trough 250 is box-shaped and is placed approximately horizontally on the upper surface of the trough support part 240. A plurality of workpieces W are stored randomly inside the trough 250.

[0026] As shown in FIG. 3, a first vibration motor 260A and a second vibration motor 260B are disposed on the underside of the transmission unit 230. Also, as shown in FIG. 5, the first vibration motor 260A includes a main body 261A housing a stator and rotor (not shown), a rotating shaft 262A protruding from both sides of the main body 261A, and eccentric weights 263A and 264A disposed at both ends of the rotating shaft 262A. When the first vibration motor 260A is driven, centrifugal force vibration is generated in the rotating shaft 262A due to the action of the eccentric weights 263A and 264A. Similarly, the second vibration motor 260B includes a main body 261B housing a stator and rotor (not shown), a rotating shaft 262B protruding from both sides of the main body 261B, and eccentric weights 263B and 264B disposed at both ends of the rotating shaft 262B. When the second vibration motor 260B is driven, centrifugal vibration is generated in the rotation shaft 262B due to the action of the eccentric weights 263B and 264B. However, the configuration of the first and second vibration motors 260A and 260B is not particularly limited as long as they can generate vibration.

[0027] 5, the first and second vibration motors 260A and 260B are disposed on either side of the center O of the trough 250 in a plan view from the vertical direction. That is, the first vibration motor 260A is disposed on one side of the center O, and the second vibration motor 260B is disposed on the other side. The rotation shafts 262A and 262B are each disposed approximately horizontally and parallel to each other. In particular, in this embodiment, the rotation shafts 262A and 262B are disposed in a direction perpendicular to the longitudinal direction of the trough 250. The rotation shafts 262A and 262B are located on the same horizontal plane.

[0028] The first sensor 270A detects the rotational position of the rotation shaft 262A of the first vibration motor 260A. The "rotational position of the rotation shaft 262A" refers to the positions of the eccentric weights 263A and 264A, i.e., the eccentric direction H1 of the rotation shaft 262A. Similarly, the second sensor 270B detects the rotational position of the rotation shaft 262B of the second vibration motor 260B. The "rotational position of the rotation shaft 262B" refers to the positions of the eccentric weights 263A and 264A, i.e., the eccentric direction H1 of the rotation shaft 262B. The first and second sensors 270A and 270B are transmissive photoelectric sensors. This allows for the first and second sensors 270A and 270B to be made smaller and less expensive.

[0029] 6, first sensor 270A has a protruding first detectable object 271A disposed on eccentric weight 263A and a first detector 272A disposed on the lower surface of transmission unit 230. First detector 272A has a light-emitting element 273A that emits light L and a light-receiving element 274A that faces light-emitting element 273A and receives light L from light-emitting element 273A. Each time rotation shaft 262A rotates once, first detectable object 271A passes between light-emitting element 273A and light-receiving element 274A, and at that time, the first detectable object 271A blocks light L from light-emitting element 273A, causing a change in the output signal from light-receiving element 274A. Therefore, control device 600 can detect the rotational position (eccentric direction H1) of rotation shaft 262A based on the output signal from light-receiving element 274A.

[0030] Similarly, second sensor 270B has a protruding second detectable object 271B disposed on eccentric weight 263B and a second detector 272B disposed on the underside of transmitter 230. Second detector 272B has a light-emitting element 273B that emits light L and a light-receiving element 274B that faces light-emitting element 273B and receives light L from light-emitting element 273B. Each time rotation shaft 262B rotates once, second detectable object 271B passes between light-emitting element 273B and light-receiving element 274B, and at that time, second detectable object 271B blocks light L from light-emitting element 273B, thereby changing the output signal from light-receiving element 274B. Therefore, control device 600 can detect the rotational position (eccentric direction H2) of rotation shaft 262B based on the output signal from light-receiving element 274B.

[0031] Furthermore, the first vibration motor 260A and the second vibration motor 260B are arranged so that the ends on which the first and second sensors 270A and 270B are provided are located on the same side, which makes it easy to arrange the first and second sensors 270A and 270B and to connect the wiring to the first and second sensors 270A and 270B.

[0032] The first and second sensors 270A and 270B are not particularly limited and may be, for example, reflective photoelectric sensors in which light receiving units 274A and 274B receive light L reflected by the first and second detection objects 271A and 271B, or encoders. In the case of encoders, they may be either absolute or incremental. In this embodiment, the first sensor 270A is disposed outside the first vibration motor 260A, but this is not limiting and the sensor may be disposed inside the first vibration motor 260A, for example.

[0033] The method for driving the vibration generator 200 configured as described above will be described in detail with reference to Figures 7 to 10. In the vibration generator 200, the driving of the first and second vibration motors 260A and 260B is controlled independently, thereby applying vibrations to the trough 250 in a predetermined direction.

[0034] 7, when the first and second vibration motors 260A and 260B are driven to rotate in opposite directions with the rotational positions of the rotation shafts 262A and 262B aligned based on the output signals of the first and second sensors 270A and 270B so that the eccentric directions H1 and H2 both point vertically downward, the vibrations of the first vibration motor 260A and the second vibration motor 260B cancel each other out and overlap, elastically deforming the leg 220 and applying vertical vibration B1 to the trough 250. This causes the workpiece W in the trough 250 to vibrate in a bouncing manner up and down.

[0035] 8, for example, when the first and second vibration motors 260A and 260B are driven to rotate in opposite directions with the rotational positions of the rotation shafts 262A and 262B aligned based on the output signals of the first and second sensors 270A and 270B so that the eccentric directions H1 and H2 both point diagonally downward to the left, the vibrations of the first vibration motor 260A and the second vibration motor 260B cancel each other out and overlap, elastically deforming the leg 220 and applying a diagonal vibration B2 to the trough 250. This causes the workpiece W in the trough 250 to move leftward. Note that the workpiece W also moves in the same direction when the first and second vibration motors 260A and 260B are driven to rotate in the same direction.

[0036] 9, for example, when the first and second vibration motors 260A and 260B are driven to rotate in opposite directions with the rotational positions of the rotation shafts 262A and 262B aligned based on the output signals of the first and second sensors 270A and 270B so that the eccentric directions H1 and H2 both point diagonally downward to the right, the vibrations of the first vibration motor 260A and the second vibration motor 260B cancel each other out and overlap, elastically deforming the leg 220 and applying a diagonal vibration B3 to the trough 250. As a result, the workpiece W in the trough 250 moves to the right. Note that the workpiece W also moves in the same direction when the first and second vibration motors 260A and 260B are driven to rotate in the same direction.

[0037] 10, for example, when the first and second vibration motors 260A and 260B are driven to rotate in the same direction while the rotational positions of the rotation shafts 262A and 262B are aligned based on the output signals of the first and second sensors 270A and 270B so that the eccentric direction H1 faces downward in the vertical direction and the eccentric direction H2 faces upward in the vertical direction, the vibrations of the first vibration motor 260A and the second vibration motor 260B cancel each other out and overlap, elastically deforming the leg 220 and applying vibration B4 to the trough 250. As a result, the workpiece W in the trough 250 moves toward the center. Note that the workpiece W also moves in the same way when the first and second vibration motors 260A and 260B are driven to rotate in opposite directions.

[0038] In particular, since the vibration generator 200 can detect the rotational positions of the rotating shafts 262A and 262B based on the output signals of the first and second sensors 270A and 270B, the rotational positions of the rotating shafts 262A and 262B can be aligned with the desired start positions with greater precision, thereby enabling the vibration direction of the trough 250 to be controlled with greater precision.

[0039] [Control device 600] The control device 600 controls the driving of the vibration generator 200, the conveyor 300, the vision system 400, and the robot 500. Such a control device 600 is configured, for example, by a computer, and has a processor (CPU) for processing information, a memory communicatively connected to the processor, and an external interface for connecting to external devices. Various programs executable by the processor are stored in the memory, and the processor can read and execute the various programs stored in the memory. Some or all of the components of the control device 600 may be located inside the housing of the robot 500. The control device 600 may also be configured by multiple processors.

[0040] The pickup system 100 has been described above. Next, a method for driving the pickup system 100 will be briefly described with reference to FIG. 11. First, in step S1, the robot 500 is positioned so as not to obstruct imaging, and the camera 410 captures an image of the workpiece W in the trough 250 to obtain image data D. Next, in step S2, the position and overlapping state of at least one workpiece W are detected based on the image data D. Note that the position and overlapping state of the workpiece W can be detected using, for example, template matching.

[0041] Next, in step S3, the presence or absence of a workpiece W that can be grasped by the robot 500 is detected from among the workpieces W whose positions have been detected. The conditions for determining whether a workpiece W can be grasped can be set, for example, based on its position within the trough 250 or whether it overlaps with other workpieces W. If a workpiece W that can be grasped by the robot 500 is present, in step S4, the robot 500 grasps the workpiece W and releases it onto the belt 310 of the conveyor 300. As a result, the workpiece W is transported to a predetermined location by the conveyor 300.

[0042] On the other hand, if there is no workpiece W that can be grasped by the robot 500 in step S3, in step S5, the vibration generator 200 is driven to reset the position of the workpiece W in the trough 250 and eliminate overlapping of the workpieces W, and the process is started again from step S1. According to this driving method, the workpiece W can be grasped more reliably by the robot 500.

[0043] The above has described the pickup system 100. As described above, the vibration generator 200 included in such a pickup system 100 has the trough 250 on which the workpiece W is placed, the first vibration motor 260A and the second vibration motor 260B whose rotation axes 262A, 262B are aligned in the horizontal direction and parallel to each other, the transmission unit 230 on which the first vibration motor 260A and the second vibration motor 260B are arranged and which transmits vibrations of the first vibration motor 260A and the second vibration motor 260B to the trough 250, the first sensor 270A that detects the rotation position of the rotation axis 262A of the first vibration motor 260A, and the second sensor 270B that detects the rotation position of the rotation axis 262B of the second vibration motor 260B. With this configuration, the rotation positions of the rotating shafts 262A and 262B can be detected based on the output signals of the first and second sensors 270A and 270B, so that the rotation start positions of the rotating shafts 262A and 262B can be accurately aligned with desired positions, thereby enabling the vibration direction of the trough 250 to be accurately controlled.

[0044] As described above, the first sensor 270A and the second sensor 270B are each a photoelectric sensor in the vibration generator 200. This allows the first sensor 270A and the second sensor 270B to have a simple configuration.

[0045] As described above, in the vibration generator 200, the first sensor 270A is disposed on one end of the rotation shaft 262A of the first vibration motor 260A, and the second sensor 270B is disposed on one end of the rotation shaft 262B of the second vibration motor 260B. The first vibration motor 260A and the second vibration motor 260B are disposed so that their one ends are located on the same side. This facilitates the arrangement of the first and second sensors 270A and 270B and the connection of wiring to the first and second sensors 270A and 270B.

[0046] As described above, the vibration generating device 200 includes a trough 250 on which the workpiece W is placed, a first vibration motor 260A and a second vibration motor 260B whose rotation axes 262A, 262B are aligned horizontally and parallel to each other, a transmission section 230 in which the first vibration motor 260A and the second vibration motor 260B are arranged and which transmits the vibrations of the first vibration motor 260A and the second vibration motor 260B to the trough 250, a first sensor 270A that detects the rotation position of the rotation axis 262A of the first vibration motor 260A, and a second sensor 270B that detects the rotation position of the rotation axis 262B of the second vibration motor 260B. The control method for the vibration generating device 200 controls the driving of the first vibration motor 260A and the second vibration motor 260B based on the detection results of the first sensor 270A and the second sensor 270B. Since the rotation positions of the rotating shafts 262A and 262B can be detected based on the output signals of the first and second sensors 270A and 270B, this control method allows the rotation start positions of the rotating shafts 262A and 262B to be accurately aligned with desired positions, thereby enabling the vibration direction of the trough 250 to be accurately controlled.

[0047] As described above, the pickup system 100 includes a vibration generating device 200 on which the workpiece W is placed and which applies vibrations to the workpiece W to change its position, a vision 400 which takes an image of the workpiece W placed on the vibration generating device 200 and detects the position of the workpiece W based on the image capture results, and a robot 500 which picks up the workpiece W placed on the vibration generating device 200 based on the detection results of the vision 400. The vibration generator 200 includes a trough 250 on which the workpiece W is placed, a first vibration motor 260A and a second vibration motor 260B whose rotation axes 262A, 262B are aligned horizontally and parallel to each other, a transmission unit 230 on which the first vibration motor 260A and the second vibration motor 260B are disposed and which transmits vibrations of the first vibration motor 260A and the second vibration motor 260B to the trough 250, a first sensor 270A that detects the rotation position of the rotation axis 262A of the first vibration motor 260A, and a second sensor 270B that detects the rotation position of the rotation axis 262B of the second vibration motor 260B. With this configuration, the rotation positions of the rotation axes 262A, 262B can be detected based on the output signals of the first and second sensors 270A, 270B, and therefore the rotation start positions of the rotation axes 262A, 262B can be accurately aligned to desired positions. Therefore, the vibration direction of the trough 250 can be controlled with high precision.

[0048] Second Embodiment FIG. 12 is a side view showing the vibration motor and the sensor of the vibration generator according to the second embodiment.

[0049] The electromagnetic exciter 200 of this embodiment is similar to the electromagnetic exciter 200 of the first embodiment described above, except that the first sensor 270A and the second sensor 270B are arranged differently. Therefore, the following description of this embodiment will focus on the differences from the first embodiment described above, and a description of similar points will be omitted. Furthermore, in the drawings of this embodiment, the same reference numerals are used to designate components similar to those of the previously described embodiment.

[0050] 12, in the vibration generator 200 of this embodiment, the first detection unit 272A of the first sensor 270A and the second detection unit 272B of the second sensor 270B are each located in a different position from the transmission unit 230. This makes it difficult for vibrations from the first and second vibration motors 260A and 260B to be transmitted to the first detection unit 272A and the second detection unit 272B, improving the durability of the first sensor 270A and the second sensor 270B.

[0051] In particular, the first detection unit 272A and the second detection unit 272B are each disposed on the upper surface of the base 210. Therefore, the elastically deformable legs 220 are interposed between the first and second detection units 272A, 272B and the first and second vibration motors 260A, 260B, making it difficult for vibrations from the first and second vibration motors 260A, 260B to be transmitted to the first and second detection units 272A, 272B. This further increases the durability of the first and second sensors 270A, 270B.

[0052] As described above, in the vibration generator 200 of this embodiment, the first sensor 270A has a first detectable object 271A arranged in the first vibration motor 260A and a first detector 272A that detects the first detectable object 271A, and the second sensor 270B has a second detectable object 271B arranged in the second vibration motor 260B and a second detector 272B that detects the second detectable object 271B. The first detector 272A and the second detector 272B are each arranged in a different location from the transmitter 230. This makes it difficult for vibrations from the first and second vibration motors 260A and 260B to be transmitted to the first detector 272A and the second detector 272B, improving the durability of the first detector 272A and the second detector 272B.

[0053] In particular, the vibration generator 200 of this embodiment includes a base 210 and elastically deformable legs 220 that connect the base 210 and the transmission unit 230. The first detection unit 272A and the second detection unit 272B are each disposed on the base 210. This provides the elastically deformable legs 220 between the first and second detection units 272A and 272B and the first and second vibration motors 260A and 260B, making it more difficult for vibrations from the first and second vibration motors 260A and 260B to be transmitted to the first and second detection units 272A and 272B. This further increases the durability of the first and second detection units 272A and 272B.

[0054] The second embodiment can also achieve the same effects as the first embodiment described above.

[0055] <Third embodiment> FIG. 13 is a front view showing a vibration generator according to a third preferred embodiment of the present invention.

[0056] The electromagnetic exciter 200 of this embodiment is similar to the electromagnetic exciter 200 of the first embodiment described above, except that a space S is formed between the trough 250 and the transmission part 230. Therefore, in the following description, differences between this embodiment and the first embodiment will be mainly described, and similar points will not be described again. Furthermore, in the drawings of this embodiment, the same reference numerals are used to designate the same components as those in the above-described embodiment.

[0057] 13, in the vibration generator 200 of this embodiment, a columnar spacer 290 extending vertically is disposed between the transmission unit 230 that supports the first and second vibration motors 260A and 260B and the trough support unit 240 that supports the trough 250. The spacer 290 forms a space S between the transmission unit 230 and the trough support unit 240, i.e., between the transmission unit 230 and the trough 250. The use of the spacer 290 makes it easy to form the space S.

[0058] According to this configuration, for example, the distance L1 between the leg 220 and the trough support 240 is longer than in the first embodiment described above, and therefore the amplitude W1 of the trough support 240 when the first and second vibration motors 260A and 260B are vibrated also becomes larger, and greater vibrations can be imparted to the trough 250.

[0059] Furthermore, a light source 280 is disposed in the space S defined by the spacer 290. The central portion of the trough support portion 240 that overlaps with the trough 250 is a light-transmitting window portion 241, and the bottom surface of the trough 250 is also a light-transmitting window portion 251. The light source 280 emits light LL toward the trough 250, illuminating the workpiece W placed on the trough 250 from below via the windows 241 and 251. This allows brighter image data to be acquired from the camera 410, or allows the shutter speed of the camera 410 to be increased, resulting in clearer image data without blurring, enabling more accurate image recognition of the workpiece W.

[0060] As described above, the vibration generator 200 of this embodiment has a space S between the trough 250 and the transmission part 230. This allows a larger vibration to be applied to the trough 250.

[0061] As described above, the trough 250 has a window 251 as a light-transmitting portion, and a light source 280 is disposed in the space S to illuminate the workpiece W placed in the trough 250 through the window 251. This allows brighter image data to be acquired from the camera 410, or the shutter speed of the camera 410 to be increased, thereby acquiring clear image data without blur, and thus enabling more accurate image recognition of the workpiece W.

[0062] As described above, the spacer 290 is disposed between the trough 250 and the transmission part 230 to form the space S. This allows the space S to be easily formed. Furthermore, by adjusting the length of the spacer 290, the size of the space S can be easily changed.

[0063] The third embodiment can also achieve the same effects as the first embodiment described above.

[0064] <Fourth embodiment> FIG. 14 is a top view showing three vibration motors included in the vibration generator according to the fourth embodiment.

[0065] The electromagnetic exciter 200 of this embodiment is similar to the electromagnetic exciter 200 of the first embodiment, except that it further includes a third vibration motor 260C and a third sensor 270C. Therefore, the following description of this embodiment will focus on the differences from the first embodiment, and a description of similar aspects will be omitted. In addition, in the drawings of this embodiment, components similar to those of the previously described embodiment are denoted by the same reference numerals.

[0066] 14, the vibration generator 200 of this embodiment includes a third vibration motor 260C and a third sensor 270C that detects the rotation of the third vibration motor 260C. The third vibration motor 260C has the same configuration as the first and second vibration motors 260A and 260B, and includes a main body 261C that houses a stator and a rotor (not shown), a rotation shaft 262C that protrudes from both sides of the main body 261C, and eccentric weights 263C and 264C that are disposed at both ends of the rotation shaft 262C.

[0067] The third vibration motor 260C is located between the first and second vibration motors 260A and 260B and is arranged so as to overlap with the center O of the trough 250 in a plan view from the vertical direction. The rotation shaft 262C is arranged substantially horizontally and parallel to the rotation shafts 262A and 262B. In particular, in this embodiment, the rotation shaft 262C is located on the same horizontal plane as the rotation shafts 262A and 262B.

[0068] The third sensor 270C detects the rotational position of the rotation shaft 262C of the third vibration motor 260C. The third sensor 270C has the same configuration as the first and second sensors 270A and 270B, and is a transmission-type photoelectric sensor having a third detection object 271C and a third detection unit 272C. This allows for reduction in cost and size of the third sensor 270C.

[0069] Additionally, the third vibration motor 260C is arranged so that the end on which the third sensor 270C is provided is located on the same side as the first and second sensors 270A and 270B. This makes it easy to arrange the first, second, and third sensors 270A, 270B, and 270C and to connect the wiring to the first, second, and third sensors 270A, 270B, and 270C.

[0070] With the vibration generator 200 configured as described above, the control device 600 controls the driving of the first, second, and third vibration motors 260A, 260B, and 260C, thereby applying vibrations in a predetermined direction to the trough 250 and changing the position and overlap state of the workpieces W placed on the trough 250. In particular, in this embodiment, because three vibration motors are used, a wider variety of vibrations can be generated compared to the first embodiment described above.

[0071] The vibration generator, the control method for the vibration generator, and the pickup system of the present invention have been described above based on the illustrated embodiments. However, the present invention is not limited to these, and the configuration of each part can be replaced with any configuration having a similar function. Furthermore, any other components may be added to the present invention. Furthermore, the embodiments may be combined as appropriate. Furthermore, the number of vibration motors is not limited to two or three, but may be four or more. [Explanation of symbols]

[0072] 100...Pickup system, 200...Vibration generator, 210...Base, 220...Leg, 221...Coil spring, 230...Transmission unit, 240...Trough support unit, 241...Window unit, 250...Trough, 251...Window unit, 260A...First vibration motor, 260B...Second vibration motor, 260C...Third vibration motor, 261A...Main body, 261B...Main body, 261C...Main body, 262A...Rotating shaft, 262B...Rotating shaft, 262C...Rotating shaft, 263A...Eccentric weight, 2 63B...eccentric weight, 263C...eccentric weight, 264A...eccentric weight, 264B...eccentric weight, 264C...eccentric weight, 270A...first sensor, 270B...second sensor, 270C...third sensor, 271A...first object to be detected, 271B...second object to be detected, 271C...third object to be detected, 272A...first detection unit, 272B...second detection unit, 272C...third detection unit, 273A...light emitting unit, 273B...light emitting unit, 274A...light receiving unit, 274B...light receiving unit, 280...light source, 290...s Pacer, 300... conveyor, 310... belt, 320... transport roller, 330... transport amount sensor, 400... vision, 410... camera, 420... detection unit, 500... robot, 510... base, 520... robot arm, 521... first arm, 522... second arm, 530... work head, 531... spline nut, 532... ball screw nut, 533... spline shaft, 540... end effector, 571... first drive unit, 572 ...second drive unit, 573...third drive mechanism, 574...fourth drive unit, 600...control unit, B1...vibration, B2...vibration, B3...vibration, B4...vibration, D...image data, H1...eccentricity direction, H2...eccentricity direction, J1...first rotation axis, J2...second rotation axis, J3...third rotation axis, L...light, L1...separation distance, LL...light, N...screw, O...center, S...space, S1...step, S2...step, S3...step, S4...step, S5...step, W...workpiece, W1...amplitude

Claims

1. a trough on which the workpiece is placed; The first vibration motor and the second vibration motor have rotation axes parallel to each other and aligned in the horizontal direction. and The first vibration motor and the second vibration motor are arranged, and the first vibration motor and a transmission unit that transmits vibration of the second vibration motor to the trough. a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; a second sensor that detects a rotational position of the rotation shaft of the second vibration motor, a space is provided between the trough and the transmission portion; the trough has a light-transmitting portion that is light-transmitting, The space is provided with a light transmitting portion for illuminating the workpiece placed in the trough. The light source is placed A spacer is disposed between the trough and the transmission portion to form the space. A vibration generating device characterized by:

2. 10. The method according to claim 1, wherein the first sensor and the second sensor are each a photoelectric sensor. The vibration generating device according to claim 1.

3. the first sensor is disposed on one end side of the rotation shaft of the first vibration motor, the second sensor is disposed on one end side of the rotation shaft of the second vibration motor, The first vibration motor and the second vibration motor have their one ends located on the same side.

3. The vibration generator according to claim 1, wherein the vibration generator is arranged as follows:

4. The first sensor includes a first detection object disposed on the first vibration motor and a first detection object. a first detection unit that detects the detection object, The second sensor includes a second detection object disposed on the second vibration motor and a second detection object. a second detection unit that detects the detection object, The first detection unit and the second detection unit are disposed at different locations from the transmission unit.

4. The vibration generator according to claim 1, wherein

5. The base and a leg portion that connects the base and the transmission portion and that elastically deforms, The first detection unit and the second detection unit are each disposed on the base.

5. The vibration generating device according to claim 4.

6. a trough on which the workpiece is placed; The first vibration motor and the second vibration motor have rotation axes parallel to each other and aligned in the horizontal direction. and The first vibration motor and the second vibration motor are arranged, and the first vibration motor and a transmission unit that transmits vibration of the second vibration motor to the trough. a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; a second sensor that detects a rotational position of the rotation shaft of the second vibration motor, a space is provided between the trough and the transmission portion; the trough has a light-transmitting portion that is light-transmitting, The space is provided with a light transmitting portion for illuminating the workpiece placed in the trough. The light source is placed A spacer is disposed between the trough and the transmission part to form the space. A method for controlling a generator, comprising: The first vibration motor is driven based on the detection results of the first sensor and the second sensor. and a method for controlling a vibration generating device, the method comprising: controlling the driving of the second vibration motor; 。

7. A workpiece is placed on the table, and vibration is applied to the workpiece to change its position. The device, The workpiece placed on the vibration generating device is imaged, and the workpiece is detected based on the imaged result. Vision to detect the location of the object, The workpiece placed on the vibration generator is picked up based on the detection result of the vision. a robot for backing up the The vibration generator includes a trough on which the workpiece is placed; The first vibration motor and the second vibration motor have rotation axes parallel to each other and aligned in the horizontal direction. and The first vibration motor and the second vibration motor are arranged, and the first vibration motor and a transmission unit that transmits vibration of the second vibration motor to the trough. a first sensor that detects a rotational position of the rotation shaft of the first vibration motor; a second sensor that detects a rotational position of the rotation shaft of the second vibration motor, a space is provided between the trough and the transmission portion; the trough has a light-transmitting portion that is light-transmitting, The space is provided with a light transmitting portion for illuminating the workpiece placed in the trough. The light source is placed A spacer is disposed between the trough and the transmission portion to form the space. A pickup system featuring

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