JP2013067510A - Vibrating machine and drive control method for the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a vibrating machine which can reliably detect the resonance point while achieving a reduction at the time required for detecting the resonance frequency of a vibrating body that is the initial adjusting operation of the vibrating machine and which enables an object to be carried to be efficiently carried along a carrying path in the normal driving.SOLUTION: While a current within a predetermined range is provided from the variable frequency power supply 31 of a controller 3 to the electromagnet part 9 to attract a spring 8 to the electromagnet part 9, the supply of the current from the variable frequency power supply 31 to the electromagnet 9 is stopped to release the state of the attraction of the spring 8 so that the vibrating body 4 can be vibrated freely. In this state, the information on the vibration of the vibrating body 4 is obtained by a vibration sensor 7, and based on the frequency of the free vibration measured from the information on the vibration, the resonance frequency of the vibrating body 4 is calculated.

Description

  The present invention relates to a vibrator such as a vibratory part feeder and a drive control method for the vibrator.

  Conventionally, a vibrating object having a conveying path and a base supporting the vibrating element are coupled to each other with a spring (plate spring), and the vibrating object can be vibrated to convey an object to be conveyed along the conveying path. Vibrators are known. A drive source (vibration source) that vibrates a vibrating body is usually configured by using an electromagnet portion (a coil around an electromagnet) attached to the vibrating body or base and a spring. As a method of vibrating the vibrating body by the action of the source, the phase difference between the voltage applied to the coil of the electromagnet part and the vibration displacement of the vibrating body is detected, and this phase difference is applied to the coil so as to be 180 degrees. Resonance tracking control in which the frequency of the applied voltage is increased or decreased to cause resonance oscillation can be given.

  When performing such resonance tracking control, the frequency of the voltage at the start of driving of the vibrator (drive frequency) is far away from the resonance point of the vibrating body, so that it becomes forced vibration and the amplitude of the vibrating body is small. If the driving frequency that rises after that becomes close to the resonance point of the vibrating body, the amplitude of the vibrating body will increase, and the electric capacity (electric power) at the time of resonant vibration can be drastically reduced compared to the electric capacity at the time of forced vibration. It is.

  In addition, the following patent document does not employ a configuration in which resonance tracking control is started from zero each time a vibrating body that has been stopped is re-driven, and stores the frequency (drive frequency) of the voltage at the previous drive, Although it is the same in that resonance tracking control is performed as in the prior art by starting driving at the stored driving frequency at the time of driving, there is an advantageous technique in that the vibrating body can be resonantly oscillated from the re-driving start point. It is disclosed.

JP-A-11-180530

  However, when the resonance frequency of the vibrator is detected by resonance tracking control, it is necessary to flow a large current through the coil at the time of forced vibration at the initial stage of driving. Must be a power source. In addition, if the drive frequency is 4 to 5 Hz away from the resonance frequency of the vibrating body, the current capacity assuming resonance may not be able to vibrate the vibrating body due to insufficient attractive force of the electromagnet part against the spring. The power reduction effect is lost only by the drive frequency deviating by 1 to 2 Hz with respect to the resonance frequency of the vibrating body. Although the technique of Patent Document 1 has an advantage over the aspect in which resonance tracking control is performed from zero each time driving is started as described above, it is necessary to perform resonance tracking control at least once. The same problem as described above can also occur. Moreover, since the technique of patent document 1 is premised on memorizing the resonance point of the vibrating body at the time of previous driving, it is a technique that cannot be applied to a vibrator that does not know the resonance point of the vibrating body.

  Furthermore, when resonance tracking control is performed, the amplitude of the vibrating body changes greatly when the vibrating body that becomes forced vibration at the start of driving of the vibrator switches to the resonant vibration after a predetermined time has elapsed, and at that time, the amplitude of the vibrating body has already changed. In this case, the object to be transported that is transported toward the downstream side in the transport direction falls from the transport path and is transported again from the uppermost stream side of the transport path, resulting in excessive transport processing time and transport processing. It can lead to a decrease in efficiency.

  Therefore, instead of resonance tracking control, a mode in which the resonance frequency of the vibrator is detected by frequency sweeping is also conceivable. However, frequency sweeping takes, for example, about 5 seconds when 45 to 90 Hz is changed in increments of 0.1 Hz every cycle, and it takes time to detect the resonance frequency, and the supplied current is too small. Even if the resonance point is reached, the amplitude may not swing to the resonance value judgment value.If the supplied current is too large, the amplitude upper limit will be reached before reaching the resonance point, and an accurate resonance point may be found. There are cases where it is not possible.

  The present invention has been made paying attention to such a problem, and the main purpose of the present invention is to reliably resonate while realizing shortening of the time required for detecting the resonance frequency of the vibrating body, which is the initial adjustment work in the vibrator. It is an object of the present invention to provide a vibrator capable of detecting a point and capable of efficiently transporting a transport target along a transport path during normal driving, and a drive control method for the vibrator.

  That is, the present invention includes a vibrating body having a conveyance path, a base disposed below the vibrating body, a spring connecting the vibrating body and the base, an electromagnet portion fixed to either the vibrating body or the base, and at least vibration. The present invention relates to a vibrator that controls the operation of a vibrator main body including a vibration sensor capable of detecting information related to body position displacement by a controller having a variable frequency power source capable of amplitude control. In the vibrator according to the present invention, the controller applies a current within a predetermined range from the variable frequency power source to the electromagnet unit to attract the spring to the electromagnet unit, and supplies current from the variable frequency power source to the electromagnet unit. The period of free vibration is measured based on the vibration information including the displacement amount of the vibrating body acquired by the vibration sensor in the state where the spring is sucked by the spring suction means by stopping and the vibrating body is freely vibrating. It is characterized by comprising free vibration period measuring means and resonance frequency calculating means for calculating the resonance frequency of the vibrating body based on the free vibration period measured by the free vibration period measuring means.

  Here, the vibrating body may be a bowl shape having a spiral conveyance path on the inner surface, or may be a linear type having a linear conveyance path. Further, the electromagnet part is obtained by winding a coil around an electromagnet, and such an electromagnet part constitutes a drive source (vibration source) together with a spring. Moreover, examples of the vibration sensor that can detect information on the positional displacement (amplitude) of the vibrating body include an accelerometer, a distance sensor, a strain meter, a displacement meter, and the like.

  In such a vibrator, the controller is configured to freely vibrate the vibrating body by the spring suction means, the free vibration period measurement means, and the resonance frequency calculation means included in the controller, and calculate a specific resonance frequency from the period. Therefore, the resonance frequency of the vibrating body can be obtained without performing resonance tracking control or frequency sweeping. Therefore, there is a problem with frequency sweeping, that is, it takes time to detect the resonance frequency, and if the supplied current is too small, the amplitude of the vibrating body may not swing to the resonance value determination value even if the resonance point is reached. If the supplied current is too large, the upper limit of the amplitude of the vibrating body will be reached before reaching the resonance point of the vibrating body, and there will be no problem that an accurate resonance point cannot be found. The frequency can be grasped reliably in a short time. And, by giving the electromagnet part the current of the driving frequency according to the resonance frequency calculated by the resonance frequency calculation means, it is possible to efficiently resonate the vibrating body from the beginning of driving, and realize the reduction of electric capacity. can do.

  Further, in the case of the vibrator of the present invention, a problem that may occur when resonance tracking control is performed, that is, at the time when a vibrating body that becomes forced vibration at the start of driving of the vibrator switches to resonance vibration after a lapse of a predetermined time, The amplitude of the vibrating body changes greatly, and at that time, the object to be transported that has already been transported toward the downstream side in the transport direction on the transport path falls from the transport path and is transported again from the most upstream side of the transport path. Therefore, it is possible to improve the efficiency of the transport process and shorten the transport process time, so that there is no practical problem. Become. Furthermore, in the case of the vibrator according to the present embodiment, it is not necessary to store the driving frequency at the time of previous driving one by one, and the resonance frequency of the vibrator can be easily grasped even when the resonance point of the vibrating body cannot be grasped in advance. can do.

  In the vibrator of the present invention, when the spring is attracted to the electromagnet part by the spring attraction means, the upper limit of the supply current from the variable frequency power supply to the electromagnet part is a current value that can give the vibration body the amplitude of the range of motion limit. As a lower limit of the supply current, a current value that can provide a minimum amplitude at which the period of free vibration of the vibrating body can be detected by the performance determined by the combination of the controller and the vibration sensor can be given. Here, the performance determined by the combination of the controller and the vibration sensor means responsiveness and resolution.

  In particular, the vibrator according to the present invention is capable of amplifying the vibrator in a resonance state from the beginning of driving by driving the vibrator main body based on the resonance frequency calculated by the resonance frequency calculating means. There is a power reduction effect.

  Further, the drive control method of the vibrator of the present invention includes a vibrating body having a conveyance path, a base disposed below the vibrating body, a spring connecting the vibrating body and the base, and either the vibrating body or the base. In a drive control method for controlling the operation of a vibrator main body having a fixed electromagnet part and a vibration sensor capable of detecting at least information on positional displacement of a vibrating body by a controller having a variable frequency power source, the electromagnet from the variable frequency power source A spring suction step that applies a current within a predetermined range to the magnet part to attract the spring to the electromagnet part, and a vibration that is released by the spring suction step by releasing the current supply from the variable frequency power supply to the electromagnet part. In a state where the body is freely vibrated, the period of the free vibration is measured based on vibration information including the displacement amount of the vibrating body acquired by the vibration sensor. The resonance frequency of the vibrating body is measured through the vibration period measuring step and the resonance frequency calculating step of calculating the resonance frequency of the vibrating body based on the free vibration period measured in the free vibration period measuring step. It is said.

  If it is such a drive control method of a vibrator, the effect similar to the effect which the above-mentioned vibrator shows can be acquired.

  According to the present invention, the resonance point of the vibrating body can be reliably detected and detected (calculated) while the time required for the resonance frequency detection process of the vibrating body, which is the initial adjustment work in the vibrator, is reduced. By supplying a current according to the resonance frequency of the vibrating body, the vibrating body can be brought into a resonance state from the initial stage of driving, and the vibrator capable of efficiently transporting a transport target along the transport path, and A drive control method for a vibrator can be provided.

1 is an overall configuration schematic diagram of a vibrator according to an embodiment of the present invention. The flowchart of the controller in the resonant frequency measurement mode which concerns on the same embodiment. FIG. 3 is a partial detail view of FIG. 2. The figure which shows the amplitude of the vibrating body in the resonant frequency measurement mode which concerns on the same embodiment.

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

  As shown in FIG. 1, the vibrator 1 according to the present embodiment includes a vibrator main body 2 having a vibrator 4 and a controller 3 that controls the operation of the vibrator main body 2.

  The vibrator body 2 includes, for example, a vibrating body 4 having a bowl shape and a spiral conveyance path (not shown) on an inner peripheral wall portion, a driving source 5 for vibrating the vibrating body 4, and the vibrating body 4 and the driving source 5. A base 6 to be supported and a vibration sensor 7 capable of detecting at least a positional displacement (amplitude) of the vibrating body 4 are provided.

  In the conveyance path of the vibrating body 4, a narrow portion that is partially narrowed or a selection unit (such as a wiper) that allows only a conveyance object in a normal conveyance state to pass downstream based on an image captured by a camera. Etc., and a function of aligning the direction of the conveyance object conveyed toward the downstream can be given.

  The base 6 is disposed below the vibrating body 4 and is integrally coupled to the vibrating body 4 by springs 88 (for example, inclined plate springs 8) disposed at equal angular intervals. In the present embodiment, the electromagnet portion 9 is fixed to the base 6. A vibration-proof rubber G is provided on the downward surface of the base 6, and the entire vibrator 1 is installed on the floor in a state where the vibration-proof rubber G is in contact with the floor surface.

  The drive source 5 includes the above-described spring 8 and electromagnet unit 9 as main components. The electromagnet unit 9 is configured using an electromagnet 91 and an electromagnetic coil 92 wound around the electromagnet 91.

  The vibration sensor 7 is disposed in the vicinity of the spring 8 and is connected to the controller 3 via the electric line W1. Examples of the vibration sensor 7 include an accelerometer, a distance sensor, a strain meter, and a displacement meter as a sensor that can acquire at least the displacement of the vibrating body 4.

  The controller 3 includes a variable frequency power supply 31 having an amplitude control function. The output from the variable frequency power supply 31 is connected to the electromagnet unit 9 (specifically, the coil 92) via the electric wire W2. That is, an output is applied from the variable frequency power supply 31 of the controller 3 to the electromagnetic coil 92 of the electromagnet unit 9.

  In the vibrator 1 according to the present embodiment, the controller 3 drives the vibrator main body 2 based on the resonance frequency calculation mode for measuring the resonance frequency of the vibrating body 4 and the resonance frequency measured in the resonance frequency calculation mode. A normal drive mode, and is set to be switchable between the resonance frequency calculation mode and the normal drive mode based on an appropriate operation of the user.

  Here, the controller 3 can be constituted by a normal microcomputer unit having, for example, a CPU, a memory, an interface, and the like, and necessary programs such as a drive control routine and a resonance frequency measurement processing routine are written in the memory. In addition, the CPU appropriately calls and executes a necessary program, thereby realizing the desired driving operation of the vibrator main body 2 in cooperation with peripheral hardware resources (including components of the vibrator main body 2). .

  Specifically, the controller 3 includes a spring suction means 32, a free vibration period measurement means 33, and a resonance frequency calculation means 34. When the resonance frequency calculation mode is selected by the user, each of these means (spring The suction unit 32, the free vibration period measuring unit 33, and the resonance frequency calculating unit 34) are realized by cooperation of software and hardware by executing a resonance frequency measurement processing routine stored in advance by the CPU.

  The spring attraction means 32 outputs power within a predetermined range from the variable frequency power supply 31 to the electromagnet unit 9 to attract the spring 8 to the electromagnet unit 9. In the spring attraction means 32 of the present embodiment, power that can attract the spring 8 to the electromagnet unit 9 is output from the variable frequency power supply 31 to the electromagnet unit 9 to the extent that the upper limit of the movable range of the vibrating body 4 is reached. .

  The free vibration period measuring means 33 oscillates in a state where the suction state of the spring 8 by the spring suction means 32 is released and the vibrating body 4 is freely vibrated by stopping the power supply from the variable frequency power supply 31 to the electromagnet 91. The period of free vibration is measured based on vibration information including the displacement (amplitude) of the vibrating body 4 acquired by the vibration sensor 7 of the machine body 2.

  The resonance frequency calculating means 34 calculates the resonance frequency of the vibrating body 4 based on the free vibration period of the vibrating body 4 measured by the free vibration period measuring means 33.

  Further, the controller 3 of the present embodiment includes the amplitude control unit 35, and when the normal drive mode is selected by the user, the amplitude control unit 35 executes an amplitude control processing routine stored in advance by the CPU. Thus, software and hardware are realized in cooperation with each other.

  The amplitude control means 35 outputs the electric power corresponding to the resonance frequency of the vibrating body 4 calculated by the resonance frequency calculating means 34 to the electromagnet unit 9 so as to make the vibrating body 4 amplitude (resonant vibration) in the resonance state.

  Next, with reference to FIG. 2 and FIG. 3, a driving control method and an operation of the vibrator 1 according to the present embodiment will be described while explaining how to use the vibrator 1 according to the present embodiment.

  First, the resonance frequency detection process of the vibrating body 4 which is the initial adjustment work of the vibrator 1 is performed. This is performed based on an operation in which the user selects the resonance frequency calculation mode. Specifically, when the user performs an operation of selecting the resonance frequency calculation mode, the controller 3 receives a signal based on the operation, and the spring suction means 32 causes the variable frequency power supply 31 to move to the electromagnet unit 9 within a predetermined range. A direct current is applied to cause the spring 8 to be attracted to the electromagnet unit 9 (spring attraction step S1, see FIG. 2). Since the spring suction means 32 supplies a direct current, it can also be regarded as a direct current supply means (a direct current supply step).

  Subsequently, the controller 3 measures the free vibration period of the vibrating body 4 by the free vibration period measuring means 33 (free vibration period measuring step S2, see FIG. 2). Specifically, as shown in FIG. 3, the free vibration period measurement step S <b> 2 stops the current supply from the variable frequency power supply 31 to the electromagnet 91 and cancels the suction state of the spring 8 by the spring suction means 32. Step S21 (which can also be regarded as a direct current application stop step) and vibration for acquiring vibration information from the vibration sensor 7 including the displacement (amplitude) of the vibrating body 4 that is brought into a free vibration state by this spring suction state release step S21. The information acquisition step S22 and the measurement step S23 for measuring the period of free vibration based on the vibration information of the vibrating body 4 acquired in the vibration information acquisition step S22 are performed. Here, FIG. 4 shows the amplitude (y axis) of the vibrating body 4 in the xy coordinate system in the spring suction step S1 and the free vibration period measurement step S2. The spring suction step S1 is from the time point P1 when the amplitude of the vibrating body 4 is zero to the time point P2 at which the amplitude of the vibrating body 4 reaches the maximum (the movable range limit of the vibrating body 4), and the time point P2 when the amplitude of the vibrating body 4 decreases from the maximum to the negative. Is the spring suction state release step S21, and the period T of vibration of the vibrating body 4 in the free vibration state after the time point P2 when the amplitude of the vibrating body 4 goes from max to minus (the next rising edge from the zero cross point P3 of a certain rising edge). The vibration information acquisition step S22 is to measure the period T) of the edge up to the zero cross point P4 by the vibration sensor 7 and acquire the measured vibration information from the vibration sensor 7. In the present embodiment, in the spring suction step S1, the spring 8 is bent to such an extent that the vibrating body 4 reaches the limit of the physical / mechanical movable range.

  And the vibrator 1 which concerns on this embodiment calculates the specific resonant frequency of the vibrating body 4 by the resonant frequency calculation means 34 based on the measured vibration period (resonance frequency calculation step S3). Specifically, the resonance frequency calculating means 34 calculates the resonance frequency specific to the vibrating body 4 from the period of the vibrating body 4 in the free vibration state by using the fact that the reciprocal of the period is the frequency.

  With the above procedure, the vibrator 1 according to the present embodiment calculates the resonance frequency unique to the vibrating body 4 and ends the resonance frequency calculation mode. Thereafter, when the user performs an operation of selecting the normal drive mode, the controller 3 receives a signal based on this operation, and the amplitude control unit 35 causes the variable frequency power supply 31 to the electromagnet unit 9 to perform the resonance frequency calculation mode. A current having a driving frequency corresponding to the resonance frequency of the vibrating body 4 measured in step 1 is supplied. As a result, the vibrating body 4 resonates and oscillates from the beginning of driving, and the object to be conveyed can be suitably conveyed along the conveying path.

  Thus, in the vibrator 1 according to this embodiment, a direct current is supplied to the electromagnet unit 9, the spring 8 is bent until the vibrating body 4 reaches the upper limit of the movable range, and the direct current output to the electromagnet unit 9 is stopped. Thus, by measuring the vibration period (free vibration period) of the vibrating body 4 that has been freely vibrated and finding the resonance frequency, the resonance frequency unique to the vibrating body 4 can be reliably found in a short time.

  Therefore, with the vibrator 1 and the drive control method for the vibrator 1 according to the present embodiment, it is not necessary to perform a frequency sweep, and it takes time to detect a defect, that is, a resonance frequency, when the frequency sweep is performed. If the current is too small, the amplitude may not reach the resonance value even if the resonance point is reached, or if the supplied current is too large, the amplitude upper limit will be reached before reaching the resonance point, and accurate The problem that the resonance point cannot be found cannot occur, the vibration body 4 can be freely vibrated, and the specific resonance frequency can be reliably grasped in a short time from the cycle, and the drive frequency corresponding to the resonance frequency Is applied to the electromagnet unit 9, the vibrating body 4 can be efficiently resonantly oscillated from the beginning of driving, and a reduction in electric capacity can be realized.

  In addition, since the vibration machine 1 of the present embodiment does not require resonance tracking control, a problem that may occur if resonance tracking control is performed, that is, a vibrating body that becomes forced vibration at the start of driving of the vibration machine after a predetermined time has elapsed. At the time of switching to the resonance vibration, the amplitude of the vibrating body changes greatly, and at that time, the object to be transported that has already been transported along the transport path falls from the transport path and is transported again from the most upstream side of the transport path. Thus, there is no problem that the transport processing time is excessive, so that it is possible to improve the efficiency of the transport processing and shorten the transport processing time. Of course, with the vibrator 1 and the drive control method according to the present embodiment, it is not necessary to store the drive frequency at the time of the previous drive step by step, and even if the resonance point of the vibrating body 4 is not grasped in advance, When the controller 3 executes the resonance frequency calculation mode, the resonance frequency of the vibrating body 4 can be easily grasped.

  In addition, this invention is not limited to embodiment mentioned above. For example, the vibrator may be a linear feeder having a straight conveyance path, or may be a conveyor type screen type (a type that screens objects on the conveyance path).

  Further, the upper limit of the current supplied from the variable frequency power supply to the electromagnet unit in the spring attraction means is preferably the above-described current value, that is, the current value that gives the vibration body the amplitude of the range of motion limit. There may be. In this case, the lower limit of the supply current is preferably a current value that provides a minimum amplitude at which the period of free vibration can be detected by performance (responsiveness and resolution) determined by the combination of the controller and the vibration sensor. Moreover, although the aspect which supplies an electric current to an electromagnet part was illustrated in the said description, it cannot be overemphasized that there is no special difference with this aspect and the aspect which supplies (applies) a voltage to an electromagnet part.

  Moreover, you may be a vibrator which fixed the electromagnet part to the vibrating body side.

  In addition, the specific configuration of each part is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.

DESCRIPTION OF SYMBOLS 1 ... Vibrator 2 ... Vibrator body 3 ... Controller 31 ... Variable frequency power supply 32 ... Spring suction means 33 ... Free vibration period measurement means 34 ... Resonance frequency calculation means 4 ... Vibrating body 6 ... Base 7 ... Vibration sensor 8 ... Spring 9 ... Electromagnet part

Claims (4)

A vibrating body having a conveying path; a base disposed below the vibrating body; a spring connecting the vibrating body and the base; an electromagnet portion fixed to either the vibrating body or the base; A vibrator that controls an operation of a vibrator main body including a vibration sensor capable of detecting information on positional displacement of the vibrator by a controller having a variable frequency power source capable of amplitude control.
The controller is
A spring suction means for applying a current within a predetermined range from the variable frequency power source to the electromagnet portion to attract the spring to the electromagnet portion;
The vibration acquired by the vibration sensor in a state where the spring attracting state is released by the spring attraction means by stopping the current supply from the variable frequency power source to the electromagnet unit and the vibrating body is freely vibrated. Free vibration period measuring means for measuring the period of free vibration based on vibration information including the amount of body displacement;
A vibrator having resonance frequency calculation means for calculating a resonance frequency of the vibrating body based on a period of free vibration measured by the free vibration period measurement means. The upper limit of the supply current from the variable frequency power supply to the electromagnet unit is a current value that gives the amplitude of the movable range limit to the vibrating body, and the lower limit of the supply current is determined by the combination of the controller and the vibration sensor. The vibrator according to claim 1, wherein the period of the free vibration is a current value that provides a detectable minimum amplitude. The vibrator according to claim 1 or 2, wherein the controller drives the vibrator main body based on the resonance frequency calculated by the resonance frequency calculation means. A vibrating body having a conveying path; a base disposed below the vibrating body; a spring connecting the vibrating body and the base; an electromagnet portion fixed to either the vibrating body or the base; A vibrator drive control method for controlling an operation of a vibrator main body including a vibration sensor capable of detecting information on positional displacement of the vibrator by a controller having a variable frequency power source capable of amplitude control.
A spring suction step of applying a current within a predetermined range from the variable frequency power source to the electromagnet portion to attract the spring to the electromagnet portion;
The vibration acquired by the vibration sensor in a state where the attraction state of the spring by the spring attraction step is released by freely stopping the current supply from the variable frequency power source to the electromagnet unit and the vibrating body is freely vibrated. A free vibration period measuring step for measuring a period of free vibration based on vibration information including a body displacement amount;
A vibration characterized in that the resonance frequency of the vibrating body is measured through a resonance frequency calculating step of calculating a resonance frequency of the vibrating body based on the period of the free vibration measured in the free vibration period measuring step. Drive control method.

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