The present application is based on, and claims priority from JP Application Serial Number 2022-087683, filed May 30, 2022, the disclosure of which is hereby incorporated by reference herein in its entirety.
The present disclosure relates to a vibration generating apparatus and a pickup system.
A vibrating parts feeder disclosed in JP-A-6-292862 has a base, an electromagnet placed on the base, a vibrating plate placed above the base, and a pair of plate springs coupling the base and the vibrating plate. In the vibrating parts feeder, the vibrating plate is vibrated by attraction and separation of the vibrating plate using the electromagnet and parts on the vibrating plate are moved in a predetermined movement direction.
However, in the vibrating parts feeder in JP-A-6-292862, to facilitate the movement of the parts on the vibrating plate in the movement direction, the respective plate springs are inclined so that the upper end portions (coupling portions to the vibrating plate) are located at downstream of the lower end portions (coupling portions to the base) in the transport direction. Accordingly, it may be hard to move the parts in the opposite direction to the movement direction, and it is difficult to reciprocate the parts in both directions.
A vibration generating apparatus according to an aspect of the present disclosure includes a trough having a mounting surface on which a workpiece is mounted, two plate springs supporting the trough, and a vibration generation unit vibrating the trough while elastically deforming the respective plate springs and moving the workpiece on the mounting surface, wherein the two plate springs are placed along movement directions of the workpiece and respectively have bent portions projecting in directions along the movement directions.
A pickup system according to an aspect of the present disclosure includes a vibration generating apparatus on which a workpiece is mounted, a vision imaging the workpiece mounted on the vibration generating apparatus, and a robot picking up the workpiece mounted on the vibration generating apparatus based on an imaging result of the vision, wherein the vibration generating apparatus includes a trough having a mounting surface on which the workpiece is mounted, two plate springs supporting the trough, and a vibration generation unit vibrating the trough while elastically deforming the respective plate springs and moving the workpiece on the mounting surface, and the two plate springs are placed along movement directions of the workpiece and respectively have bent portions projecting in directions along the movement directions.
according to an eighth embodiment.
As below, preferred embodiments of a vibration generating apparatus and a pickup system will be explained with reference to the accompanying drawings.
A pickup system 100 shown in
The robot 500 is a scalar robot (horizontal articulated robot). As shown in
Further, a working head 530 is provided in a distal end portion of the second arm 522. The working head 530 has a spline nut 531 and a ball screw nut 532 coaxially placed in the distal end portion of the second arm 522, and a spline shaft 533 inserted through the spline nut 531 and the ball screw nut 532. The spline shaft 533 is rotatable around a third pivot axis J3 along the vertical direction relative to the second arm 522 and movable upward and downward along the third pivot axis J3.
Further, an end effector 540 is attached to a lower end portion of the spline shaft 533. The end effector 540 is detachable and one suitable for intended work is appropriately selected therefor. The end effector 540 of the embodiment is a hand nipping and holding the workpiece W.
Further, the robot 500 has a first drive device 571 pivoting the first arm 521 around the first pivot axis J1 relative to the base 510, a second drive device 572 pivoting the second arm 522 around the second pivot axis J2 relative to the first arm 521, a third drive device 573 rotating the spline nut 531 to rotate the spline shaft 533 around the third pivot axis J3, and a fourth drive device 574 rotating the ball screw nut 532 to move the spline shaft 533 upward and downward in directions along the third pivot axis J3.
In each of the first, second, third, fourth drive devices 571, 572, 573, 574, a motor as a drive source and an encoder detecting an amount of rotation of the motor (not shown) are provided. The control apparatus 600 executes feedback control to bring the position of the robot arm 520 indicated by output of the respective encoders to coincide with a target position as a control target during operation of the pickup system 100.
As above, the robot 500 is explained. The robot 500 is not particularly limited, but may be e.g., a six-axis robot including a robot arm having six rotation axes.
As shown in
As shown in
Further, the camera 410 is a 3D camera (stereo camera) that can capture a range image in which each pixel has depth information. Each pixel of the camera 410 is correlated with world coordinates by the detection unit 420 and, when the workpiece W is present within an angle of view (field of view) of the camera 410, the coordinates of the workpiece W may be specified based on the position of the workpiece W within the image data. Note that the configuration of the vision 400 is not particularly limited, but may be e.g., a configuration in which a 2D camera and a depth sensor are combined or a configuration using a measuring device measuring a three-dimensional shape by the phase shift method.
As shown in
Hereinafter, for convenience of explanation, three axes orthogonal to one another are an X-axis, a Y-axis, and a Z-axis. Directions along the X-axis are also referred to as “X-axis directions”, directions along the Y-axis are also referred to as “Y-axis directions”, and directions along the Z-axis are also referred to as “Z-axis directions”. Further, pointer sides of the respective axes are also referred to as “plus sides” and the opposite sides are also referred to as “minus sides”. Furthermore, the Z-axis directions are along a vertical direction, and the plus side in the Z-axis direction is an upside in the vertical direction and the minus side in the Z-axis direction is a downside in the vertical direction. Note that “vertical” in this specification includes not only the vertical case but also cases with inclinations relative to the vertical case within a degree regarded as being equal to the vertical case in a technical sense. Similarly, “horizontal” in this specification includes not only the horizontal case but also cases with inclinations relative to the horizontal case within a degree regarded as being equal to the horizontal case in a technical sense.
The base 210 has a plate-like basal portion 211 and two columnar portions 212, 213 stood upward from the basal portion 211. The lower end portion of the plate spring 230 is coupled to the upper surface of the columnar portion 212 and the lower end portion of the plate spring 240 is coupled to the upper surface of the columnar portion 213. The columnar portions 212, 213 are provided as described above, and thereby, a sufficient space for placement of the trough 220 and the illumination unit 260 may be secured above the basal portion 211. Note that the configuration of the base 210 is not particularly limited.
The trough 220 is located above the base 210 and placed horizontally. Further, the trough 220 has a plate-like first base 221 coupled to the base 210 via the plate springs 230, 240, a plate-like second base 223 located below the first base 221 and coupled to the first base 221 via spacers 222 extending in the Z-axis directions, and a box-shaped trough main body 224 placed on the first base 221. The workpieces W are put into the trough main body 224. The trough main body 224 has a mounting surface 224a formed by an inner bottom surface thereof on which the workpieces W are mounted.
The mounting surface 224a has light transmissivity. In the embodiment, the bottom portion of the trough main body 224 is formed using a material having light transmissivity. Further, the first base 221 has a window portion 221a having light transmissivity in a part overlapping with the mounting surface 224a. The window portion 221a of the embodiment is a through hole penetrating the first base 221 in the thickness direction. Note that, for example, the first base 221 may be formed using a material having light transmissivity, not limited to that.
The frame 250 has a plate-like base 251 placed between the first base 221 and the second base 223 and a plurality of supports 252 coupling the base 251 and the base 210. That is, the frame 250 does not vibrate relative to the base 210 like the trough 220, but is fixed to the base 210.
The illumination unit 260 is placed on the base 251 of the frame 250 and located below the first base 221. The illumination unit 260 outputs a light LL upward toward the trough main body 224, and illuminates the workpieces W mounted on the trough main body 224 from the downside thereof via the window portion 221a and the mounting surface 224a. Thereby, bright image data may be acquired from the camera 410. Or, the shutter speed of the camera 410 may be increased. Therefore, clear image data without blur may be acquired. Accordingly, image recognition of the workpieces W may be performed by the vision 400 more accurately.
The vibration generation unit 270 is placed on the second base 223. Further, the vibration generation unit 270 has a first vibration motor 271 and a second vibration motor 272 placed on the lower surface of the second base 223.
The first vibration motor 271 has a main body portion 271A housing a stator and a rotor (not shown), a rotation shaft 271B borne by the main body portion 271A, and an eccentric weight 271C placed on the rotation shaft 271B. When the first vibration motor 271 is driven, the rotation shaft 271B rotates and a centrifugal vibration is generated by the action of the eccentric weight 271C.
Similarly, the second vibration motor 272 has a main body portion 272A housing a stator and a rotor (not shown), a rotation shaft 272B borne by the main body portion 272A, and an eccentric weight 272C placed on the rotation shaft 272B. When the second vibration motor 272 is driven, the rotation shaft 272B rotates and a centrifugal vibration is generated by the action of the eccentric weight 272C.
Note that the configurations of the first, second vibration motors 271, 272 are not particularly limited as long as the vibrations may be generated.
The first, second vibration motors 271, 272 are separately placed on both sides with respect to the center of the trough 220 in a plan view from the Z-axis direction. That is, the first vibration motor 271 is placed at the minus side in the X-axis direction of the center and the second vibration motor 272 is placed at the plus side in the X-axis direction. The rotation shafts 271B, 272B are respectively placed horizontally and parallel to each other. Particularly, in the embodiment, the rotation shafts 271B, 272B extend in the Y-axis directions and rotate around the Y-axis. Further, the rotation shafts 271B, 272B are located on the same horizontal plane. The first, second vibration motors 271, 272 are placed as described above, and thereby, a plurality of vibrations, which will be described later, may be easily generated.
The vibration generation unit 270 has a first sensor (not shown) detecting the rotation of the first vibration motor 271 and a second sensor (not shown) detecting the rotation of the second vibration motor 272. The first sensor may detect an eccentricity direction H1 of the rotation shaft 271B. Similarly, the second sensor may detect an eccentricity direction H2 of the rotation shaft 272B.
For example, as shown in
Or, for example, as shown in
Or, for example, as shown in
Or, for example, as shown in
As described above, the workpieces W move in the X-axis directions in the vibration generating apparatus 200 and, hereinafter, the X-axis directions are movement directions of the workpieces W.
Particularly, in the embodiment, the vibration generation unit 270 is placed on the second base 223, and the vibration generation unit 270 and the trough main body 224 may be separated in the Z-axis directions. Accordingly, the vibration generated by driving of the vibration generation unit 270 is amplified and transmitted to the trough main body 224, and a larger vibration may be applied to the trough main body 224. Therefore, the positions and the attitudes of the workpieces W may be efficiently changed.
Next, the plate springs 230, 240 will be explained. As shown in
According to the configuration, the trough 220 is supported on both sides in the X-axis directions by the plate springs 230, 240. The trough 220 is supported on both sides by the plate springs 230, 240, and thereby, the trough 220 may be stably supported and a stable vibration may be applied to the trough 220.
The plate spring 230 is substantially in an L-shape having a bent portion 230a bent in the center part in the Z-axis directions and projecting toward the minus side in the X-axis direction. Similarly, the plate spring 240 is substantially in an L-shape having a bent portion 240a bent in the center part in the Z-axis directions and projecting toward the plus side in the X-axis direction. The plate springs 230, 240 are formed in the shapes, and thereby, the plate springs 230, 240 may smoothly elastically deform in the respective directions of the vibrations A1, A2, A3, A4 and respectively easily generate the vibrations A1, A2, A3, A4. Accordingly, the positions and the attitudes of the workpieces W may be easily changed. Particularly, the workpieces W may be smoothly reciprocated toward both sides in the X-axis directions.
As below, the configurations of the plate springs 230, 240 will be explained in detail. The plate springs 230, 240 have the same configuration as each other and the plate spring 230 will be representatively explained and the explanation of the plate spring 240 will be omitted.
As shown in
The first member 231 is formed by bending of a flat plate in both end parts and has an upper end portion 231a and a lower end portion 231b both being horizontal and a first inclined portion 231c located between the upper end portion 231a and the lower end portion 231b and inclined with the upper surface facing the plus side in the X-axis direction. Similarly, the second member 232 is formed by bending of a flat plate in both end parts and has an upper end portion 232a and a lower end portion 232b both being horizontal and a second inclined portion 232c located between the upper end portion 232a and the lower end portion 232b and inclined with the upper surface facing the minus side in the X-axis direction. Further, the lower end portion 231b of the first member 231 forms the lower end portion of the plate spring 230 and the upper end portion 232a of the second member 232 forms the upper end portion of the plate spring 230. As described above, the first inclined portion 231c and the second inclined portion 232c are provided, and thereby, particularly, the plate spring 230 may smoothly elastically deform in the directions of the vibrations A2, A3, and may respectively easily generate the vibrations A2, A3. Accordingly, the workpieces W may be reciprocated toward both sides in the X-axis directions more easily and smoothly.
The first inclined portion 231c inclines by an angle θ1 around the Y-axis relative to the XY-plane. Further, pluralities of insertion holes for insertion of bolts (screws) are respectively formed in line in the Y-axis directions in the upper end portion 231a and the lower end portion 231b. Similarly, the second inclined portion 232c inclines by an angle θ2 around the Y-axis relative to the XY-plane. Further, pluralities of insertion holes for insertion of bolts are respectively formed in line in the Y-axis directions in the upper end portion 232a and the lower end portion 232b.
The upper end portion 231a of the first member 231 and the lower end portion 232b of the second member 232 are coupled by fastening of bolts B and nuts N. Thereby, the plate spring 230 having the coupling portion of the first member 231 and the second member 232 as the bent portion 230a is obtained. For example, as in an embodiment, which will be described later, the plate spring 230 may be formed by bending of a single flat plate, however, in this case, it is necessary to largely bend the flat plate in the part of the bent portion 230a and the strength reduction of the plate spring 230 may be caused due to plastic deformation. On the other hand, according to the configuration in which the separate first, second members 231, 232 are coupled, it is not necessary to largely bend in the bent portion 230a and the strength reduction of the plate spring 230 due to plastic deformation may be suppressed. Note that the coupling method of the first member 231 and the second member 232 is not particularly limited, but e.g., rivets may be used, welding may be performed, or adhesives may be used.
Particularly, in the embodiment, the upper end portion 231a and the lower end portion 232b are stacked and the portions are sandwiched by plates 233a, 233b from upside and downside and fastened by screws. Thereby, the coupling part of the first member 231 and the second member 232 may be reinforced. Further, stress generated by fastening of the bolts B and the nuts N is dispersed by the plates 233a, 233b, and stress concentration around the bolts B may be suppressed. Accordingly, the mechanical strength of the plate spring 230 is increased.
The lower end portion 231b of the first member 231 is coupled to the base 210 by bolts B1. Particularly, in the embodiment, a plate 233c is placed on the upside of the lower end portion 231b and fastened by screws from upside. Thereby, the coupling part of the first member 231 and the base 210 may be reinforced. The stress generated by fastening of the bolts B1 is dispersed by the plate 233c and the stress concentration around the bolts B1 may be suppressed. Accordingly, the mechanical strength of the plate spring 230 is increased. Note that the coupling method of the first member 231 and the base 210 is not particularly limited, but e.g., rivets may be used, welding may be performed, or adhesives may be used.
The upper end portion 232a of the second member 232 is coupled to the trough 220 by bolts B2. Particularly, in the embodiment, a plate 233d is placed on the downside of the upper end portion 232a and fastened by screws from downside. Thereby, the coupling part of the second member 232 and the trough 220 may be reinforced. The stress generated by fastening of the bolts B2 is dispersed by the plate 233d and the stress concentration around the bolts B2 may be suppressed. Accordingly, the mechanical strength of the plate spring 230 is increased. Note that the coupling method of the second member 232 and the trough 220 is not particularly limited, but e.g., rivets may be used, welding may be performed, or adhesives may be used.
Here, as shown in
Not particularly limited, but a difference between the angle θ1 and the angle θ2 is preferably within ±20%, more preferably within ±10%, and even more preferably within ±5%. That is, 0.8≤θ1/θ2≤1.2 is preferable, 0.9≤θ1/θ2≤1.1 is more preferable, and 0.95≤θ1/θ2≤1.05 is even more preferable. Thereby, the vertical symmetry of the plate spring 230 is increased and the stress may be dispersed upward and downward with balance. Accordingly, the durability of the plate spring 230 is increased.
Particularly, in the embodiment, L1=L2 and θ1=θ2, and the plate spring 230 is symmetrically placed with respect to an XY-plane F intersecting with the bent portion 230a. That is, the plate spring 230 has the vertically symmetrical shape. Thereby, the above described effects are more remarkable. Further, the vibrations A2, A3 may be generated in equal intensity. Accordingly, the workpieces W may be more smoothly reciprocated toward both sides in the X-axis directions.
Not particularly limited, but a difference between a spring constant kx of the plate spring 230 in the X-axis directions and a spring constant kz in the Z-axis directions is preferably within ±50%, more preferably within ±25%, and even more preferably within ±5%. That is, 0.5≤kx/kz≤1.5 is preferable, 0.25≤kx/kz≤1.25 is more preferable, and 0.95≤kx/kz≤1.05 is even more preferable. As described above, when the spring constants kx, kz are set to be substantially equal, a spring constant kxz in oblique directions inclined with respect to the X-axis directions and the Z-axis directions is also substantially equal to these. Accordingly, the vibrations A1, A2, A3, A4 may be respectively generated in resonance, and the positions and the attitudes of the workpieces W may be efficiently changed. Therefore, the workpieces W may be more smoothly reciprocated toward both sides in the X-axis directions.
Particularly, in the embodiment, kx=kz. Accordingly, the above described effects are remarkable. Note that, depending on the materials of the plate springs 230, 240, L1, L2, thicknesses, etc., the angles θ1, θ2 are set to from 40° to 70°, and thereby, the spring constants ks, kz may be made easily substantially equal.
As above, the plate springs 230, 240 are explained. Here, as shown in
Note that the center of gravity G of the movable portion 290 is not necessarily located between the plate springs 230, 240. For example, the center of gravity G of the movable portion 290 may be located above or below the plate springs 230, 240. Note that, in this case, the inclinations θα, θβ tend to be larger. As the inclinations θα, θβ are larger, as shown in
As shown in
As above, the configuration of the pickup system 100 is explained. Next, a driving method of the pickup system 100 is explained with reference to
Then, as step S3, the control apparatus 600 detects presence or absence of the workpiece Win the position and attitude that can be gripped by the robot 500 of the workpieces W in the detected positions and attitudes. When the workpiece W in the position and attitude that can be gripped by the robot 500 is present, as step S4, the control apparatus 600 grips and releases the workpiece W onto the belt 310 of the conveyer 300 using the robot 500. Thereby, the workpiece W may be transported to a predetermined location by the conveyer 300.
On the other hand, at step S3, when the workpiece W in the position and attitude that can be gripped by the robot 500 is absent, as step S5, the control apparatus 600 resets the position and attitude of the workpiece W within the trough 220 by driving the vibration generating apparatus 200 and executes from step S1. According to the driving method, the workpiece W may be gripped more reliably by the robot 500.
As above, the pickup system 100 is explained. The vibration generating apparatus 200 of the pickup system 100 has the trough 220 having the mounting surface 224a on which the workpiece W is mounted, the two plate springs 230, 240 supporting the trough 220, and the vibration generation unit 270 vibrating the trough 220 while elastically deforming the respective plate springs 230, 240 and moving the workpiece W on the mounting surface 224a. Further, the two plate springs 230, 240 are placed along the X-axis directions as the movement directions of the workpiece W and have the bent portions 230a, 240a projecting in the directions along the X-axis directions, respectively. The plate springs 230, 240 have the shapes, and thereby, the vibration shown in
As described above, the plate spring 230 has the plate-like first inclined portion 231c and the plate-like second inclined portion 232c inclined in the opposite directions. The same applies to the plate spring 240. Thereby, the vibrations A2, A3 may be generated more easily. Accordingly, the workpiece W may be reciprocated toward both sides in the X-axis directions more easily.
As described above, the first inclined portion 231c and the second inclined portion 232c are symmetrically placed. That is, the plate spring 230 is symmetrically placed with respect to the XY-plane intersecting with the bent portion 230a. Thereby, the stress may be dispersed upward and downward with balance and the durability of the plate spring 230 is increased. Further, the vibrations A2, A3 may be generated with equal strengths. Accordingly, the workpiece W may be more smoothly reciprocated toward both sides in the X-axis directions.
As described above, the first inclined portion 231c and the second inclined portion 232c are separately formed. The first, second inclined portion 231c, 232c are separately formed, and thereby, in the bent portion 230a, it is not necessary to largely bend the flat plate as the base material of the plate spring 230 and the plate spring 230 having the sufficiently high strength may be obtained.
As described above, the center of gravity G of the movable portion 290 as the portion supported by the two plate springs 230, 240 is located between the two plate springs 230, 240. Thereby, the inclination of the trough 220 when vibrating may be suppressed and the workpiece W may be more smoothly moved in the X-axis directions.
As described above, the vibration generation unit 270 has the first vibration motor 271 and the second vibration motor 272 having the rotation shafts 271B, 272B along the horizontal directions and parallel to each other. The first, second vibration motors 271, 272 are placed as described above, and thereby, the above described plurality of vibrations may be easily generated.
As described above, the pickup system 100 has the vibration generating apparatus 200 on which the workpiece W is placed, the vision 400 imaging the workpiece W mounted on the vibration generating apparatus 200, and the robot 500 picking up the workpiece W mounted on the vibration generating apparatus 200 based on the imaging result of the vision 400. Further, the vibration generating apparatus 200 includes the trough 220 having the mounting surface 224a on which the workpiece W is placed, the two plate springs 230, 240 supporting the trough 220, and the vibration generation unit 270 vibrating the trough 220 while elastically deforming the respective plate springs 230, 240 and moving the workpiece W on the mounting surface 224a. Further, the plate springs 230, 240 are placed along the X-axis directions as the movement directions of the workpiece W and have the bent portions 230a, 240a projecting in the directions along the X-axis directions, respectively. The plate springs 230, 240 have the shapes, and thereby, the vibrations A2, A3 may be respectively easily generated. Accordingly, the workpiece W may be reciprocated toward both sides in the X-axis directions.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the drawing of the embodiment, the same configurations as those of the above described embodiment have the same signs.
As shown in
According to the second embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the drawing of the embodiment, the same configurations as those of the above described embodiment have the same signs.
As shown in
According to the third embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the respective drawings of the embodiment, the same configurations as those of the above described embodiment have the same signs. Further, the plate springs 230, 240 have the same configuration as each other and, as below, the plate spring 230 will be representatively explained and the explanation of the plate spring 240 will be omitted.
As shown in
On the other hand, the second member 232 is bent into a mountain shape convex upward and has the upper end portion 232a located in the center part, a pair of lower end portions 232b located in both end parts, and a pair of second inclined portions 232c located between the upper end portion 232a and the respective lower end portions 232b. The second inclined portions 232c located at the minus side in the X-axis direction inclines with the upper surface facing the minus side in the X-axis direction, and the second inclined portions 232c located at the plus side in the X-axis direction inclines with the upper surface facing the plus side in the X-axis direction.
Further, the upper end portion 231a and the lower end portion 232b at the minus side in the X-axis direction are fastened and the upper end portion 231a and the lower end portion 232b at the plus side in the X-axis direction are fastened. As described above, the plate spring 230 is formed in the rhombic shape, and thereby, the stress may be dispersed upward and downward and leftward and rightward (Z-axis directions and X-axis directions) with balance. Accordingly, the durability of the plate spring 230 is increased.
According to the fourth embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the respective drawings of the embodiment, the same configurations as those of the above described embodiment have the same signs. Further, the plate springs 230, 240 have the same configuration as each other and, as below, the plate spring 230 will be representatively explained and the explanation of the plate spring 240 will be omitted.
As shown in
The first member 231 is formed using a flat plate and the upper end portion 231a and the lower end portion 231b are not bent unlike the above described first embodiment. Similarly, the second member 232 is formed using a flat plate and the upper end portion 232a and the lower end portion 232b are not bent unlike the above described first embodiment. Thereby, plastic deformation by bending does not occur and the strength reduction of the first, second members 231, 232 may be effectively suppressed. Further, the first, second members 231, 232 may be formed using materials hard to be bent.
The coupling portion 234 has a triangular prism shape. The upper end portion 231a of the first member 231 is fastened to one side surface of the coupling portion 234 and the lower end portion 232b of the second member 232 is fastened to another side surface. Thereby, the plate spring 230 substantially in an L-shape having the bent portion 230a projecting toward the minus side in the X-axis direction is obtained.
According to the fifth embodiment, the same effects as those of the above described first embodiment may be exerted. Note that, as shown in
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the respective drawings of the embodiment, the same configurations as those of the above described embodiment have the same signs. Furthermore, the plate springs 230, 240 have the same configuration as each other and, as below, the plate spring 230 will be representatively explained and the explanation of the plate spring 240 will be omitted.
As shown in
According to the sixth embodiment, the same effects as those of the above described first embodiment may be exerted. Note that the shape of the plate spring 230 is not particularly limited, but may be e.g., a curved shape curved in an arc shape as shown in
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the drawing of the embodiment, the same configurations as those of the above described embodiment have the same signs.
As shown in
According to the seventh embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the first embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described first embodiment and the explanation of the same items will be omitted. Further, in the respective drawings of the embodiment, the same configurations as those of the above described embodiment have the same signs. Furthermore, the plate springs 230, 240 have the same configuration as each other and, as below, the plate spring 230 will be representatively explained and the explanation of the plate spring 240 will be omitted.
As shown in
When the illumination unit 260 is placed as in the embodiment, the reduction in height is difficult, however, in a simpler configuration, e.g., configurations as shown in
As described above, in the vibration generating apparatus 200 of the embodiment, both end portions of the respective plate springs 230, 240 are placed in line in the vertical direction and the lower end portions are coupled to the trough 220. Thereby, the reduction in height of the vibration generating apparatus 200 may be realized.
According to the eighth embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the seventh embodiment except that the configurations of the plate springs 230, 240 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described seventh embodiment and the explanation of the same items will be omitted. Further, in the drawing of the embodiment, the same configurations as those of the above described embodiment have the same signs.
As shown in
According to the ninth embodiment, the same effects as those of the above described first embodiment may be exerted.
The vibration generating apparatus 200 according to the embodiment is the same as the above described vibration generating apparatus 200 of the seventh embodiment except that the configurations of the plate springs 230, 240 and the vibration generation unit 270 are different. In the following description, the vibration generating apparatus 200 of the embodiment will be explained with a focus on differences from the above described seventh embodiment and the explanation of the same items will be omitted. Further, in the drawings of the embodiment, the same configurations as those of the above described embodiment have the same signs.
In the vibration generating apparatus 200 of the embodiment, the four plate springs 230, 240 have rhombic shapes shown in
Each voice coil motor 273 has a main body 273A and a vibration shaft 273B vibrating in the vertical direction relative to the main body 273A by energization. The main body 273A is fixed to the base 210 and the vibration shaft 273B is fixed to the trough 220. According to the configuration, the magnitude and timing of the vibrations of the respective voice coil motors 273 are controlled, and thereby, the above described vibrations A1, A2, A3, A4 may be applied to the trough 220. Note that the voice coil motor 273 may have a coil at one of the fixed side and the vibration side and a magnet at the other side or may have an electromagnet at one side and a magnetic metal at the other side. In other words, the motor may be called an electromagnetic vibration generator.
According to the tenth embodiment, the same effects as those of the above described first embodiment may be exerted.
As above, the vibration generating apparatus and the pickup system of the present disclosure are explained based on the illustrated embodiments, however, the present disclosure is not limited to those. The configurations of the respective parts may be replaced by any configurations having the same functions. Further, any other configuration may be added to the present disclosure. Furthermore, the respective embodiments may be appropriately combined.
Number | Date | Country | Kind |
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2022-087683 | May 2022 | JP | national |