JP2010036287A - Device without harness of movable part - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device without a harness of a movable part of a novel structure capable of transmitting an electric signal with superior reliability and durability. <P>SOLUTION: A first core member 36 formed with a plurality of partial core members 40 by being arranged to be mutually separated on a circumference is mounted on a first member 22, while a second core member 62 having a larger peripheral direction length than a maximum value of a peripheral direction separation distance of the partial core member 40 is mounted on a second member 24 mounted to be rotatable about a rotary shaft 26 with respect to the first member 22. The first core member 36 and the second core member 62 can be relatively rotated about the rotary shaft 26 with a prescribed distance in the axial direction of the rotary shaft 26. The second core member 62 is made an opposed state to at least one of the plurality of partial core members 40 at any one peripheral direction position. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

The present invention relates to a harnessless device of a movable part used for transmitting an electric signal such as electric power or a signal between members that are relatively displaced without using a cable, and in particular, between the members that are relatively rotated. It is related with the harnessless apparatus of the movable part used for.

  In a rotary joint portion or the like of a robot, it is required that an electric signal can be transmitted between members that are relatively rotated. For example, when a position sensor is provided on one side of a pair of members that are connected to each other so as to be capable of relative rotation by a rotary joint, and a controller is provided on the other member side, the signal of the position sensor is received by the controller. In order to make this possible, it is necessary to secure an electric signal transmission path between the two members sandwiching the rotary joint.

  Conventionally, a method of connecting both members with a cable has been adopted as such an electric signal transmission path. However, in cable connection, there is a problem of wear resulting from repeated bending due to member displacement and contact with other members, and as the wear progresses, the cable may be disconnected. Therefore, regular maintenance was required and the robot had to be stopped each time. In addition, it is necessary to provide the cable with a margin (bent) so as not to hinder the displacement between the two members, which leads to an increase in the size of the robot as a whole. In particular, in a robot arm, for example, in a joint portion where the rotation axis of the joint extends in a direction perpendicular to the extending direction of the arm, that is, a joint portion that bends the arm, the amount of rotation may be limited to some extent. Because there are many, it is not impossible to cope by sufficiently bending the cable, but in the joint part where the rotation axis extends in the same direction as the extending direction of the arm, that is, the joint that rotates the arm in the twisting direction, it is infinite. In such a case, it is impossible to cope with the problem by simply bending the cable.

  Therefore, a slip ring may be used as a method for enabling transmission of an electric signal between members that can be relatively rotated without using a cable. In this way, an infinite number of rotations can be handled. However, since the slip ring inherently has a risk of wearing the movable parts, it is the same as the cable connection in that it requires regular maintenance.

  In addition, as a method of transmitting an electrical signal between members that can be relatively displaced without using a cable, for example, as described in Patent Document 1, wireless data communication technology such as a wireless LAN is used to sandwich both joints. It is conceivable to transmit and receive electrical signals between members. However, particularly in the case of a robot used in a production factory such as an automobile, a high level of real-time capability is required to operate quickly according to a signal from a position sensor, for example, to accurately position a tool. The However, in wireless data communication, a large amount of processing is required for generating a transmission data packet on the transmission side and restoring data on the reception side, which may impair responsiveness. Also, in an environment where a large number of robots are operating simultaneously, such as a production factory, problems of interference and noise mixing are unavoidable, and there are problems in terms of reliability, which is not realistic.

Special table 2007-514558 gazette

  Here, the present invention has been made against the background of the above-mentioned circumstances, and the problem to be solved is that between the members that can rotate relative to each other with higher reliability and durability. It is an object of the present invention to provide a harness-less device having a novel structure and capable of transmitting an electric signal.

  Hereinafter, embodiments of the present invention made to solve the above-described problems will be described. In addition, the component employ | adopted in each aspect as described below is employable by arbitrary combinations as much as possible.

  That is, the feature of the first aspect of the present invention is that in the connecting portion of the first member and the second member that are connected by a rotating shaft and are rotatable relative to each other around the rotating shaft. And a first coil unit attached to the first member and a second coil unit attached to the second member, and the partial core members are separated from each other on the circumference. The first core member is configured by arranging the plurality of first core members, and the first coil member extending on the circumference on which the plurality of partial core members are arranged is assembled to the first core member to form the first core member. A coil head is formed, and the first coil head forms a first transmission surface consisting of an open surface of the magnetic path by the partial core member, and the first support member supports the first coil head. Multiple parts While the member constitutes the first coil unit arranged circumferentially on the first support member, the circumferential separation distance of the partial core members adjacent in the circumferential direction in the first core member A second core member having a circumferential length larger than the maximum value of the second core member, and a second coil member assembled to the second core member to form a second coil head, The second coil unit is formed by forming a second transmission surface comprising an open surface of the magnetic path by the second core member in the coil head and supporting the second coil head by a second support member. The first coil unit is attached to the first member with the first core member positioned coaxially with the rotation center axis of the rotation shaft, and the second coil Attach the unit to the second member Thus, the second transmission surface of the second core member can be rotated relative to the first transmission surface of the first core member at a predetermined distance around the rotation center axis. The first coil is disposed so that the second core member is opposed to at least one of the plurality of partial core members at any circumferential position. It is a harnessless device of a movable part that enables transmission of an electric signal using electromagnetic induction between the head and the second coil head.

  According to this aspect, it is not necessary to provide a cable straddling the first member and the second member in order to transmit an electrical signal. As a result, the first member and the second member can be rotated indefinitely around the rotation axis while maintaining electrical connection. And since a cable is unnecessary, it is also unnecessary to bend and arrange a cable as mentioned above, and downsizing of an apparatus including the first member and the second member is also possible. I can plan.

  Furthermore, since the first transmission surface of the first core member and the second transmission surface of the second core member are not in contact with each other, wear due to repeated rubbing due to relative displacement is avoided. It is possible to obtain excellent durability.

  In addition, since the electrical signal is transmitted between the first coil head and the second coil head that are opposed to each other using electromagnetic coupling, the distance between the transmission surfaces of the two coil heads is relatively small. . Therefore, for example, there is little risk of interference such as transmission using a data communication technique such as wireless LAN described in Patent Document 1 described above, and there is little risk of noise mixing, and high reliability can be obtained. Furthermore, since it is not necessary to perform complicated data processing during transmission, it is possible to perform quick transmission, and the present invention is suitably applied to a joint portion of a robot that requires a high real-time property.

  Furthermore, particularly in this embodiment, the first core member is formed of a plurality of partial core members and is divided in the circumferential direction. Thereby, the weight of the first core member can be reduced, and the manufacturing cost can be reduced. Furthermore, compared to the case of using a core member that is continuous in the circumferential direction, it is possible to concentrate the magnetic flux on the transmission surface of each partial core member by suppressing the dispersion of the magnetic flux, and to transmit electric signals more stably. I can do it. Further, the electromagnetic wave flowing in the core is easily attenuated by being converted into heat or the like in the core as the frequency increases. Therefore, by dividing the core in the circumferential direction and reducing the circumferential length, the amount of electromagnetic waves attenuated in the core can be reduced, and more reliable transmission can be performed. ing.

  In addition, although the partial core member in this aspect may extend in circular arc shape with a predetermined curvature, the partial core member extended linearly may be arrange | positioned on the periphery. The second core member may also extend in an arc shape with a predetermined curvature, or may extend in a straight line.

  Further, the second core member may be continuous over the entire circumference, but preferably, as a second aspect of the present invention, in the harnessless device for a movable part according to the first aspect, A mode in which the core member has a shape partially extending in the circumferential direction of the first core member is preferably employed. In this way, since the size of the second core member can be reduced, the second coil unit can also be reduced in weight. Further, as compared with the core member that continues around the entire circumference, the dispersion and attenuation of the magnetic flux can be suppressed, and more reliable transmission can be performed.

  According to a third aspect of the present invention, in the harnessless device for a movable part according to the first or second aspect, the circumferential lengths of the plurality of partial core members are equal to each other, and the plurality of parts The first core member is configured by arranging the core members on a concentric circle at equal intervals in the circumferential direction.

  According to this aspect, since the partial core members are evenly arranged on the circumference of the first core member, it is possible to suppress a large bias in the distribution of magnetic flux in the circumferential direction of the first core member, More stable transmission can be performed.

  According to a fourth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to third aspects, the plurality of partial core members have an arc shape having the same curvature. The second core member has a shape that extends in the circumferential direction with the same curvature as the partial core member.

  According to this aspect, when the second core member is rotated relative to the partial core member, the opposed state between the first transmission surface of the partial core member and the second transmission surface of the second core member is Highly maintainable. Thereby, transmission with higher reliability can be performed.

  According to a fifth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to fourth aspects, the dimension of the first coil head in a direction facing the second core member. Is made equal to the thickness dimension of the first support member in the direction facing the second core member, and penetrated in the direction facing the second core member in the first support member The first coil head is assembled in an insertion state in the through hole.

  According to this aspect, in the opposing direction of the first core member and the second core member, the dimension of the through-hole penetrating the first support member and the dimension of the first coil head are made equal. Then, by fitting the first coil head into the through-hole, the end surface of the partial core member constituting the first coil head, in other words, the first transmission surface with respect to the end surface of the first support member It can be easily aligned. Since the end surfaces of the plurality of partial core members can be easily aligned with the end surfaces of the same first support member, the separation distance in the facing direction between the second core member and the partial core member is set to the first core. It can be made substantially constant over the entire circumference of the member. Thereby, the bias | inclination of the magnetic flux in the circumferential direction of a 1st core member can be suppressed, and more stable transmission can be performed.

  According to a sixth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to fifth aspects, the dimension of the second coil head in the direction facing the first core member. Is made equal to the thickness dimension of the second support member in the direction facing the first core member, and penetrated in the direction facing the first core member in the second support member The second coil head is assembled in the through hole in an inserted state.

  According to this aspect, in the opposing direction of the first core member and the second core member, the dimension of the through-hole penetrating the second support member and the dimension of the second coil head are made equal. Then, by fitting the second coil head into the through-hole, the end surface of the second core member constituting the second coil head, in other words, the second transmission surface becomes the end surface of the second support member. Can be easily aligned.

  According to a seventh aspect of the present invention, in the harnessless device for a movable part according to any one of the first to sixth aspects, the plurality of partial support members, wherein the first support member extends partially in the circumferential direction. The first coil member is configured by connecting lead wires provided on each of the partial support members to each other.

  According to this aspect, the first coil member in which the rotation center axis of the rotation shaft is positioned coaxially by assembling the plurality of partial support members with the rotation center axis of the rotation shaft interposed therebetween is configured. I can do it. Thereby, the harnessless apparatus of the movable part made into the structure according to this invention can be easily attached also to the existing robot etc., for example.

  According to an eighth aspect of the present invention, in the harnessless device for a movable part according to the seventh aspect, the first support member is constituted by a pair of the partial support members having a semicircular shape. In each of the support members, a coil forming portion extending in the circumferential direction of the partial support member is formed in the lead wire, and the partial core member is combined with the coil forming portion, while the lead wire is connected to the periphery of the partial support member. By folding back at one end in the direction and enabling connection with the lead wire provided on the other partial support member at the other end, each coil forming portion in the combined state of these partial support members The first coil member is configured.

  According to this aspect, since the first support member can be formed only by combining the pair of partial support members, the first support member can be easily assembled to the first member, and the first coil member can be It can be formed easily.

  In addition, as the opposing direction of the first transmission surface and the second transmission surface in the present invention, as a ninth aspect of the present invention, the harnessless harness of the movable part according to any one of the first to eighth aspects is provided. In the apparatus, it is also possible to adopt an aspect in which the first transmission surface of the first core member and the second transmission surface of the second core member are opposed to each other in the axial direction of the rotation center axis. Or, as a tenth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to eighth aspects, the first transmission surface of the first core member Any of the embodiments in which the second transmission surface of the second core member is opposed to each other in a direction orthogonal to the axial direction of the rotation center axis can be employed.

  In an eleventh aspect of the present invention, in the harnessless device for a movable part according to any one of the first to tenth aspects, in at least one of the first core member and the second core member, A high shielding effect member having a high electromagnetic shielding effect is disposed on the outer periphery excluding the first transmission surface or the second transmission surface.

Here, the electromagnetic shielding effect refers to a shielding effect against electromagnetic waves including an electric field and a magnetic field, and is represented by a magnitude (absolute value) of a change rate represented by the following expression. In the following equation, E _out indicates the intensity (V / m) of the outgoing electric field, and E _in indicates the intensity (V / m) of the incident electric field. The high electromagnetic shielding effect refers to a shielding effect that can be generally used as an electromagnetic shielding member. Specifically, the shielding effect is 30 dB or more, and more preferably 60 dB or more. Shall.

Rate of change = 20 log (E _out / E _in )

  And according to this aspect, it can suppress that the 1st core member and the 2nd core member receive the influence of electromagnetic waves from the outside, and can transmit an electric signal more stably. Moreover, the influence which the electromagnetic waves produced from a 1st coil head or a 2nd coil head have on other electronic components can also be suppressed.

  According to a twelfth aspect of the present invention, in the harnessless device for a movable part according to the eleventh aspect, at least one of the first support member and the second support member is the high shielding effect member. It is characterized by that. According to this aspect, it is not necessary to provide an electromagnetic shielding member specially, and the number of parts can be reduced.

  A thirteenth aspect of the present invention is the harnessless device for a movable part according to any one of the first to twelfth aspects, wherein the first coil unit and the second coil unit are high in electromagnetic shielding. It is characterized by being covered with a high shielding effect member having an effect.

  According to this aspect, substantially the entire harnessless device of the movable part can be protected from electromagnetic noise, and the influence of electromagnetic waves generated from the harnessless device of the movable part on other electronic components can be suppressed.

  A fourteenth aspect of the present invention is the harnessless device for a movable part according to any one of the eleventh to thirteenth aspects, wherein the high shielding effect member is aluminum, copper, iron, nickel, magnetite. , Gadolinium, cobalt, ferrimagnetic material, conductive powder material, and conductive coating material. According to this aspect, the electromagnetic shielding effect can be obtained effectively.

  According to a fifteenth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to fourteenth aspects, in at least one of the first core member and the second core member. A low shielding effect member having a low electromagnetic shielding effect is disposed on the outer periphery excluding the first transmission surface or the second transmission surface.

  Here, the low electromagnetic shielding effect refers to a shielding effect that is generally difficult to use as an electromagnetic shielding member. Specifically, the shielding effect is 30 dB or less, and more preferably 20 dB or less. Say it. And according to this aspect, since the magnetic flux leaking from the low shielding effect member or the core member is reduced and the magnetic flux is concentrated on the transmission surface of the core member, it is possible to perform more reliable transmission. It becomes. In particular, in this embodiment, a member having a low magnetic permeability is suitably employed as the low shielding effect member. In this way, by making the magnetic permeability outside the core member sufficiently low, leakage of magnetic field lines from the outer peripheral surface other than the transmission surface in the core member can be suppressed, and transmission reliability is further improved. I can do it.

  According to a sixteenth aspect of the present invention, in the harnessless device for a movable part according to the fifteenth aspect, in the at least one of the first core member and the second core member, the first transmission surface. Alternatively, a high shielding effect member having a high electromagnetic shielding effect is disposed on the outer periphery excluding the second transmission surface, and the low shielding effect member is disposed between the outer periphery of the core member and the high shielding effect member. It is characterized by being arranged.

  According to this aspect, the low shielding effect member is interposed between the outer periphery of the core member and the high shielding effect member, so that the high shielding effect member does not directly contact the outer circumferential surface of the core member, and the predetermined distance is reached. Are arranged apart from each other. As a result, the possibility that electromagnetic waves emitted from the core member are absorbed by the high shielding effect member is reduced, and more magnetic flux can be collected on the transmission surface, and the magnetic field lines entering the high shielding effect member are vortexed. The possibility of reducing the electromagnetic energy of the coil head due to the generation of current can be reduced. As a result, transmission with higher reliability can be performed, and even when the distance between both transmission surfaces becomes larger, transmission of electrical signals and the like can be performed more stably.

  According to a seventeenth aspect of the present invention, in the harnessless device for movable parts according to the fifteenth or sixteenth aspect, the low shielding effect member is polytetrafluoroethylene, epoxy resin, plastic, wood, paper, It is formed from at least one of cloth, non-conductive paint, reinforced plastic, glass, natural resin, and synthetic resin. According to this aspect, the magnetic flux leakage from the core member can be effectively suppressed.

  According to an eighteenth aspect of the present invention, in the harnessless device for a movable part according to any one of the first to seventeenth aspects, a plurality of sets of the first coil unit and the second coil unit are provided. It is characterized by having a set.

  According to this aspect, different electrical signals can be transmitted for each set of the first coil unit and the second coil unit, and a plurality of electrical signals can be transmitted simultaneously and with high reliability.

  According to a nineteenth aspect of the present invention, in the harnessless device for a movable part according to the eighteenth aspect, a plurality of the first coil heads are provided concentrically on the first support member. The first coil unit is integrally configured.

  According to this aspect, since the first support member is used in common by a plurality of first coil units, the number of parts can be reduced and the weight can be reduced, and the plurality of first coil units can be integrated. Can be handled easily, and manufacture such as assembly to the first member is facilitated.

  According to a twentieth aspect of the present invention, in the harnessless device for a movable part according to the nineteenth aspect, a pair of the first coil heads having the same diameter are attached to the first member. A pair of the second coil heads corresponding to the first coil heads are respectively disposed at both ends of the first support member in the axial direction of the rotation center axis. The first support member is disposed on the opposite side of the first support member in the axial direction of the central axis, and the first transmission surface of the first coil head and the second of the second coil head The transmission surfaces are opposed to each other at a predetermined distance in the axial direction of the rotation center axis.

  According to this aspect, by providing the first coil heads on both surfaces of the first support member, a pair of first coil heads having the same diameter dimension can be disposed with high space efficiency.

  In a twenty-first aspect of the present invention, in the harnessless device for a movable part according to any one of the first to twentieth aspects, it is possible to transmit electric power in addition to the electric signal. Features. According to this aspect, it is possible to supply drive power to an electronic component that can be driven with relatively low power, such as various sensors.

  Hereinafter, in order to clarify the present invention more specifically, embodiments of the present invention will be described in detail with reference to the drawings.

  First, FIG. 1 schematically shows a robot apparatus 12 including a movable transformer 10 according to a harnessless apparatus for a movable part as a first embodiment of the present invention. The robot apparatus 12 has a structure in which a tool 18 is provided at the tip of an arm member 16 having a plurality of joints 14a to 14d. The tool 18 can be removed via an automatic tool changer 20 provided on the arm member 16. As the tool 18, for example, various conventionally known tools such as a cutting tool and a manipulator used for deburring can be employed. In this embodiment, a spot welding gun used for spot welding is used. The tool 18 is electrically connected to a controller 19 provided on the main body side of the robot apparatus 12, and an electrical signal such as a control signal can be transmitted between the tool 18 and the controller 19. ing.

  FIG. 2 schematically shows the joint 14c of the arm member 16. The joint 14 c has a structure in which a tool side arm member 22 as a first member constituting the arm member 16 and a main body side arm member 24 as a second member are connected by a rotation shaft 26. Here, the tool side arm member 22 is positioned on the tool 18 side of the robot apparatus 12, while the main body side arm member 24 is positioned on the main body side of the robot apparatus 12. The rotating shaft 26 has one end fixedly connected to the tool side arm member 22, while the other end protrudes from the tool side arm member 22 toward the main body side arm member 24. Thus, it is connected to an output shaft of a drive source such as an electric motor (not shown) provided on the main body side arm member 24 side so as to be rotatable around the central shaft 27. Thereby, the tool side arm member 22 can rotate relative to the main body side arm member 24 around the central axis 27 of the rotation shaft 26.

  The movable transformer 10 is provided at the joint 14c. The movable transformer 10 includes a tool-side coil unit 28 as a first coil unit attached to the tool-side arm member 22 via a rotating shaft 26 and a second coil unit attached to the main body-side arm member 24. The main body side coil unit 30 is included, and in this embodiment, in particular, the pair of tool side coil units 28 and the pair of main body side coil units 30 are included.

  FIG. 3 shows a tool side coil unit 28, FIG. 4 shows a main body side coil unit 30, and FIG. 5 shows an enlarged view of the opposed portion of the tool side coil unit 28 and the main body side coil unit 30, respectively. In FIG. 3, for easy understanding, the main body side coil unit 30 is shown together with a dotted line, and in FIG. 3 and FIG. 4, the protection member 56 is omitted.

  The tool side coil unit 28 has a structure in which a tool side coil head 34 as a first coil head is assembled to a disk 32 as a first support member. Furthermore, the tool side coil head 34 has a structure in which a tool side coil 38 as a first coil member is assembled to a tool side core 36 as a first core member.

  The tool side core 36 is configured by a partial core 40 as a plurality of partial core members. The partial core 40 is formed of a ferromagnetic material such as ferrite, for example, and has a certain U-shaped cross section having a lead groove 42 that opens in one direction orthogonal to the longitudinal direction and has a shape extending in an arc shape over a predetermined dimension. Have. Particularly in the present embodiment, the partial cores 40 have the same shape as each other, and have a circular arc shape having the same curvature and circumferential length.

  Further, particularly in the present embodiment, the outer peripheral surface excluding the opening end face 44 and both end faces in the longitudinal direction of each partial core 40 is covered with a gap member 46 as a low shielding effect member. The gap member 46 has a constant U-shaped cross section that opens in one of the directions orthogonal to the longitudinal direction (the left-right direction in FIG. 5), and extends in an arc shape over a predetermined dimension, substantially like the partial core 40. It has a shape. The gap member 46 is fitted on the outer side of the partial core 40 with its opening end face positioned on the same plane as the opening end face 44 of the partial core 40. Thereby, the gap member 46 is arrange | positioned in the outer periphery except the opening end surface 44 of a partial core 40, and a longitudinal direction both end surface.

  As the gap member 46, a conventionally known member having a small electromagnetic shielding effect (shielding effect (SE)) against electromagnetic waves including an electric field and a magnetic field as compared with the disk 32 and a pad 58 described later can be appropriately employed. Preferably, a member having a shielding effect of 30 dB or less, more preferably 20 dB or less is used. For example, as the gap member 46, a member having non-conductivity and a low magnetic permeability, particularly preferably a member having a magnetic permeability equal to or lower than air is preferably employed. Specifically, as the gap member 46, polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth, nonconductive paint, reinforced plastic, natural resin such as glass and rosin, synthetic resin such as phenol and polyurethane, etc. Etc. are exemplified. In the present embodiment, polytetrafluoroethylene is used as the gap member 46. As a result, the gap member 56 is interposed between the opening end face 44 of the partial core 40 and the outer peripheral surface excluding both end faces in the longitudinal direction and the disk 32, so that the direct contact between the outer peripheral surface of the partial core 40 and the disk 32 is made. The contact area is reduced. As a result, the leakage magnetic flux from the partial core 40 is suppressed, and the occurrence of eddy currents in the disk 32 due to the influence of the lines of magnetic force is also suppressed, and the electromagnetic energy of the partial core 40 is absorbed and reduced by the disk 32. The risk of losing is reduced.

  The partial core 40 and the gap member 46 are disposed in an embedded state in the disk 32. The disk 32 has an annular plate shape having a shaft insertion hole 48 penetrating in the thickness direction. Therefore, in this embodiment, the disk 32 is a high shielding effect member. As the disk 32, a conventionally known member having a large shielding effect against electromagnetic waves (shielding effect (SE)) including an electric field and a magnetic field and having a shielding effect that can be used as an electromagnetic shielding member can be appropriately employed. Preferably, a member having a shielding effect of 30 dB or more, more preferably 60 dB or more is used. Specifically, examples of the disk 32 include aluminum, copper, iron (including iron oxide), nickel, magnetite, gadolinium, cobalt, ferrimagnetic material, conductive powder material, conductive paint material, and the like. It is formed by subjecting the member to appropriate processing such as oxidation, alloying, powder kneading and vapor deposition.

  Further, the disk 32 is formed with a concave groove 52 that opens on the end surface 50 in the axial direction (left-right direction in FIG. 5) at the portion where the partial core 40 is disposed. In particular, in the present embodiment, the concave groove 52 has a shape corresponding to the outer shape of the gap member 46, and has a depth dimension equal to the height dimension of the gap member 46 (the horizontal dimension in FIG. 5). In addition, the gap member 46 and the partial core 40 have a curvature that is equal to that of the partial core 40 and extends in an arc shape. A plurality of the concave grooves 52 are formed at predetermined intervals in the circumferential direction of the disk 32, and the partial core 40 is fitted into each concave groove 52 via a gap member 46 and fixed by bonding or the like.

  In this manner, in the disk 32, a plurality of partial cores 40 are provided at a predetermined interval on the same circumference having the same central axis as that of the disk 32. The plurality of partial cores 40 allow the tool-side core 36 to be provided. Is formed. Thereby, the tool side core 36 is made into the pot core shape parted by multiple places in the circumferential direction. In particular, in the present embodiment, the tool-side core 36 has an equal interval between the adjacent partial cores 40 in the circumferential direction, and is divided at equal intervals in the circumferential direction. The interval between the partial cores 40 adjacent to each other in the circumferential direction is smaller than the circumferential length of the partial core 40, particularly in the present embodiment. Specifically, the center of the partial core 40 around the central axis of curvature is provided. Angle: α <45 ° is set. Further, when the partial core 40 and the gap member 46 are fitted into the concave groove 56, the opening end surface 44 of the partial core 40 and the end surface of the gap member 46 are positioned on the same plane as the end surface 50 of the disk 32. ing. Further, the disk 32 is disposed on the outer periphery of the partial core 40 excluding the opening end face 44 via the gap member 46.

  Then, for example, a lead wire formed of copper or the like is wound a predetermined number of times so as to extend in the circumferential direction of the disk 32 across the lead groove 42 of the partial core 40 provided on the disk 32. 38 is formed, and the tool side coil 38 is assembled to the tool side core 36. Between the partial cores 40 in the circumferential direction of the disk 32, lead grooves 54 having the same cross-sectional shape as the lead grooves 42 are formed in the end surface 50. The lead grooves 54 and the partial cores 40 are formed. By connecting the lead groove 42, a circumferential groove that opens to the end surface 50 of the disk 32 and extends continuously over the entire circumference in the circumferential direction is formed. The tool side coil 38 is arranged without protruding from the end face 50 of the disk 32 by arranging the lead wire in the circumferential groove formed by the lead grooves 42 and 54. Yes. Further, in FIG. 3, the tool side coil 38 is illustrated with one lead wire for easy understanding, but the number of turns of the lead wire is appropriately set in consideration of required transmission characteristics and the like. It can be done.

  Further, the opening of the lead groove 42 of each partial core 40 and the lead groove 54 of the disk 32 accommodates the tool side coil 38 and is formed of a material having a low magnetic permeability such as an epoxy resin. By providing the member 56, contact with other members of the tool side coil 38 and the like are prevented.

  Thus, the tool side coil head 34 is formed including the tool side core 36, the tool side coil 38, and the gap member 46, and the tool side coil head 34 is supported by the disk 32. A tool side coil unit 28 is configured. A magnetic path of the tool side coil 38 is formed by the tool side core 36, in other words, the partial core 40, and the opening end surface 44 of the partial core 40 is a first transmission surface.

  In the present embodiment, in particular, concave grooves 52 are formed on both end faces 50 of the disk 32, and the gap member 46 and the partial core 40 are fitted into the concave grooves 52, so that the tool side coil head 34 is fitted. Is formed. As is clear from this, in this embodiment, a pair of tool side coil heads 34 having the same diameter are supported on a concentric shaft by a common disk 32, and the pair of tool side coil units 28 are The disks 32 are shared and provided integrally.

  A pair of main body side coil units 30 are respectively disposed on both sides in the thickness direction of the tool side coil unit 28 having such a structure. As shown in FIG. 4, the main body side coil unit 30 has a structure in which a main body side coil head 60 as a second coil head is assembled to a pad 58 as a second support member. In the main body side coil head 60, a main body side coil 64 as a second coil member is assembled to a main body side core 62 as a second core member, and a gap member 46 is fitted to the outside of the main body side core 62. Structure.

  The main body side core 62 has substantially the same structure as the partial core 40 in which the circumferential length of the partial core 40 constituting the tool side coil head 34 is different, and is formed of a ferromagnetic material such as ferrite, for example. Thus, the U-shaped cross section having the lead groove 66 extends into an arc shape having the same curvature as the partial core 40. Therefore, as shown in FIG. 3, the length in the circumferential direction of the main body side core 62 is made larger than the circumferential distance of the partial cores 40 adjacent in the circumferential direction in the tool side coil head 34. In the present embodiment, specifically, the central angle around the central axis of curvature of the main body side core 62 is set to β> 45 °.

  Further, in particular, the gap member 46 is fitted to the outside of the main body side core 62 in the present embodiment, similarly to the partial core 40, and the outer peripheral surface excluding the opening end face 68 and both longitudinal end faces of the main body side core 62 is formed. The gap member 46 is covered.

  On the other hand, the pad 58 has a plate shape. In particular, in the present embodiment, the thickness dimension of the pad 58 (the dimension in the left-right direction in FIG. 5) is made equal to the height dimension of the gap member 46. Further, the pad 58 is formed with a through hole 70 penetrating in the thickness direction. The pad 58 is a high shielding effect member formed of the above-described member having a high electromagnetic shielding effect, like the disk 32 supporting the tool side coil head 34.

  Then, the gap member 46 and the main body side core 62 are fitted into the through hole 70 and fixed by adhesion or the like. Here, since the thickness dimension of the pad 58 and the height dimension of the gap member 46 are equal, the opening end face 68 of the main body side core 62 constituting the main body side coil head 60 is easily aligned with the end face of the pad 58. I can do it. The pad 58 is disposed on the outer peripheral portion of the main body side core 62 excluding the opening end face 68 via the gap member 46.

  The pad 58 is connected to the lead groove 66 of the main body side core 62 disposed in the through hole 70, and cooperates with the lead groove 66 to form a peripheral groove continuous to the entire circumference. Is formed. Then, for example, a lead wire formed of copper or the like is disposed in a circumferential groove formed by these lead grooves 66 and 72 and wound around the main body side core 62 a predetermined number of times to form the main body side coil 64. The main body side coil 64 is assembled to the main body side core 62. In FIG. 4, for ease of understanding, the main body side coil 64 is shown as a single lead wire, but the number of turns of the lead wire is appropriately set in consideration of required transmission characteristics and the like. To get. Although not shown in FIG. 4, a protective member 56 is provided in the opening of the lead groove 66 of the main body side core 62 and the lead groove 72 of the pad 58 similarly to the tool side coil unit 28. Contact with other members of the side coil 64 is prevented.

  Thus, the main body side coil head 60 is formed including the main body side core 62, the main body side coil 64, and the gap member 46, and the main body side coil head 60 is supported by the pad 58. And the magnetic path of the main body side coil 64 is formed by the main body side core 62, and the opening end surface 68 of the main body side core 62 is used as the second transmission surface.

  Each of the pair of tool side coil units 28 and the pair of main body side coil units 30 is attached to the tool side arm member 22 and the main body side arm member 24, and The main body side coil unit 30 is positioned at a predetermined distance.

  More specifically, the tool side coil unit 28 extends from the outer peripheral surface of the rotating shaft 26 toward the disk 32 in a state where the rotating shaft 26 is inserted over the central axis of the shaft insertion hole 48 of the disk 32. In the present embodiment, four connecting members 74 are fixed to the rotating shaft 26. As a result, the tool side coil unit 28 is attached to the tool side arm member 22 via the rotation shaft 26 so that the tool side core 36 is positioned coaxially with the central axis 27 of the rotation shaft 26 and is rotated. The shaft 26 and the tool side arm member 22 are integrally rotated around the central shaft 27.

  Then, one of the lead wires constituting the pair of tool side coils 38 provided in the tool side coil unit 28 is electrically connected to, for example, a drive control circuit 79 that controls the operation of the tool 18 via the signal processor 76. On the other hand, the other of the lead wires constituting the pair of tool side coils 38 is electrically connected to, for example, the encoder 100 via the signal processor 76. The signal processor 76 and a signal processor 84 described later include a CVCF type or VVVF type conventionally known inverter, a rectifying and stabilizing circuit, and the like.

  On the other hand, the pair of main body side coil units 30 are attached to the main body side arm member 24 via a shield member 80 provided integrally with the main body side arm member 24. The shield member 80 has a substantially hollow cylindrical shape, and insertion holes 82a and 82b penetrating in the thickness direction are formed at the center portions of both end surfaces in the axial direction (left and right direction in FIG. 2). . The shield member 80 is fixed to the main body side arm member 24 in a state where the main body side arm member 24 is inserted into the one insertion hole 82a. The shield member 80 is a high shielding effect member formed of the above-described member having a high electromagnetic shielding effect, like the disk 32 and the pad 58.

  A pair of main body side coil units 30 are attached to the inner peripheral surface of the shield member 80 so as to protrude radially inward of the shield member 80, and the main body side provided in each main body side coil unit 30. A lead wire constituting the coil 64 is electrically connected to the controller 19 provided on the main body side of the robot apparatus 12 via the signal processor 84.

  Then, the tool side arm member 22 is inserted into the other insertion hole 82 b of the shield member 80, so that the tool side coil unit 28 and the pair of main body side coil units 30 are positioned to face each other in the shield member 80. It has become. In particular, in this embodiment, since the diameter dimension of the tool side coil unit 28 is larger than the diameter dimension of the insertion hole 82b of the shield member 80, the arrangement of the tool side coil unit 28 in the shield member 80 is as follows. For example, the shield member 80 is divided in the circumferential direction, and after the tool side arm member 22 to which the tool side coil unit 28 is attached is assembled to the main body side arm member 24, the shield member is formed from the outside of both the arm members 22 and 24. This can be realized by assembling the divided structures constituting 80.

  Accordingly, the pair of tool side coil units 28 and the pair of main body side coil units 30 are disposed in the shield member 80, and the disk 32 supporting the pair of tool side coil units 28 is moved in the axial direction of the rotation shaft 26. A pair of main body side coil units 30 are disposed on opposite sides of each other between both sides. The opening end surface 44 of the partial core 40 serving as the transmission surface of the tool side coil unit 28 and the opening end surface 68 of the main body side core 62 serving as the transmission surface of the main body side coil unit 30 are a predetermined distance in the axial direction of the rotating shaft 26. They are positioned to face each other with no contact therebetween. Thus, the movable transformer 10 includes the pair of tool side coil units 28 and the pair of main body side coil units 30.

  In the movable transformer 10 having such a structure, electrical signals can be transmitted between the tool side coil unit 28 and the main body side coil unit 30 in a non-contact state. For example, when an encode signal from an encoder 78 provided on the tool 18 is transmitted as an electric signal to a controller 19 provided on the main body side of the robot apparatus 12, first, the encode signal generated by the encoder 78 is a signal. After being superimposed on the high frequency voltage by the processor 76, it is supplied to the tool side coil 38 of the tool side coil unit 28. The high-frequency voltage on which the electrical signal is superimposed is generated by the signal processor 76, and the frequency varies depending on the data size of the electrical signal, the usage environment, and the like. Is appropriately set within a range of about 100 Hz to 1 GHz.

  When a high frequency voltage is supplied to the tool side coil 38, a magnetic flux that passes through the tool side coil 38 and changes according to the output frequency is generated. The magnetic flux penetrating the tool side coil 38 passes through the tool side core 36, more specifically, the partial core 40 constituting the tool side core 36, and is positioned on the main body side facing the opening end surface 44 of the partial core 40. It enters the open end face 68 of the core 62 and passes through the main body side core 62. The magnetic flux passing through the main body side core 62 is linked with the main body side coil 64.

  As a result, the tool side coil 38 and the main body side coil 64 are electromagnetically coupled to each other, and an induced electromotive force is generated in the main body side coil 64 due to the mutual induction action, and the high frequency voltage supplied to the tool side coil 38 is It is taken out from the main body side coil 64 in a non-contact state. The encode signal superimposed on the high frequency voltage extracted from the main body side coil 64 is extracted by the signal processor 84 and then transmitted to the controller 19. Thereby, it is possible to transmit electric signals between the tool side arm member 22 and the main body side arm member 24 in a non-contact state.

  In addition, the movable transformer 10 in the present embodiment can also transmit an electrical signal from the main body side of the robot apparatus 12 to the tool 18 side. For example, when the drive control signal of the controller 19 is transmitted as an electrical signal to the drive control circuit 79 provided in the tool 18, the transmission path of the signal and the case where the encode signal is transmitted from the encoder 78 to the controller 19 are as follows. On the contrary, in substantially the same manner, the drive control signal generated by the controller 19 is superimposed on the high-frequency voltage by the signal processor 84 connected to the controller 19 to be transferred from the main body side coil 64 to the tool side coil 38 to the main body side core 62 and After being transmitted in a non-contact state through the tool side core 36, the signal processor 76 provided on the tool 18 side extracts the high frequency voltage and transmits it to the drive control circuit 79.

  In the movable transformer 10 according to the present embodiment, when the rotation shaft 26 is rotated, the tool side coil unit 28 fixedly provided on the rotation shaft 26 rotates with respect to the main body side coil unit 30. The opening end surface 68 of the main body side core 62 is rotated around the central axis 27 of the moving shaft 26 so that the opening end surface 44 of each partial core 40 constituting the tool side core 36 is center axis 27 of the rotation shaft 26. It can be rotated around. Therefore, in the movable transformer 10 according to the present embodiment, the partial core 40 constituting the tool side core 36 is disposed on a circumference concentric with the central axis 27, and the circumferential dimension of the main body side core 62 is set. Since the distance between the adjacent partial cores 40 in the circumferential direction in which the partial cores 40 are arranged is larger than the distance between the main body side core 62 and the tool side coil unit 28, the circumferential position is not limited. The opening end face 68 of the main body side core 62 is positioned opposite to the opening end face 44 of at least one partial core 40. Thereby, even when the rotation shaft 26 is rotated, that is, when the tool side arm member 22 is rotated with respect to the main body side arm member 24, the electromagnetic coupling between the tool side core 36 and the main body side core 62 is performed. The state is maintained, and an electric signal can be transmitted between the main body side arm member 24 and the tool side arm member 22, and the electric connection with respect to the main body side arm member 24 can be maintained while the tool is maintained. The side arm member 22 can be rotated an infinite number of times.

  In this case, since the tool side core 36 and the main body side core 62 are in a non-contact state with a predetermined distance in the axial direction of the rotating shaft 26, there is a risk of wear due to rubbing of both the cores 36, 62 or the like. In addition to being avoidable, the possibility of disconnection due to repeated bending such as cable connection can also be avoided, and excellent maintainability can be obtained.

  In addition, since it is not necessary to provide bending that allows relative displacement of each member as in the case of cable connection, the movable transformer 10 can be configured in a compact manner, and the robot apparatus 12 can be further downsized. I can do it. Further, particularly in the present embodiment, two pairs of the tool side coil unit 28 and the body side coil unit are provided by coaxially providing a pair of tool side cores 36 having the same diameter size on both surfaces of the disk 32. It is possible to arrange 30 sets with good space efficiency. That is, when two tool-side cores 36 are provided on one surface of the disk 32, the tool-side cores 36 are made different in diameter from each other, and the tool has a large diameter outside the small-side tool-side core 36. Since the side core 36 needs to be disposed, the diameter dimension of any one of the tool side cores 36 must be increased, and the size is increased, particularly in the direction orthogonal to the axial direction of the rotary shaft 26. Incurs an increase in size. On the other hand, without providing a pair of tool side cores 36 on one disk 32, only one tool side core 36 is provided on one disk 32, and two sets of the tool side coil unit 28 and the main body side coil unit 30 are assembled. Is simply arranged in the axial direction of the rotary shaft 26, the size of the rotary shaft 26 in the axial direction is increased. Therefore, according to the present embodiment, by providing the tool side cores 36 on both surfaces of the disk 32, the diameter dimensions of the pair of tool side cores 36 are made equal to each other, and the axial direction and the axis perpendicular to the rotation shaft 26. It is possible to reduce the size in any direction.

  Furthermore, since the pair of tool-side cores 36 have the same diameter, a core member of the same standard having the same curvature can be used as the partial core 40 constituting the tool-side core 36 and is opposed thereto. Since the core members of the same standard can be used for the pair of main body side cores 62 to be fastened, the types of core members to be prepared can be reduced, and the manufacturing cost can be reduced. In addition, since the pair of tool-side coil units 28 can be attached to the rotary shaft 26 by attaching the disk 32 to the rotary shaft 26, the manufacturing effort can be reduced. Further, for example, if the main body side core 62 has an annular shape that is continuous over the entire circumference, it is necessary to insert the rotating shaft 26 and dispose it in the same manner as the tool side core 36. Although the position needs to be considered, in the present embodiment, the main body side core 62 is not continuous over the entire circumference. Will also be easier.

  And since the tool side core 36 is made into the structure divided | segmented by the circumferential direction by each partial core 40, magnetic flux can be concentrated on the opening end surface 44 of each partial core 40, and all of the tool side core 36 can be concentrated. Compared with the case where the core member is provided continuously around the circumference, the dispersion of the magnetic flux can be suppressed. Thereby, it is possible to perform transmission with higher reliability. Furthermore, in this embodiment, since each partial core 40 is covered with the gap member 46, the leakage magnetic flux from each partial core 40 can be suppressed, and the magnetic flux is more effectively concentrated on the opening end surface 44. It is possible to make it. Further, the voltage passed through the tool side coil 38 is easily attenuated by being converted to heat or the like in the core member as the frequency increases, but in this embodiment, the tool side coil 38 is moved in the circumferential direction. It is possible to reduce such attenuation by dividing and reducing the circumferential length of the core.

  In addition, in this embodiment, an electromagnetic shielding structure is configured by the disk 32, the pad 58, and the shield member 80, and the magnetic field lines leaking from the tool side core 36 and the main body side core 62 affect other electronic components. In addition, the possibility that the magnetic lines of force from other electronic components affect the electromagnetic induction action of the tool side core 36 and the main body side core 62 is reduced. In particular, in the tool side coil unit 28 and the main body side coil unit 30, the disk 32 and the pad 58 themselves are formed of an electromagnetic shielding member, and it is unnecessary to provide an electromagnetic shielding member specially, thereby reducing the number of parts. It is possible. Further, particularly in the present embodiment, the gap member 46 is interposed between the outer periphery of each of the cores 36 and 62 and the disk 32 and the pad 58, so that the electromagnetic energy of each of the cores 36 and 62 is transferred to the disk 32 and the pad. The risk of absorption being reduced at 58 can be reduced, and more stable transmission can be performed.

  Incidentally, a robot apparatus including a movable transformer having a structure according to the above-described embodiment was actually manufactured as shown in FIGS. As a result, even under installation conditions that substantially reproduce the actual operating environment, it is confirmed that the robot apparatus operates stably with high accuracy, and that the various effects as described above can be effectively exhibited. Was made.

  As mentioned above, although one Embodiment of this invention was explained in full detail, this is an illustration to the last, Comprising: This invention is not limited at all by the specific description in this Embodiment. In addition, in the following description, about the member and site | part made into the structure similar to the said embodiment, the same code | symbol as the said embodiment is respectively attached | subjected in a figure, and those detailed description is abbreviate | omitted. .

  For example, FIG. 8 schematically shows a tool-side coil unit 90 as a different mode of the first coil unit. The tool side coil unit 90 has a structure in which a disk 92 as a first support member is provided with a tool side coil head 93 as a coil head. Accordingly, the disk 92 in this embodiment has a divided structure, and a pair of partial disks 94 as partial support members are connected to each other by fitting or the like.

  The partial disk 94 has a columnar portion 96 extending straight, and a semicircular annular portion 98 at one end of the columnar portion 96. The partial disk 94 is a high shielding effect member formed of the above-described member having a high electromagnetic shielding effect, like the disk 32. In each of the partial disks 94, lead wires 100 formed of, for example, copper are disposed. The lead wire 100 in this embodiment extends straight from the base end portion 101 in the columnar portion 96 along the columnar portion 96, and then extends along the annular portion 98 at the outer portion in the annular portion 98. . Further, the lead wire 100 is bent toward the inner side of the annular portion 98 at the extended tip end portion of the annular portion 98, and then toward the columnar portion 96 along the annular portion 98 at the inner portion in the annular portion 98. The extended end 102 is electrically connected to a connector 103 provided at a portion of the columnar portion 96 of the partial disk 94 that is positioned opposite to the other partial disk 94. In short, the lead wire 100 is folded back at the extended tip end portion of the annular portion 98 and is disposed along the annular portion 98 on the inner side and the outer side of the annular portion 98. A substantially semicircular coil forming portion 104 is formed by the lead wire 100 disposed inside the annular portion 98, and a plurality of partial cores 40 are combined with the coil forming portion 104.

  A pair of partial disks 94 having such a structure are connected to each other by fitting or the like so as to surround the rotating shaft 26 with an annular portion 98. In such a connected state, the connectors 103 of the pair of partial disks 94 are connected to each other, the extended end portions 102 of the pair of lead wires 100 are electrically connected to each other in series, and the pair of coil forming portions 104 A tool side coil 106 as a first coil member having a substantially circular shape as a whole is formed. Thereby, the tool side coil head 93 in which the tool side coil 106 is combined with the partial core 40 is configured. Further, a disk 92 as a first support member that supports the tool-side coil head 93 is constituted by a pair of partial disks 94, and an axis through which the rotary shaft 26 is inserted by the inner peripheral surfaces of the pair of annular portions 98. An insertion hole 48 is formed.

  In this way, by connecting the pair of partial disks 94 to each other with the rotation shaft 26 interposed therebetween, it is possible to form the disk 92 and the tool side coil head 93 that are extrapolated to the rotation shaft 26. As a result, for example, the tool-side coil head 93 can be easily assembled to an existing robot apparatus or the like, and the harness-less apparatus having a movable part structured according to the present invention can be easily applied to an existing robot apparatus or the like. I can do it.

  In particular, in the partial disk 94 shown in FIG. 8, the connector 103 is positioned at the extending end of the columnar portion 96 in consideration of the ease of coupling with each other, so that the pair of coil forming portions 104 are arranged. A predetermined interval D is formed between them, and it is preferable that the interval D is made as small as possible. Therefore, for example, the connector 103 may be positioned closer to the inner peripheral surface of the annular portion 98 to reduce the distance D.

  Further, in FIG. 8, for ease of understanding, a coil having one winding is illustrated as the tool-side coil 106, but for example, a tool-side coil as a further different aspect of the coil member schematically shown in FIG. 9. As in 110, a coil having a plurality of turns can be configured to be separable in the circumferential direction. In order to configure such a tool-side coil 110, for example, as shown in FIG. 9A, first, four lead wires 100 shown in FIG. Two circular shapes are formed by the pair of coil forming portions 104 shown. And each lead wire 100 is connected in series. Specifically, similar to the tool-side coil 106 shown in FIG. 8, the extended end portions 102 of the pair of lead wires 100 that form a circular shape by the coil forming portion 104 are connected to each other by the connector 103. . Then, one base end portion 101 of the pair of lead wires 100 forming a circular shape by the coil forming portion 104 is connected to one base end portion 101 of the pair of lead wires 100 forming the other circular shape by a connector 112. Connecting.

  As a result, the four lead wires 100 are directly connected to form two circular shapes by the coil forming portion 104 on the current transmission path. Then, as shown in FIG. 9B, the two circular shapes formed by the coil forming unit 104 are overlapped with each other so that the current directions are equal when viewed in the axial direction (in the direction perpendicular to the paper surface in FIG. 9). Match. Specifically, the portions positioned in “A” to “H” shown in FIG. 9A are respectively positioned in “A” to “H” in FIG. 9B. In this way, it is possible to obtain the tool-side coil 110 that can be divided in the circumferential direction by the connector 103 and the connector 112 and can be wound around the partial core 40 a plurality of times. The tool side coil 110 shown in FIG. 9 is a coil having two turns. However, when a coil that can be divided in the circumferential direction having a larger number of turns is formed, similarly, a larger number of lead wires 100 are used. It is only necessary to form a larger number of circular shapes by the pair of coil forming portions 104 by directly connecting the two, and to superimpose such circular shapes. In FIG. 9B, for ease of understanding, connectors 103 and 112 are provided for each of the extended end portion 102 and the base end portion 101 connected to each other. Of course, a single connector is also possible.

  Furthermore, the specific shapes of the partial core member and the second core member constituting the first core member are not particularly limited. For example, as shown in a model form in FIG. 10, a partial core 40 that extends linearly may be used. Furthermore, the partial core member and the second core member are not limited to those having a U-shaped cross section, and for example, those having an E shape or an I shape can be suitably employed. In addition, the partial core members are not necessarily arranged at regular intervals in the circumferential direction of the first core member, and the separation distances may be different between the partial core members. In that case, the second core member opposed to the partial core member has a circumferential separation distance of the plurality of partial core members so as to be opposed to at least one partial core member at any circumferential position. The circumferential length is set to be larger than the largest one.

  Moreover, the arrangement | positioning position and opposing direction of a 1st core member and a 2nd core member can be changed suitably. Although several suitable examples are shown in FIGS. 11 to 15 as models, it is understood that the arrangement of the first core member and the second core member is not limited to these examples. Should be.

  First, in FIG. 11, four tool side coil heads 34 having different diameters are provided on one side of a disk 32 on a concentric shaft, while these four tool side coil heads 34 are provided on a pad 58. Corresponding to the four main body side coil heads 60 are provided. In this way, four transmission paths can be configured with one disk 32 and one pad 58. When the tool side coil head 34 is provided only on one side of the disk 32, the thickness dimension of the disk 32 is set to be equal to that of the tool side coil head 34 as in the pad 58 and the main body side coil head 60 shown in FIG. A through-hole penetrating in the thickness direction of the disk 32 is formed to be equal to the height dimension (the left-right dimension in FIG. 5), and the tool-side coil head 34 is inserted and fixed in the through-hole. preferable. In this way, the opening end surface 44 of the partial core 40 can be easily aligned with the end surface 50 of the disk 32.

  In FIG. 12, two tool side coil heads 34 having different diameters are disposed on the concentric axes on both surfaces of the disk 32, and a total of four tool side coil heads 34 are provided. On the other hand, each of the pair of pads 58 is provided with two main body side coil heads 60 corresponding to the two tool side coil heads 34 provided on one side of the disk 32. The pair of pads 58 and the disk 32 are opposed to each other with a predetermined distance in the axial direction of the rotation shaft 26. In this way, the diameter of the disk 32 can be made smaller.

  Further, in FIG. 13, a disk 32 in which two tool side coil heads 34 having different diameters are provided on one side on a concentric axis, and two main bodies corresponding to the two tool side coil heads 34. Two sets with the pad 58 provided with the side coil head 64 are provided side by side in the axial direction of the rotating shaft 26. Furthermore, in FIG. 14, four sets of the disk 32 having one tool side coil head 34 and the pad 58 corresponding to the tool side coil head 34 are arranged in the axial direction of the rotary shaft 26. It is arranged. Even in these structures, a total of four transmission paths can be configured.

  Note that the opposing direction of the first coil head and the second coil head is not limited to the rotation center axis direction of the rotation shaft, but may be a direction orthogonal to the rotation center axis direction of the rotation shaft. For example, the disk 32 in FIG. 15 is provided with one tool-side coil head 34 on each of both axial surfaces of the rotating shaft 26 and in a direction orthogonal to the axial direction of the rotating shaft 26. Another tool-side coil head 34 is provided on the end face, in other words, on the outer peripheral face (vertical end face in FIG. 15) of the disk 32. The partial core 40 of the tool side coil head 28 provided on the outer peripheral surface of the disk 32 is disposed with the opening end surface 44 facing the outside of the disk 32 in a direction perpendicular to the axial direction of the rotating shaft 26. Become.

  Each pad 58 is provided with a body-side coil head 60 corresponding to each of the tool-side coil heads 34 provided on both surfaces of the disk 32, and the pair of pads 58 are the axes of the rotating shaft 26. The discs 32 are opposed to each other with a predetermined distance in the direction. Further, a pad 58 provided with a main body side coil head 30 corresponding to the tool side coil head 28 provided on the outer peripheral surface of the disk 32 is separated from the disk 32 by a predetermined distance in a direction orthogonal to the axial direction of the rotating shaft 26. It is made to oppose. The body-side core 62 of the pad 58 that is positioned opposite to the disk 32 in a direction orthogonal to the axial direction of the rotating shaft 26 has an opening end face 68 on the disk 32 in a direction orthogonal to the axial direction of the rotating shaft 26. The opening end surface 68 is opposed to the opening end surface 44 of the partial core 40 provided on the outer peripheral surface of the disk 32 with a predetermined distance in the direction perpendicular to the axial direction of the rotation shaft 26. Will be positioned. As a result, the pair of the tool-side coil head 28 and the body-side coil head 30 that are opposed to each other in the axial direction of the rotating shaft 26 and the pair of the tool-side coil head 30 that are opposed to each other in the direction orthogonal to the axial direction of the rotating shaft 26 are positioned. A total of three transmission paths are configured by a set of one tool side coil head 28 and main body side coil head 30. Of course, a plurality of tool-side coil heads 28 can be provided on the outer peripheral surface of the disk 32 in the axial direction of the rotary shaft 26.

  Moreover, although the main body side core 62 as the second core member shown in the above embodiment has a shape that does not continue to the entire circumference, the second core member continues to the entire circumference. It may be an annular shape.

  Furthermore, the first support member does not necessarily have to be connected to the rotation shaft, and may be directly fixed to the first member. For example, in the above-described embodiment, the disk 32 may be directly fixed to the tool side arm member 22 or the like. Furthermore, for example, the first support member is formed by integrally forming a flange-like portion extending in a direction orthogonal to the rotation center axis on the first member and using the flange-like portion as the first support member. The first member may be integrally formed, and the second support member may be integrally formed with the second member.

  Further, using a harnessless device for a movable part according to the present invention, power may be transmitted instead of or in addition to the electrical signal. For example, the movable transformer 10 according to the above embodiment includes two sets of the tool side coil unit 28 and the main body side coil unit 30, but power transmission may be performed using one of these sets. good. In this way, it is possible to transmit electrical signals and power between the tool side arm member 22 and the main body side arm member 24 without using a cable. For example, with a relatively small power such as a position sensor. In addition to the signal transmission path, the power supply path can be configured with the movable transformer 10 for the device to be driven.

  In addition, although not enumerated one by one, the present invention can be carried out in a mode to which various changes, modifications, improvements and the like are added based on the knowledge of those skilled in the art. It goes without saying that all are included in the scope of the present invention without departing from the spirit of the present invention.

Explanatory drawing which shows a robot apparatus provided with the harnessless apparatus of the movable part as one Embodiment of this invention. Cross-sectional explanatory drawing which shows the harnessless apparatus of the movable part. Explanatory drawing which shows the 1st coil unit which comprises the harnessless apparatus of the same movable part. Explanatory drawing which shows the 2nd coil unit which comprises the harnessless apparatus of the same movable part. The principal part expanded sectional explanatory drawing of the harnessless apparatus of the movable part. The left side of the principal part of the robot apparatus manufactured with the structure according to embodiment shown by FIG. The right side of the principal part of the robot apparatus shown by FIG. Explanatory drawing which shows the different aspect of a 1st coil unit. Explanatory drawing which shows the further different aspect of a 1st coil unit. Front explanatory drawing which shows the aspect from which a partial core member differs. Explanatory drawing which shows the arrangement | positioning aspect from which a 1st coil head and a 2nd coil head differ. Explanatory drawing which shows the further different arrangement | positioning aspect of a 1st coil head and a 2nd coil head. Explanatory drawing which shows the further different arrangement | positioning aspect of a 1st coil head and a 2nd coil head. Explanatory drawing which shows the further different arrangement | positioning aspect of a 1st coil head and a 2nd coil head. Explanatory drawing which shows the further different arrangement | positioning aspect of a 1st coil head and a 2nd coil head.

Explanation of symbols

10: Movable transformer, 22: Tool side arm member, 24: Main body side arm member, 26: Rotating shaft, 32: Disc, 36: Tool side core, 38: Tool side coil, 40: Partial core, 44: Opening End surface, 48: shaft insertion hole, 58: pad, 62: main body side core, 64: main body side coil, 68: open end surface

Claims (21)

A first coil unit attached to the first member and a first coil unit connected to the first member at a connecting portion of the first member and the second member that are connected by a rotating shaft and are rotatable relative to each other around the rotating shaft; A second coil unit attached to the second member,
A first coil member is formed by arranging a plurality of partial core members spaced apart from each other on the circumference, and extending on the circumference on which the plurality of partial core members are arranged. Is assembled to the first core member to form a first coil head, and the first coil head forms a first transmission surface comprising an open surface of the magnetic path by the partial core member, While the first coil head is supported by one support member, the plurality of partial core members constitute the first coil unit arranged circumferentially on the first support member,
In the first core member, the second core member is configured with a circumferential length greater than the maximum circumferential separation distance of the partial core members adjacent in the circumferential direction. A second coil head is constructed by assembling two coil members, and a second transmission surface comprising an open surface of a magnetic path is formed by the second core member in the second coil head, and a second The second coil unit is configured by supporting the second coil head with a support member of
The first coil unit is attached to the first member in a state where the first core member is positioned coaxially with the rotation center axis of the rotation shaft, and the second coil unit is attached to the second coil unit. By attaching to the member of
The second transmission surface of the second core member is opposed to the first transmission surface of the first core member so as to be relatively rotatable about the rotation center axis at a predetermined distance. In addition, the second core member is disposed so as to be opposed to at least one of the plurality of partial core members at any circumferential position, and the first coil head and the second coil head are disposed. A harnessless device for a movable part, characterized in that an electrical signal can be transmitted between the coil heads using electromagnetic induction.   The harnessless device for a movable part according to claim 1, wherein the second core member has a shape partially extending in the circumferential direction of the first core member.   The circumferential lengths of the plurality of partial core members are equal to each other, and the plurality of partial core members are arranged on the concentric circles at equal intervals in the circumferential direction, whereby the first core member is The harnessless apparatus of the movable part of Claim 1 or 2 comprised.   The plurality of partial core members have an arc shape having the same curvature, and the second core member has a shape extending in the circumferential direction with the same curvature as the partial core member. The harnessless apparatus of the movable part as described in any one of Claims.   A dimension of the first coil head in a direction facing the second core member is equal to a thickness dimension of the first support member in a direction facing the second core member; 5. The first coil head is assembled in an inserted state in a through hole that is formed in the support member in a direction facing the second core member. 6. Harnessless device for moving parts.   The dimension of the second coil head in the direction facing the first core member is equal to the thickness dimension of the second support member in the direction facing the first core member, and the second The support member according to claim 1, wherein the second coil head is assembled in an inserted state in a through hole provided in a direction facing the first core member. Harnessless device for moving parts.   The first support member is composed of a plurality of partial support members partially extending in the circumferential direction, and the lead wires provided on each of the partial support members are connected to each other, whereby the first coil member is The harnessless device of the movable part as described in any one of Claims 1 thru | or 6 comprised.   The first support member is constituted by a pair of partial support members having a semicircular shape, and in each of the partial support members, a coil forming portion extending in a circumferential direction of the partial support member is formed in the lead wire. Then, the partial core member is combined with the coil forming portion, while the lead wire is folded back at one end portion in the circumferential direction of the partial support member and provided at the other partial support member at the other end portion. The harnessless device for a movable part according to claim 7, wherein the first coil member is constituted by each of the coil forming parts in a combined state of the partial support members by being connectable to the lead wires. .   The first transmission surface of the first core member and the second transmission surface of the second core member are opposed to each other in the axial direction of the rotation center axis. A harnessless device for a movable part according to claim 1.   The first transmission surface of the first core member and the second transmission surface of the second core member are opposed to each other in a direction perpendicular to the axial direction of the rotation center axis. Item 9. The harnessless device for a movable part according to any one of Items 1 to 8.   In at least one of the first core member and the second core member, a high shielding effect member having a high electromagnetic shielding effect is disposed on an outer periphery excluding the first transmission surface or the second transmission surface. The harnessless apparatus of the movable part as described in any one of Claims 1 thru | or 10.   The harnessless device for a movable part according to claim 11, wherein at least one of the first support member and the second support member is the high shielding effect member.   The harnessless device for a movable part according to any one of claims 1 to 12, wherein the first coil unit and the second coil unit are covered with a high shielding effect member having a high electromagnetic shielding effect.   The high shielding effect member is formed of at least one of aluminum, copper, iron, nickel, magnetite, gadolinium, cobalt, ferrimagnetic material, conductive powder material, and conductive paint material. A harnessless device for a movable part according to claim 1.   In at least one of the first core member and the second core member, a low shielding effect member having a low electromagnetic shielding effect is disposed on an outer periphery excluding the first transmission surface or the second transmission surface. The harnessless apparatus of the movable part as described in any one of Claims 1 thru | or 14.   In at least one of the first core member and the second core member, a high shielding effect member having a high electromagnetic shielding effect is disposed on an outer periphery excluding the first transmission surface or the second transmission surface. The harness-less device for a movable part according to claim 15, wherein the low shielding effect member is disposed between the outer periphery of the core member and the high shielding effect member.   The low shielding effect member is formed of at least one of polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth, non-conductive paint, reinforced plastic, glass, natural resin, and synthetic resin. 16. A harnessless device for a movable part according to 16.   The harnessless device for a movable part according to any one of claims 1 to 17, comprising a plurality of sets of the first coil unit and the second coil unit.   The harnessless device for a movable part according to claim 18, wherein the plurality of first coil units are integrally configured by providing a plurality of the first coil heads concentrically on the first support member.   A pair of the first coil heads having the same diameter are disposed at both axial ends of the rotation center axis of the first support member attached to the first member. A pair of the second coil heads corresponding to the first coil heads are disposed on opposite sides of the first support member in the axial direction of the rotation center axis. The first transmission surface of the first coil head and the second transmission surface of the second coil head are opposed to each other at a predetermined distance in the axial direction of the rotation center axis. 19. A harnessless device for a movable part according to 19.   The harnessless device for a movable part according to any one of claims 1 to 20, wherein transmission of electric power in addition to the electrical signal is possible.