JP2014175586A - Magnetic field resonance coil device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a magnetic field resonance coil device of a direct-acting robot adjustment of resonance frequency of which is easy, by achieving power supply with a simple structure, without using cable bear.SOLUTION: Power required at the movable part of a direct-acting robot is supplied in non-contact by magnetic field resonance between a transmission coil unit 15 and a reception coil unit 23. A magnetic field resonance coil device 40 constituting the transmission coil unit 15 and the coil unit 23 is provided, on the back side opposite from a coil 42, with a planar electrode member 43 while holding a substrate 41. Consequently, the substrate 41 is held between the coil 42 and the electrode member 43, and a capacitor is formed. Furthermore, a reactance is formed by the coil 42 provided on the substrate 41. As a result, resonance frequency of electromagnetic resonance is adjusted by changing the overlap conditions of the electrode member 43 and the coil 42, e.g., the size, shape, arrangement of the electrode member 43, or the thickness of the substrate 41.

Description

  The present invention relates to a magnetic resonance coil apparatus, and more particularly to a magnetic resonance coil apparatus used for a linear motion robot.

  Conventionally, linear motion robots are used in a wide range of facilities such as factories. These general linear motion robots include a movable part that moves along a linear or curved rail part. The movable part has a motor and moves along the rail part by the driving force of the motor. In such a conventional linear motion robot, electric power is supplied from a power source to the motor. The electric power supplied to the motor is supplied via a power cable accommodated in a cable bear (registered trademark). Therefore, a cable bear that accommodates a power cable is required between the power source and the movable part. The cable bear is required to follow the movable part that moves along the rail part. Therefore, the cable bear needs to be set according to the moving area of the movable part, and the total length increases with the extension of the moving area. Further, the cable bear is used in a state where at least a part thereof is folded back in a U-shape in order to cope with the movement of the movable part that reciprocates along the rail part.

  In such a conventional linear motion robot, a cable bear is an essential configuration. However, in the case of a linear motion robot provided with a cable bear, the movable part inevitably moves while pulling the cable bear. Therefore, the motor for driving the movable part is required to output not only the weight of the movable part and the weight of the member transported by the movable part but also the weight of the cable bear. As a result, there is a problem that the size of the motor increases as the output of the motor increases. Further, since the cable bear moves together with the movable part, the cable bear and the surrounding members are repeatedly contacted. The contact between the cable track and the surrounding members not only causes noise, but also generates dust accompanying wear. In particular, in equipment for manufacturing precision equipment such as electronic equipment and semiconductors, dust causes a reduction in product quality. Since conventional linear motion robots are provided with cable bearings whose wear is unavoidable due to their structure, improvements are required in order to more suitably apply to these manufacturing facilities.

JP 2009-208941 A

  Accordingly, an object of the present invention is to achieve a power supply in a wireless power feeding using a coil portion on a power transmission side and a power reception side without using a cable bear with a simple structure, and a linear motion that can easily adjust a resonance frequency. An object of the present invention is to provide a magnetic resonance coil apparatus for a robot.

  According to the first aspect of the present invention, electric power is supplied in a non-contact manner by magnetic field resonance between a pair of coils. Therefore, for example, a power cable for supplying power from the fixed side to the movable side and a cable bear that accommodates the power cable become unnecessary. Further, since electric power is supplied between the pair of coils in a non-contact manner, noise and wear caused by contact between members and generation of dust accompanying wear are greatly reduced. Furthermore, since electric power is supplied in a non-contact manner, for example, the movable side does not need to move together with the cable bear, and the driving force required for movement decreases. As a result, mechanical structures such as circuits necessary for power control, a driving force generation source, and a driving force transmission mechanism are reduced in size. Therefore, not only can the cable bear be abolished, but the equipment can be reduced in size, and the equipment that can be applied can be expanded as the generation of noise and dust is reduced.

  By the way, when supplying electric power in a non-contact manner using magnetic field resonance, it is necessary to adjust the frequency of the high frequency from, for example, several MHz to several tens of MHz suitable for magnetic field resonance. In this case, the coil portions on the power transmission side and the power reception side are connected to a capacitor for adjusting the frequency. When a relatively large electric power is handled like a linear motion robot, this capacitor is required to have high durability against voltage and current. Therefore, before the frequency is adjusted, the capacitor is increased in size, and the manufacturing process associated with the component mounting process is complicated. Even if a capacitor is provided between the layers of the substrate on which the coil portion is provided, there is a problem in that the AC coupling between the coil portion and the capacitor electrode causes a reduction in the performance of the coil portion as the resonance Q value decreases.

  Therefore, in the first aspect of the present invention, a plate-like electrode member is provided on the back side opposite to the coil portion with the substrate interposed therebetween. Thereby, a board | substrate is inserted | pinched between a coil part and an electrode member, and a capacitor | condenser is formed. Further, reactance is formed by the coil portion overlapping the electrode member. Resonance is generated by these formed capacitors and reactances. As a result, the resonance frequency is adjusted by changing the conditions in which the electrode member and the coil portion overlap, such as the size, shape, arrangement, or substrate thickness of the electrode member. Therefore, it is possible to easily adjust the resonance frequency without increasing the size of the component, complicating the process, and reducing the resonance Q value.

1 is a schematic perspective view showing a linear motion robot to which a magnetic resonance coil apparatus according to an embodiment is applied. 1 is a schematic front view showing a linear motion robot to which a magnetic resonance coil apparatus according to an embodiment is applied. 1 is a schematic perspective view showing a linear motion robot to which a magnetic resonance coil apparatus according to an embodiment is applied. The schematic diagram which shows the magnetic field resonance coil apparatus by one Embodiment Arrow view from arrow V direction of FIG. 1 is a schematic side view showing a substrate of a magnetic resonance coil apparatus according to an embodiment. Arrow view from the direction of arrow VII in FIG. Schematic which shows the electric circuit of the power transmission coil unit to which the magnetic field resonance coil apparatus by one Embodiment is applied. Schematic which shows the electrical structure of the receiving coil unit to which the magnetic field resonance coil apparatus by one Embodiment is applied. Schematic which shows the resonant frequency of the magnetic field resonance coil apparatus by one Embodiment. Schematic which shows the resonant frequency of the magnetic field resonance coil apparatus by one Embodiment. The figure equivalent to FIG. 7 which shows the magnetic field resonance coil apparatus by other embodiment. The figure equivalent to FIG. 7 which shows the magnetic field resonance coil apparatus by other embodiment.

Hereinafter, an embodiment of a linear motion robot to which a magnetic resonance coil apparatus is applied will be described with reference to the drawings.
As shown in FIG. 1, the linear motion robot 10 includes a power transmission side fixed unit 11 and a power reception side movable portion 12. The linear motion robot 10 is provided in a production facility or a distribution facility. The fixed unit 11 is fixed to, for example, equipment in which the linear motion robot 10 is installed. The fixed unit 11 has a rail portion 13 that guides the movement of the movable portion 12. The rail portion 13 is provided along the entire length direction of the fixed unit 11. In the case of this embodiment shown in FIG. 1, the rail part 13 has the rack 14 in the lower end. The fixed unit 11 has a power transmission coil unit 15 along the entire length direction. The power transmission coil unit 15 is provided as a single segment along the entire length of the rail portion 13 as shown in FIG. 1 or as a plurality of segments along the entire length of the rail portion 13 as shown in FIG.

The movable part 12 moves along the rail part 13 while being guided by the rail part 13 of the fixed unit 11 as shown in FIG. The movable unit 12 includes a motor 21, a driving force transmission unit 22, and a power receiving coil unit 23. The driving force transmission unit 22 has a pinion (not shown) that meshes with the rack 14 of the rail unit 13. The motor 21 is provided integrally with the movable portion 12 and moves along the rail portion 13 together with the movable portion 12. The motor 21 supplies driving force to the driving force transmission unit 22. The driving force of the motor 21 is transmitted to the rack 14 of the rail portion 13 via the driving force transmitting portion 22. As a result, the pinion of the driving force transmitting portion 22 meshing with the rack 14 is rotated by the driving force of the motor 21, and the movable portion 12 moves relative to the rail portion 13. The linear motion robot 10 is not limited to the configuration that transmits the driving force of the motor 21 to the rack 14 of the rail portion 13 via the driving force transmission portion 22. For example, an annular belt may be provided on the rail portion 13, and the movable portion 12 may move with respect to the rail portion 13 using frictional force with the belt. Further, the movable part 12 may form a linear motor between the rail part 13. The power receiving coil unit 23 is provided in the movable portion 12, and moves along the rail portion 13 together with the movable portion 12 together with the motor 21 and the driving force transmission portion 22.
In the linear motion robot 10 as described above, various functional units are provided in the movable unit 12. For example, in the case of the example shown in FIG. 3, the movable unit 12 of the linear motion robot 10 includes an elevating mechanism unit 30. The elevating mechanism unit 30 drives the hand portion 32 of the stage unit 31 perpendicular to the moving direction of the movable unit 12 by using a driving force generated from a power source such as a linear motor.

The magnetic field resonance coil device 40 of the present embodiment is applied to the power transmission coil unit 15 and the power reception coil unit 23 in the above-described linear motion robot 10. That is, as shown in FIG. 4, the power transmitting coil unit 15 that supplies power and the power receiving coil unit 23 that receives power receive the magnetic resonance coil device 40.
Each of the power transmission coil unit 15 and the power reception coil unit 23 configured by the magnetic field resonance coil device 40 includes a substrate 41, a coil portion 42, and an electrode member 43 as shown in FIGS. 4 and 5 to 7. The substrate 41 is made of a known material such as resin or glass. The coil portion 42 is provided on the surface side which is one surface side of the substrate 41. The coil part 42 is a planar coil wound around a flat substrate 41 in a planar shape. The coil portion 42 is formed as a printed wiring printed on the substrate 41. The coil portion 42 is not limited to printed wiring, and may be formed by attaching a copper plate or a copper wire formed into a predetermined coil shape by pressing or etching. Further, the coil portion 42 is not limited to copper but may be formed of a conductive metal such as aluminum or iron.

  The electrode member 43 is formed in a plate shape with a conductive metal such as copper, aluminum, or iron. The electrode member 43 is provided on the back surface side opposite to the coil portion 42 of the substrate 41. In this way, the substrate 41 that is a dielectric is sandwiched between the conductive coil portion 42 and the electrode member 43. The electrode member 43 has an electrode plate 431 and an electrode plate 432 which are divided into two as shown in FIG. The electrode member 43 is not limited to the two electrode plates 431 and 432 and can be arbitrarily divided as long as it is two or more. In the present embodiment, the two electrode plates 431 and 432 are separately provided on the substrate 41.

  The power transmission coil unit 15 configured by the magnetic resonance coil device 40 is provided on the rail portion 13 of the fixed unit 11 as shown in FIG. The power transmission coil unit 15 is provided in a state where the substrate 41 faces the rail portion 13 and the coil portion 42 is exposed to the front side, that is, the movable portion 12 side. The power receiving coil unit 23 configured by the magnetic field resonance coil device 40 is provided in the movable portion 12. The power receiving coil unit 23 is disposed so that the coil portion 42 faces the power transmitting coil unit 15. The power transmission coil unit 15 and the power reception coil unit 23 face each other in a non-contact manner by forming a gap of about several millimeters to several tens of millimeters therebetween. The power receiving coil unit 23 receives electric power without contacting the power transmitting coil unit 15 by using magnetic field resonance with the power transmitting coil unit 15. That is, the power receiving coil unit 23 receives the power necessary for driving the motor 21 and the stage unit 31 from the power transmitting coil unit 15 without contacting the power transmitting coil unit 15. Therefore, the movable portion 12 does not require a cable or a cable bear regardless of the total length of the fixed unit 11.

  As shown in FIG. 4, the power transmission coil unit 15 including the magnetic resonance coil device 40 is connected to a high frequency power source 51. The electrode plate 431 and the electrode plate 432 are each connected to the high frequency power supply 51. In addition, the power receiving coil unit 23 configured by the magnetic field resonance coil device 40 is connected to a load 52 such as the motor 21. In the magnetic field resonance coil device 40 constituting the power transmission coil unit 15 and the power receiving coil unit 23, an inductor is formed by the coil portion 42, and a capacitor is formed at a portion where the coil portion 42 and the electrode member 43 overlap with the substrate 41 interposed therebetween. The Thereby, the power transmission coil unit 15 comprised with the magnetic field resonance coil apparatus 40 forms LC circuit as shown in FIG. That is, the power transmission coil unit 15 includes an inductor 61 formed by the coil portion 42 and capacitors 62 and 63 formed between the coil portion 42 and the electrode plates 431 and 432 with the substrate 41 interposed therebetween. Similarly, the power receiving coil unit 23 configured by the magnetic field resonance coil device 40 forms an LC circuit as shown in FIG. That is, the power receiving coil unit 23 includes an inductor 64 formed by the coil portion 42 and capacitors 65 and 66 formed between the coil portion 42 and the electrode plates 431 and 432 with the substrate 41 interposed therebetween.

  The resonance frequency in the magnetic field resonance between the power transmission coil unit 15 and the power receiving coil unit 23 configured by the magnetic field resonance coil device 40 is the inductors 61 and 64 and the capacitors 62 and 63 in the LC circuit formed by the magnetic field resonance coil device 40. , 65, 66. That is, the resonance frequency includes the thickness t of the substrate 41 as shown in FIG. 6, the distance L1 between the electrode plate 431 and the electrode plate 432 constituting the electrode member 43 as shown in FIG. 7, the electrode plate 431 and the electrode plate 432. And the length L3 of the long sides of the electrode plate 431 and the electrode plate 432, and the like. Based on this, examples of the relationship between the resonance frequency and the substrate 41, the coil portion 42, and the electrode member 43 are shown in FIGS.

  In the case of the example shown in FIG. 10, the coil portion 42 has a line width d set to 2 mm, a diameter D set to 150 mm, and the number of turns n set to 20 as shown in FIG. 5. The substrate 41 has a thickness t set to 1.6 mm. Under this condition, the distance L1 between the electrode plate 431 and the electrode plate 432 is constant at 30 mm. FIG. 10 shows the relationship between the resonance frequency and the length L2 of the short sides of the electrode plate 431 and the electrode plate 432 under the above conditions. In the case of the example shown in FIG. 11, the conditions for the substrate 41 and the coil portion 42 are the same as those in the example shown in FIG. Under this condition, the length L2 of the short sides of the electrode plate 431 and the electrode plate 432 is constant at 60 mm. FIG. 11 shows the relationship between the resonance frequency and the distance L1 between the electrode plate 431 and the electrode plate 432 under the above conditions.

  Thus, the magnetic field resonance coil device 40 changes its own setting, that is, the distance L1 between the electrode plate 431 and the electrode plate 432, or the length L2 of the short sides of the electrode plate 431 and the electrode plate 432. It can be seen that the resonance frequency can be easily adjusted. In this case, the thickness t of the substrate 41, the length L3 of the electrode plate 431 and the electrode plate 432 in the long side direction, the line width d, the diameter D, and the number of turns n of the coil portion 42 may be changed.

Next, power supply in the above-described linear motion robot 10 will be described.
As shown in FIG. 4, the high frequency power supply 51 connected to the power transmission coil unit 15 supplies high frequency alternating current of several MHz to several tens of MHz to the power transmission coil unit 15 in order to establish magnetic field resonance. The high frequency supplied by the high frequency power source 51 is arbitrarily determined in order to establish magnetic field resonance, for example, according to the characteristics of the power transmission coil unit 15 and the power receiving coil unit 23. When electric power is supplied from the high-frequency power source 51 to the power transmission coil unit 15, magnetic field resonance occurs in a portion where the power transmission coil unit 15 and the power reception coil unit 23 face each other. Therefore, the power receiving coil unit 23 receives power from the power transmitting coil unit 15 using magnetic field resonance. On the other hand, even if power is supplied to the power transmission coil unit 15, when the power reception coil unit 23 is not opposed to the power transmission coil unit 15, an unnecessary electric field or magnetic field is not radiated from the power transmission coil unit 15. That is, when electric power is supplied to the power transmission coil unit 15, power is transferred to the portion where the power transmission coil unit 15 and the power reception coil unit 23 face each other by magnetic field resonance. On the other hand, in a portion where the power transmitting coil unit 15 and the power receiving coil unit 23 are not opposed to each other, not only power is not transferred, but also electric field and magnetic field are hardly emitted.

  This is due to the following reason. That is, when the power receiving coil unit 23 is not opposed to the power transmitting coil unit 15, even if a high frequency is applied to the power transmitting coil unit 15, the impedance of the power transmitting coil unit 15 at the resonance frequency due to magnetic field resonance becomes very large. Therefore, in a portion where the power transmission coil unit 15 and the power reception coil unit 23 are not opposed to each other and magnetic resonance does not occur, even if a high frequency is applied to the power transmission coil unit 15, almost no current flows, and electric field and magnetic field radiation are also generated. Almost does not occur. On the other hand, when the power receiving coil unit 23 faces the power transmitting coil unit 15, the impedance of the power transmitting coil unit 15 at the resonance frequency due to magnetic field resonance decreases. Therefore, in the part where the power transmission coil unit 15 and the power reception coil unit 23 face each other and magnetic resonance occurs, current flows and power is supplied from the power transmission coil unit 15 to the power reception coil unit 23. Thus, by supplying electric power from the power transmission coil unit 15 to the power receiving coil unit 23 using magnetic field resonance, unnecessary electric field and magnetic field emission and electromagnetic noise emission associated therewith are reduced.

  As described above, in the present embodiment, the power necessary for the movable portion 12 is supplied in a non-contact manner by magnetic field resonance between the power transmission coil unit 15 and the power reception coil unit 23. Therefore, a power cable for supplying electric power necessary for generating a driving force in the movable portion 12 and a cable bear that accommodates the power cable are not necessary. In addition, since power is supplied in a non-contact manner between the power transmission coil unit 15 and the power receiving coil unit 23, noise and wear associated with contact between members, and generation of dust associated with wear are greatly reduced. Furthermore, since the movable part 12 is supplied with electric power in a non-contact manner, it is not necessary to move the movable part 12 and the cable bear integrally. Therefore, the driving force required for the movable part 12 is reduced. As the driving force required for the movable part 12 decreases, the circuits necessary for power control and mechanical structures such as the motor 21 and the driving force transmission part 22 are also downsized. Therefore, not only can the cable bear be abolished, but the equipment can be reduced in size, and the equipment that can be applied can be expanded as the generation of noise and dust is reduced.

  In the present embodiment, a plate-like electrode member 43 is provided on the back side opposite to the coil portion 42 with the substrate 41 interposed therebetween. Thereby, the board | substrate 41 is inserted | pinched between the coil part 42 and the electrode member 43, and the capacitors 62, 63, 65, and 66 are formed. Further, reactance is formed by the coil portion 42 provided on the substrate 41. Resonance is generated by these formed capacitors 62, 63, 65, 66 and reactance. As a result, the resonance frequency is adjusted by changing the conditions in which the electrode member 43 and the coil portion 42 overlap, such as the size, shape, and arrangement of the electrode member 43 or the thickness of the substrate 41. Therefore, it is possible to easily adjust the resonance frequency without increasing the size of the component, complicating the process, and reducing the resonance Q value.

(Other embodiments)
The electrode members of the magnetic resonance coil apparatus according to other embodiments are shown in FIGS. 12 and 13, respectively.
As shown in FIGS. 12 and 13, the magnetic field resonance coil device 40 can change the shape of the electrode member 43. The number of the electrode members 43 of the magnetic resonance coil device 40 can be changed as long as it is two or more as well as the shape. As described above, the magnetic resonance coil device 40 changes the shape of the electrode member 43, thereby changing the capacitance of the capacitor formed between the coil portion 42 and the substrate 41, thereby expanding the adjustment range of the resonance frequency. can do.

The present invention described above is not limited to the above-described embodiment, and can be applied to various embodiments without departing from the gist thereof.
For example, the shape and the number of turns of the coil portion 42 can be arbitrarily changed.

  In the drawings, 10 is a linear motion robot, 40 is a magnetic resonance coil device, 41 is a substrate, 42 is a coil section, and 43 is an electrode member.

Claims (1)

A magnetic resonance coil apparatus for a linear motion robot that supplies electric power in a non-contact manner using magnetic field resonance between a pair of opposing coils,
A flat substrate;
A planar coil portion provided on the surface side which is one surface side of the substrate;
A plate-like electrode member which is provided by being divided into two or more on the back surface side which is the other surface side of the substrate, and forms a capacitor by sandwiching the substrate between the coil portion;
A magnetic resonance coil apparatus comprising:

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