JP2019181588A - Manufacturing apparatus - Google Patents

Abstract

To suppress disconnection of a power line and Generation of garbages in association with said disconnection, thereby realizing maintenance free.SOLUTION: A manufacturing apparatus 10 comprises: a horizontal base 11 which is so provided as to extend in a horizontal direction; a horizontal movable base 13 which is so fitted to the horizontal base 11 as to be movable in a longer direction; moving means 14, 51 which move the horizontal movable base 13; an electric driving type device 20 which is provided on the horizontal movable base 13; and electric power supply means 30 which supplies electric power to the device 20. The electric power supply means 30 comprises: a power supply side coil 31 which is provided along the horizontal base 11; a power reception side coil 32 which is provided on the horizontal movable base 13; and a matching coil 33 which is provided on the horizontal movable base 13, and performs load matching for transmitting magnetic flux B, which is generated at the power supply coil 31, to the power reception side coil 32. The power supply side coil 31 is an elliptical coil which has parallel parts 31b, 31c, and the power supply side coil 31 is routed to the horizontal base 11 so that the parallel parts 31b, 31c are extend in the longer direction of the horizontal base 11.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a manufacturing apparatus that movably supports an electrically driven device used for manufacturing.

  2. Description of the Related Art Conventionally, as a device for moving parts, a multi-joint robot is known in which a plurality of arms are flexibly connected via joint portions and each arm is moved by a servo motor (see, for example, Patent Document 1). .) In recent years, there has been a demand for a case where an electrically driven device such as this articulated robot is moved for use in manufacturing.

  As shown in FIG. 10, when such a device 2 is linearly moved in the horizontal direction, the electrically driven device 2 can be attached to the horizontal moving table 4 that is mounted on the horizontal base 3 so as to be movable in the longitudinal direction. Done. And in such a manufacturing apparatus 1, in order to supply electric power to the device 2 which moves linearly, the bending resistant power line 5 having one end connected to the power source 6 is folded back in a U-shape and the horizontal base 3 It is known that the other end of the power line 5 is connected to the device 2.

  In this way, by arranging the power line 5 in a U shape, even if the device 2 moves on the horizontal base 3 as indicated by the solid line arrow, the turning point 5a also moves on the horizontal base 3. Since it moves as shown by a broken line arrow, it is known that the power line 5 can follow the movement of the device 2 and power can be reliably supplied to the device 2.

Japanese Patent Laid-Open No. 11-179682

  However, in the manufacturing apparatus in which the power line 5 for supplying power from the power source 6 is folded in a U shape and arranged, if the power line 5 extending from the turning point 5a to the device 2 is longer than necessary, the horizontal moving table When 4 moves on the horizontal base 3, the power line 5b extending from the turning point 5a to the device 2 may be dragged on the horizontal base 3. As described above, when the horizontal moving table 4 reciprocates by dragging the power line 5b, problems such as disconnection of the power line 5b and generation of dust occur.

  In addition, a space for folding the power line 5 into a U-shape is also required, and other members cannot be placed in the movable range of the power line 5, and the movement of the wiring and the device 2 is well understood. It is necessary for the worker who is working to perform the wiring work, and this causes a problem that the worker is limited.

  Furthermore, even if the power line 5 to be routed has a bending resistance, the number of bending resistances is limited, so it is necessary to periodically inspect the power line 5 and replace it as necessary. The maintenance could not be eliminated.

  An object of the present invention is to provide a manufacturing apparatus capable of realizing maintenance-free by suppressing disconnection of a power line and generation of dust associated therewith.

  The present invention provides a horizontal base provided extending in the horizontal direction, a horizontal moving base attached to the horizontal base so as to be movable in the longitudinal direction, a moving means for moving the horizontal moving base, and a horizontal moving base. And a power supply means for supplying power to the device.

  The characteristic configuration is that the power supply means receives the power supply side coil provided along the horizontal substrate, the power reception side coil provided on the horizontal movement table, and the magnetic flux generated by the power supply side coil provided on the horizontal movement table. And a matching coil that performs load matching for transmission to the side coil.

  In this case, it is preferable that the power supply side coil is an oval coil having a parallel part, and the power supply side coil is preferably arranged on the horizontal base so that the parallel part extends in the longitudinal direction of the horizontal base. When the table is made of a non-magnetic material, the matching coil is formed in a spiral shape and attached to the opposite part of the horizontal moving table facing the horizontal base, and the power receiving side coil is formed in a spiral shape that can surround the matching coil. It is preferable to attach so that a matching coil may be enclosed in an opposing site | part. Further, a shielding plate made of a soft magnetic material can be interposed between the matching coil and the power receiving side coil and the horizontal moving table.

  On the other hand, the moving means may include a ball screw provided on the horizontal base so as to extend in the longitudinal direction, a servo motor that rotates the ball screw, and a female screw member that is provided on the horizontal moving table and is screwed to the ball screw.

  In addition, the moving unit may include a drive motor that is provided on the horizontal moving table and is driven by electric power supplied from the power supply unit to cause the horizontal moving table to self-run. In that case, it is preferable to further include a motor controller that is provided on the horizontal moving table and is driven by electric power supplied from the power supply means to control the electric motor, and an operating device that issues a control signal to the controller wirelessly.

  In the manufacturing apparatus of the present invention, the power feeding means for supplying power to the device is a so-called non-contact power feeding means including a power feeding side coil and a power receiving side coil. it can. For this reason, it is not necessary to assume a situation in which the power line deteriorates and breaks, and there is no generation of dust resulting from this, so as long as power supply to the device is concerned, so-called maintenance-free operation that does not require inspection and repair is made. .

  On the other hand, in a non-contact power supply means consisting of a power supply side coil and a power reception side coil, sufficient power supply is possible, such as when the distance between the power supply side coil and the power reception side coil is long or their positions are shifted. It becomes difficult. However, the power feeding means in the manufacturing apparatus of the present invention includes a matching coil that performs load matching for transmitting the magnetic flux generated in the power feeding side coil to the power receiving side coil. For this reason, it is possible to prevent the transmission efficiency from being deteriorated due to a decrease in coupling coefficient and load matching caused by a distance and positional deviation between the power feeding side coil and the power receiving side coil.

It is the sectional view on the AA line of FIG. 3 which shows the structure of the manufacturing apparatus of this invention embodiment. It is a top view which shows the structure of the manufacturing apparatus. It is a front view which shows the structure of the manufacturing apparatus. It is the figure seen from the B direction of FIG. 1 which shows the structure of the electric power feeding means. It is a schematic diagram which shows the state of the magnetic flux produced by the electric power feeding means. It is sectional drawing corresponding to FIG. 1 which shows the manufacturing apparatus of another embodiment of this invention. It is a top view which shows the structure of the another manufacturing apparatus. It is a top view of the horizontal movement stand which shows the structure of the electric power feeding means of the another manufacturing apparatus. It is a schematic diagram which shows the state of the magnetic flux produced by the electric power feeding means of the another manufacturing apparatus. It is a front view which shows the conventional manufacturing apparatus.

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

  1 to 3 show a manufacturing apparatus 10 of the present invention. In this embodiment, three axes X, Y, and Z orthogonal to each other are set, and the X axis extends in the horizontal horizontal direction, the Y axis extends in the horizontal front-rear direction, and the Z axis extends in the vertical direction.

  The manufacturing apparatus 10 of the present invention includes a horizontal base 11 that extends in the horizontal direction. It is assumed that the horizontal base 11 is installed at an installation location directly or via support legs 12. The horizontal base 11 in this embodiment is provided with support legs 12 at both ends, and is horizontal in the X-axis direction. It shall be installed at the installation location. As described above, the horizontal base 11 installed on the upper portions of the pair of support legs 12 is a thick flat plate-like member, and is a member that extends straight and straight in the air.

  Further, the manufacturing apparatus 10 of the present invention includes a horizontal moving table 13 attached to the horizontal base 11 so as to be movable in the horizontal direction, which is the longitudinal direction, and the horizontal moving table 13 in the horizontal direction on the upper surface of the horizontal base 11. Moving means 14 for moving.

  Specifically, on the upper surface of the horizontal base 11, a pair of rails 15, 15 that are spaced apart in the Y-axis direction are provided extending in the X-axis direction, which is the longitudinal direction of the horizontal base 11. The rails 15 and 15 are provided with a linear motion block 16 (FIGS. 1 and 4) which is movable in the longitudinal direction on the lower surface thereof.

  Further, the moving means 14 for moving the horizontal moving table 13 includes a ball screw 14a provided extending in the X-axis direction between the pair of rails 15 and 15, and a ball screw 14a attached to the end of the horizontal base 11. A drive motor 14b (FIGS. 2 and 3) that rotates is provided. Then, a female screw member 14c (FIGS. 1 and 4) that is screwed into the ball screw 14a is attached to the horizontal moving table 13.

  Therefore, in this moving means 14, when the drive motor 14b rotates the ball screw 14a forward or backward, the horizontal moving table 13 to which the female screw member 14c that engages with the ball screw 14a is attached is provided along the pair of rails 15 and 15. Thus, it can be reciprocated in the X-axis direction.

  As shown in FIG. 1, the manufacturing apparatus 10 of the present invention includes an electrically driven device 20 provided on the horizontal moving table 13, and a power supply unit 30 that supplies power to the device 20.

  The device in this embodiment is an articulated robot 20, and the articulated robot 20 includes a fixed base 21 fixed to the horizontal moving table 13 and a turning head attached to the fixed base 21 so as to be capable of turning. 22, a lower arm 23 rotatably attached to the turning head 22 via a first joint portion 23a, and attached to the tip of the lower arm 23 rotatably via a second joint portion 24a. An upper arm 24; a distal arm 25 provided at the distal end of the upper arm 24 via a third joint portion 25a; and an operation jig 27 for gripping components attached to the distal arm 25. ing.

  The fixed base 21 and the first to third joint portions 23a, 24a, 25a and the operation jig 27 are illustrated in order to rotate or operate the turning head 22, the various arms 22, 23, 24, and the operation jig 27. An electrically driven servomotor is provided, and a device controller 28 for controlling each servomotor is provided on the horizontal moving table 13. This device controller 28 is configured to drive each servo motor (not shown) according to a command from an operation device 41 described later, and to perform an operation required for the articulated robot 20 that is a device.

  On the other hand, power supply means 30 for supplying power necessary for the operation of the articulated robot 20 as the device is provided on the power supply side coil 31 provided along the horizontal base 11 and the horizontal moving base 13. The power receiving side coil 32 and a matching coil 33 that performs load matching for transmitting the magnetic flux generated in the power feeding side coil 31 provided on the horizontal moving table 13 to the power receiving side coil 32 are provided. This is so-called non-contact power feeding means for transmitting electric power to the power receiving side coil 32 through the magnetic flux B (FIG. 5) generated by flowing an electric current.

  That is, as shown in FIG. 5, the power feeding means 30 in the present embodiment supplies power to the power feeding side coil 31 from the high frequency power supply device 34, generates a magnetic flux B in the power feeding side coil 31, and the magnetic flux B Electric power is supplied in a non-contact manner using electromagnetic induction generated in the power receiving side coil 32. And the electric power feeding side coil 31, the receiving side coil 32, and the matching coil 33 may each be created by the winding by a single wire, a litz wire, etc., a flexible substrate (FPC), a printed circuit board (FR-4 board | substrate), etc. It is good also as producing on a flat substrate.

  As shown in FIGS. 3 and 5, the power supply side coil 31 in this embodiment is connected to the parallel portions 31b and 31c and both sides of the parallel portions 31b and 31c in an arc shape by winding with a single wire or a litz wire. It is formed in an oval shape having connecting portions 31d and 31e. The lengths of the parallel portions 31b and 31c are formed to be substantially equal to the entire length of the moving path of the horizontal moving table 13.

  As shown in FIGS. 1 to 3, the horizontal base 11 is provided with side walls 17 made of a nonmagnetic material along the entire length thereof. Then, the ellipse-shaped power supply side coil 31 extends in the longitudinal direction on the side wall 17 and is arranged in a state where the parallel portions 31b and 31c maintain a predetermined width dimension L over the entire length (see FIG. 3).

  On the other hand, as shown in FIGS. 1, 4 and 5, the power receiving side coil 32 is formed by winding a single wire or a litz wire in a spiral shape, and the horizontal moving table 13 has a predetermined interval on the side wall 17. An opposing plate 18 that opens and faces is attached. The power receiving side coil 32 is attached to the opposing plate 18. In addition, the matching coil 33 is also formed by winding a single wire or a litz wire in a spiral shape, and is attached to the opposing plate 18 fixed to the horizontal moving table 13 facing the side wall 17.

  A shield plate 36 (FIG. 1) made of a soft magnetic material is attached to the counter plate 18. As the soft magnetic material, for example, a soft magnetic material such as amorphous alloy, permalloy, silicon steel, sendust alloy and soft magnetic ferrite, which is a composite material combining one kind or a plurality of magnetic materials having different magnetic permeability Can also be used. The matching coil 33 and the power receiving coil 32 are attached to the shielding plate 36.

  In this way, the shielding plate 36 made of a soft magnetic material is interposed between the matching coil 33 and the power receiving side coil 32 and the counter plate 18, and the device controller 28 is provided on the side of the counter plate 18 facing the device 20. Shall. Therefore, by providing the shielding plate 36 between the matching coil 33 and the power receiving side coil 32 and the opposing plate 18, the shielding plate 36 has the magnetic flux B (FIG. 5) generated on the side wall 17 sandwiching the opposing plate 18. This avoids affecting the device controller 28 provided in (1).

  The power receiving side coil 32 according to the present embodiment is formed in a spiral shape that can surround the matching coil 33, and is attached to the opposing plate 18 so as to surround the matching coil 33. The gap between the power supply side coil 31 and the power reception side coil 32 and the matching coil 33 that occurs when the horizontal moving base 13 moves on the horizontal base 11 is mediated by the magnetic flux B generated in the power supply side coil 31. The attachment position of the side wall 17 shall be selected so that it may become the range which can transmit electric power to the receiving side coil 32. FIG.

  Here, as shown in FIG. 5, the power receiving side coil 32 generates alternating current by the magnetic flux B generated when alternating current of a predetermined frequency is passed through the power feeding side coil 31, and is a device by this power. In order to drive the device controller 28 that controls the articulated robot 20, a rectifier circuit 37 is connected to the power receiving side coil 32. As shown in FIG. 4, in this embodiment, the rectifier circuit 37 is provided on the counter plate 18.

  Returning to FIG. 5, the matching coil 33 performs load matching by resonating at a predetermined frequency, collects the magnetic flux B generated in the power supply side coil 31, and efficiently delivers it to the power reception side coil 32. For this reason, the matching coil 33 is adjusted by adding a capacitor 38 in series or in parallel so that a predetermined frequency is a resonance frequency.

  The predetermined frequency is a frequency of a current that flows through the power supply side coil 31 in order to generate the magnetic flux B from the high frequency power supply device 34. The resonance frequency of the matching coil 33 is the capacitance component generated by the capacitance of the added capacitor 38, the self-resonance of the matching coil 33 itself, or the overlap with the shielding plate 36 (FIG. 1) on which the matching coil 33 is provided. Adjusted by utilizing.

  For example, as shown in FIG. 5, when the matching coil 33 forms a series resonance circuit with the capacitor 38, the load becomes high efficiency with a low load, and although not shown, the matching coil 33 forms a parallel resonance circuit with the capacitor 38. High efficiency with high load. Therefore, with the configuration in which the matching coil 33 is disposed, high efficiency can be obtained over a wide load range.

  As shown in FIG. 3, an operating device 41 for moving the horizontal moving table 13 by driving a drive motor 14 b constituting the moving unit 14 is provided outside the horizontal base 11. And the drive motor 14b are connected by a power line 41a.

  On the other hand, as shown in FIG. 4, the device controller 28 that controls the articulated robot 20 as a device is driven by the DC power converted by the rectifier circuit 37 to actually drive the articulated robot 20. A control circuit 28a and a wireless communication unit 28b connected to the device control circuit 28a are provided.

  The operating device 41 shown in FIG. 3 is provided with wireless transmission means 41b that wirelessly emits a control signal to the wireless communication unit 28b of the device controller 28 provided on the horizontal moving table 13. The device controller 28 Based on the control signal emitted from the operating device 41 and received by the wireless communication unit 28b, the articulated robot 20 is configured to perform a desired movement based on the control signal.

  Next, the operation of such a manufacturing apparatus will be described.

  In such a manufacturing apparatus 10, the electrically driven device 20 is moved and used for manufacturing. For example, a part mounted on a belt conveyor (not shown) and transported in the longitudinal direction may be transferred to a container installed on the side of the device 20 while moving.

  The movement of the device 20 in this embodiment is performed by moving the horizontal moving table 13 on which the device 20 is mounted together with the device 20.

  Specifically, the drive motor 14b connected from the operating device 41 via the power line 41a is driven, and the ball screw 14a provided on the horizontal base 11 is rotated forward or backward, whereby the ball screw 14a is screwed. The horizontal moving table 13 to which the mating female screw member 14 c is attached is moved along the pair of rails 15 and 15.

  Here, since the power line 41a routed from the operating device 41 to the drive motor 14b is not connected to the device 20, it is not dragged even if the device 20 moves. For this reason, the power line 41a is not deteriorated due to the movement of the device 20 and is not disconnected, and no dust is generated due to the power line 41a.

  On the other hand, the electrically driven device 20 provided on the moving horizontal moving table 13 is driven by a device controller 28 that is operated by the power supplied by the power supply means 30. In order to operate the device controller 28, a current of a predetermined frequency is supplied to the power supply side coil 31 by the high frequency power supply 34, and a magnetic flux B is generated in the power supply side coil 31 as shown in FIG. 5. Then, in the power receiving side coil 32 provided on the horizontal moving table 13, electric power is generated by electromagnetic induction of the magnetic flux B, and the device controller 28 (FIG. 3) is operated by the electric power.

  Thus, in the manufacturing apparatus 10 of the present invention, since the power feeding means 30 is a so-called non-contact power feeding means 30 including the power feeding side coil 31 and the power receiving side coil 32 provided on the horizontal moving table 13, it has hitherto been used. The power line used can be eliminated. For this reason, there is no need to assume a situation in which the power line deteriorates and is disconnected, and there is no generation of dust resulting from this, so as far as power supply to the device 20 is concerned, so-called maintenance-free operation that does not require inspection and repair. Become.

  On the other hand, in the non-contact power feeding means 30 including only the power feeding side coil 31 and the power receiving side coil 32, when the distance (Gap) between the power feeding side coil 31 and the power receiving side coil 32 is increased, However, in the manufacturing apparatus 10 of the present invention, the power feeding means 30 is generated not only in the power feeding side coil 31 and the power receiving side coil 32 but also in the power feeding side coil 31. A matching coil 33 that performs load matching for transmitting the magnetic flux B to the power receiving side coil 32 is provided.

  A resonance capacitor 38 is added to the matching coil 33 so as to be tuned to the driving frequency of the current flowing through the power supply side coil 31 to form an LC boost circuit. A magnetic flux B is generated in the power supply side coil 31. Then, the matching coil 33 provided coaxially with the power receiving side coil 32 resonates at a predetermined frequency. Then, due to the resonance, the matching coil 33 collects the magnetic flux B generated in the power feeding side coil 31 and efficiently delivers it to the power receiving side coil 32. As a result, the transmission efficiency is prevented from deteriorating due to the decrease in the coupling coefficient and the load matching caused by the distance and positional deviation between the power feeding side coil 31 and the power receiving side coil 32, and the transmission efficiency is maximized.

  As described above, since the magnetic flux B generated in the power supply side coil 31 is collected by the matching coil 33 and efficiently transferred to the power reception side coil 32, it is appropriate even when the power supply side coil 31 is larger than the power reception side coil 32. Power transmission can be performed. Therefore, by providing the power supply side coil 31 along the horizontal base 11 over the entire length of the path on which the device 20 should travel, the horizontal moving base 13 stops together with the device 20 at any location of the horizontal base 11. Alternatively, power can be supplied to the device 20 even when traveling.

  Thus, according to the present invention in which power can be constantly supplied while the device 20 is traveling, the articulated robot 20 that is the device 20 can be driven by the power supplied by the power supply means 30. Therefore, it becomes unnecessary to mount power storage means such as a battery for driving the articulated robot 20 on the horizontal moving table 13, and the weight of the horizontal moving table 13 on which the device 20 is mounted can be reduced. Thus, when the weight of the horizontal moving table 13 that moves in the horizontal direction is reduced, it becomes possible to improve the acceleration and deceleration during the movement of the horizontal moving table 13, and the device 20 that can move the device 20 quickly. Device 10 is obtained.

  Then, since the device 20 whose work range is circular in top view is moved in the longitudinal direction of the horizontal base 11, the work range of the device 20 is substantially oval, and the work range is expanded to other than a circle. It becomes possible.

  Further, as shown in FIG. 4, since the horizontal moving base 13 is provided with a wireless communication unit 28 b, it is installed outside the horizontal base 11 when the device controller 28 is driven by the power supplied by the power feeding means 30. The operation device 41 (FIG. 3) thus made can wirelessly issue a control signal to the device controller 28. When the operating device 41 issues a control signal, the wireless communication unit 28b receives the control signal, and the device control circuit 28a causes the articulated robot 20 to perform a desired operation based on the control signal.

  Therefore, it is possible to eliminate the need for the power line in the control of the device 20, and it is possible to eliminate the occurrence of disconnection and dust due to the deterioration of the power line.

  6 to 9 show another embodiment of the present invention. 6 to 9, the same components as those described above are denoted by the same reference numerals, and repeated description thereof is omitted.

  The moving means 51 of the manufacturing apparatus 50 in this other embodiment includes an electric motor 52 that is provided on the horizontal moving table 13 provided with the device 20 and is driven by the electric power supplied by the power supply means 30. In the figure, a case where a pair of electric motors 52 is provided on a single horizontal movement table 13 is shown, and a pinion gear 53 is provided on each of the rotating shafts 52 a of the electric motors 52.

  On the other hand, a rack gear 54 that meshes with the pinion gear 53 is attached to the horizontal base 11 over the entire length in the longitudinal direction. Accordingly, when the electric motor 52 constituting the moving means 51 is driven to rotate the pinion gear 53, the pinion gear 53 rolls on the rack gear 54 provided on the horizontal base 11, thereby the electric motor 52. It is comprised so that the horizontal movement stand 13 provided with may be self-propelled.

  As shown in FIG. 8, the horizontal moving table 13 is provided with a motor controller 56 that is driven by the power supplied by the power supply means 30 and controls the electric motor 52 separately from the device controller 28. The motor controller 56 in the figure includes a motor control circuit 56a that is driven by the DC power converted by the rectifier circuit 37 to drive the electric motor 52, and a wireless communication unit 56b that is connected to the motor control circuit 56a. 7 is configured to wirelessly emit both a control signal for controlling the device 20 and a control signal for controlling the electric motor 52.

  In this other embodiment, since the ball screw 14a described in the above embodiment is not provided on the horizontal base 11, the power supply side coil 31 constituting the power supply means 30 is replaced with the above-mentioned ball screw 14a. 11 is attached. Even in the power supply side coil 31 in this other embodiment in FIG. 7, it is made by winding with a single wire, a litz wire or the like, and the parallel portions 31b and 31c and both sides of the parallel portions 31b and 31c are formed in an arc shape. It is formed in an oval shape having connecting portions 31d and 31e to be connected.

  A long base plate 39 made of a soft magnetic material extends in the longitudinal direction between the pair of rails 15, 15 of the horizontal base 11, as in the case of the shielding plate 36. A power supply coil 31 is provided on the base plate 39. Specifically, in the power supply side coil 31, the lengths of the parallel portions 31 b and 31 c are formed to be substantially equal to the entire length of the moving path of the horizontal moving table 13, and thus the power supply side having an oval shape is formed. The coil 31 extends between the pair of rails 15 and 15 of the horizontal base 11 in the longitudinal direction, and is arranged in a state where the parallel portions 31b and 31c maintain a predetermined width dimension L over the entire length thereof. .

  As shown in FIGS. 6, 8, and 9, the power receiving side coil 32 is formed by winding a single wire or a litz wire in a spiral shape, and faces the horizontal base 11 of the horizontal moving table 13. Mounted on the bottom surface. The matching coil 33 is also formed by winding a single wire or a litz wire in a spiral shape, and is attached to the lower surface of the horizontal moving table 13 that faces the horizontal base 11.

  As shown in FIG. 6, a shielding plate 36 is attached to the lower surface of the horizontal moving table 13, and the matching coil 33 and the power receiving side coil 32 are further attached via the shielding plate 36. Therefore, the shielding plate 36 made of a soft magnetic material is interposed between the matching coil 33 and the power receiving side coil 32 and the lower surface of the horizontal moving table 13. In this way, by interposing the shielding plate 36, the shielding plate 36 affects the circuits provided by the magnetic flux B (FIG. 9) generated in the power feeding side coil 31 below the horizontal moving table 13 above. It is to avoid giving.

  Even in the manufacturing apparatus 50 according to another embodiment, the electrically driven device 20 such as the articulated robot 20 is moved and used for manufacturing. The device 20 is moved by moving the horizontal moving table 13 on which the device 20 is mounted together with the device 20.

  Specifically, first, the power supply means 30 is operated, and the motor controller 56 provided on the horizontal moving table 13 is operated. For this purpose, a high-frequency power supply device 34 shown in FIG. 7 causes a current of a predetermined frequency to flow through the power supply side coil 31, and a magnetic flux B is generated in the power supply side coil 31 as shown in FIG. Then, in the power receiving side coil 32 provided in the device 20, electric power is generated by the electromagnetic induction of the magnetic flux B, and the electric power rectified by the rectifying circuit 37 connected to the power receiving side coil 32 is supplied to the motor controller 56 (FIG. 8) will start.

  When the motor controller 56 is started, the operating device 41 shown in FIG. 7 issues a control signal for controlling the electric motor 52 wirelessly, and the electric motor 52 that constitutes the moving means 14 via the motor controller 56 (FIG. 8). Drive. As a result, the pinion gear 53 provided on the rotating shaft 52a rotates, and the pinion gear 53 rolls on the rack gear 54 provided on the horizontal base 11, so that the horizontal moving table 13 provided with the electric motor 52 is moved. It will self-propell along a pair of rails 15 and 15.

  Thus, even if the moving means 51 in this other embodiment includes an electric motor 52 that causes the horizontal moving table 13 to self-run, the electric motor 52 is moved by the non-contact power supply means 30. Since it is driven by the supplied electric power, a power line that has been conventionally used can be eliminated. For this reason, even in this other embodiment, it is not necessary to assume a situation in which the power line deteriorates and is disconnected, and there is no generation of dust resulting from it, so that inspection and repair are unnecessary, So-called maintenance-free.

  On the other hand, in another embodiment, even when power is supplied to the device 20, it is performed by the power supply means 30. That is, as described above, when the power supply means 30 is operated and the motor controller 56 is operated, the device controller 28 is also operated simultaneously. When the device controller 28 is driven by the power supplied from the power supply unit 30, it is possible to issue a control signal to the device controller 28 wirelessly by the operation device 41 installed outside the horizontal base 11.

  Therefore, when the operating device 41 issues a control signal, the wireless communication unit 28b receives the control signal, and the device control circuit 28a supplies power to each servo motor (not shown) of the articulated robot 20 by the control signal. Based on the control signal, the articulated robot 20 can perform a desired operation.

  Further, when the moving means 51 includes the electric motor 52 that causes the horizontal moving table 13 to self-run, by providing the motor controller 56 that can control the electric motor 52 wirelessly, the degree of the self-run is determined from the operation device 41. It is based on the directive. For this reason, as shown in FIG. 7, if the power supply side coil 31 extends in the longitudinal direction of the horizontal base 11 and is an oval coil provided over the entire length thereof, the horizontal movement having the power reception side coil 32 is performed. It is also possible to mount a plurality of platforms 13 on the horizontal base 11 and run the plurality of horizontal moving platforms 13 independently of each other.

  Then, although a plurality of horizontal moving bases 13 on which the devices 20 are mounted are caused to travel along the horizontal base 11, control signals are wirelessly transmitted to the motor controller 56 and the device controller 28 of each horizontal moving base 13. By providing the operation device 41 that emits separately at the same time, it is also possible to operate the devices 20 mounted on each horizontal moving table 13 separately while running the plurality of horizontal moving tables 13 separately. Diversity of forms is possible.

  Even in this other manufacturing apparatus 50, the device 20 whose work range is circular in top view is moved in the longitudinal direction of the horizontal base 11, so that the work range of the device 20 is substantially long. It becomes a circle, and it becomes possible to expand the work range to other than a circle.

  In addition, in another embodiment mentioned above, the case where a pair of electric motor 52 is provided in the single horizontal movement stand 13 is shown, the electric motor 52 is driven, and the pinion gear 53 rolls on the rack gear 54. However, as long as the horizontal moving table 13 can be self-propelled, a single electric motor 52 may be provided on the single horizontal moving table 13. Further, the present invention is not limited to using the rack gear 54. For example, a belt on which the pinion gear 53 can roll may be provided instead of the rack gear 54.

  In the above-described embodiment, the case where the pair of rails 15 and 15 are provided on the horizontal base 11 and the horizontal moving base 13 is mounted on the pair of rails 15 and 15 so as to be movable has been described. However, as long as the horizontal movement table 13 can move in the longitudinal direction of the horizontal base 11, the pair of rails 15 and 15 are not necessarily required. For example, a tire (not shown) may be provided on the horizontal moving table 13, and the tire may be rotated to run the horizontal moving table.

  In the above-described embodiment, the power supply side coil 31, the power reception side coil 32, and the matching coil 33 in which a single wire, a litz wire, or the like is wound in a spiral shape have been described. However, as long as power can be supplied, the shape is not limited to a spiral shape. The power feeding side coil 31, the power receiving side coil 32, and the matching coil 33 may be spirally wound, or may be a combination of a spiral and a spiral, for example, an α winding or the like. good.

  Furthermore, in the above-described embodiment, the case where the device is the articulated robot 20 has been described. However, this device is not limited to the articulated robot 20 as long as it is electrically driven and can be powered by the power feeding means 30. For example, an electrically driven robot without a joint may be used.

DESCRIPTION OF SYMBOLS 10 Manufacturing apparatus 11 Horizontal base 13 Horizontal moving base 14 Moving means 14a Ball screw 14b Drive motor 14c Female screw member 20 Device 30 Power feeding means 31 Power feeding side coil 31b, 31c Parallel part 32 Power receiving side coil 33 Matching coil 36 Shielding plate 41 Operation device 51 Moving means 52 Electric motor 56 Motor controller B Magnetic flux

Claims (7)

A horizontal base (11) extending in the horizontal direction, a horizontal movement base (13) attached to the horizontal base (11) so as to be movable in the longitudinal direction, and the horizontal movement base (13) are moved. Manufacturing apparatus comprising: moving means (14, 51) for driving; electrically driven device (20) provided on the horizontal moving table (13); and power feeding means (30) for feeding power to the device (20) In
The power feeding means (30) includes a power feeding side coil (31) provided along the horizontal base (11), a power receiving side coil (32) provided on the horizontal moving base (13), and the horizontal movement. And a matching coil (33) for load matching for transmitting the magnetic flux (B) generated in the power supply side coil (31) to the power reception side coil (32), provided on the base (13). Manufacturing equipment. The feeding coil (31) is an oval coil having parallel portions (31b, 31c),
The manufacturing apparatus according to claim 1, wherein the feeding coil (31) is routed on the horizontal base (11) so that the parallel portion (31b, 31c) extends in a longitudinal direction of the horizontal base (11). . The horizontal moving table (13) is made of non-magnetic material,
The matching coil (33) is formed in a spiral shape and is attached to a facing portion facing the horizontal base (11) of the horizontal moving base (13),
The manufacturing apparatus according to claim 2, wherein the power receiving coil (32) is formed in a spiral shape that can surround the matching coil (33), and is attached to the facing portion so as to surround the matching coil (33).   The manufacturing apparatus according to claim 3, wherein a shielding plate (36) made of a soft magnetic material is interposed between the matching coil (33) and the power receiving coil (32) and the horizontal moving table (13).   The moving means (14) includes a ball screw (14a) provided in the longitudinal direction on the horizontal base (11), a drive motor (14b) for rotating the ball screw (14a), and a horizontal moving table (13). The manufacturing apparatus according to any one of claims 1 to 4, further comprising a female screw member (14c) provided and screwed into the ball screw (14a).   The moving means (51) is provided with an electric motor (52) provided on the horizontal moving table (13) and driven by the electric power supplied from the power supply means (30) to cause the horizontal moving table (13) to self-run. Item 5. The manufacturing apparatus according to any one of Items 1 to 4.   A motor controller (56) for controlling the electric motor (52) driven by the electric power supplied from the power supply means (30) provided on the horizontal moving table (13), and a control signal to the controller (56) wirelessly The manufacturing apparatus according to claim 6, further comprising an operating device (41) for emitting light.

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