JP2020142336A - Wireless power supply device and multi-axis robot using the same - Google Patents

Wireless power supply device and multi-axis robot using the same Download PDF

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JP2020142336A
JP2020142336A JP2019041575A JP2019041575A JP2020142336A JP 2020142336 A JP2020142336 A JP 2020142336A JP 2019041575 A JP2019041575 A JP 2019041575A JP 2019041575 A JP2019041575 A JP 2019041575A JP 2020142336 A JP2020142336 A JP 2020142336A
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electrode
unit
power supply
high frequency
power
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JP7150276B2 (en
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杉野　正芳
Masayoshi Sugino
正芳 杉野
肥後　徳仁
Norihito Higo
徳仁 肥後
大平　孝
Takashi Ohira
孝 大平
悟司 塚本
Satoshi Tsukamoto
悟司 塚本
尚貴 坂井
Naotaka Sakai
尚貴 坂井
晋士 阿部
Shinji Abe
晋士 阿部
敬章 正木
Takaaki Masaki
敬章 正木
涼一 馬場
Ryoichi Baba
涼一 馬場
啓輔 宮地
Keisuke Miyaji
啓輔 宮地
雅城 堀内
Masaki Horiuchi
雅城 堀内
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Japan Radio Co Ltd
Toyohashi University of Technology NUC
Denso Corp
Nagano Japan Radio Co Ltd
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Japan Radio Co Ltd
Toyohashi University of Technology NUC
Denso Corp
Nagano Japan Radio Co Ltd
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Abstract

To provide a wireless power supply device for simplifying its structure by making the voltage of a load constant by the function of an equivalent ideal transformer, and a multi-axis robot using the wireless power supply device.SOLUTION: A wireless power supply device 10 includes a high frequency power supply part 13, an electrode part 17, a specific circuit part 23 and a load 16. The high frequency power supply part 13 generates a high frequency having constant amplitude of voltage. The electrode part 17 includes a power transmission electrode part 14 for performing power transmission of the high frequency generated by the high frequency power supply part 13, and a power reception electrode part 15 for wirelessly receiving power with the high frequency outputted from the power transmission electrode part 14 by electric field coupling. The specific circuit part 23 is a circuit corresponding to an equivalent ideal transformer 26 together with an electrode equivalent circuit part 20 in forming the electrode equivalent circuit part 20 with the electrode part 17 as a capacitor. The load 16 is connected to an output side of the specific circuit part 23.SELECTED DRAWING: Figure 1

Description

本発明は、無線給電装置およびこれを用いた多軸ロボットに関する。 The present invention relates to a wireless power feeding device and a multi-axis robot using the wireless power feeding device.

従来、電磁誘導、磁界共鳴あるいは電界結合などを用いて非接触で電力を供給する無線給電装置が公知である。例えば、特許文献１は、電界結合を用いた無線給電装置を開示している。このような電界結合では、送電電極部から受電電極部への電力の伝送に高周波が用いられる。そのため、電界結合の場合、送電側と受電側との間で高い精度のインピーダンスの整合が要求される。ところで、受電側に接続される負荷で消費される電力が刻々と変化したり、負荷の数が変化したりする場合、受電側のインピーダンスはこれらに応じて変化する。このような場合、インピーダンスが変化しても、負荷には常に一定の電圧を供給することが求められる。 Conventionally, a wireless power feeding device that supplies electric power in a non-contact manner using electromagnetic induction, magnetic field resonance, electric field coupling, or the like is known. For example, Patent Document 1 discloses a wireless power feeding device using electric field coupling. In such an electric field coupling, a high frequency is used for transmitting electric power from the power transmitting electrode portion to the receiving electrode portion. Therefore, in the case of electric field coupling, high-precision impedance matching is required between the power transmission side and the power reception side. By the way, when the power consumed by the load connected to the power receiving side changes momentarily or the number of loads changes, the impedance on the power receiving side changes accordingly. In such a case, it is required to always supply a constant voltage to the load even if the impedance changes.

しかしながら、従来の場合、負荷のインピーダンスや負荷の数の変化によって、入力インピーダンスおよび供給される電力が変動する。そのため、入力インピーダンスの変化に対応する大規模な可変整合器が必要となる。また、供給される電力が変化すると、高周波の供給源であるインバータのフィードバック制御が必要となる。 However, in the conventional case, the input impedance and the supplied power fluctuate due to changes in the impedance of the load and the number of loads. Therefore, a large-scale variable matching device that responds to changes in input impedance is required. Further, when the supplied power changes, feedback control of the inverter, which is a high-frequency supply source, is required.

特開２０１８−６８０７９号公報Japanese Unexamined Patent Publication No. 2018-68079

そこで、受電側の負荷の変化にかかわらず、等価理想トランスの機能により負荷の電圧が一定となり、構造の簡略化が図られる無線給電装置およびこれを用いた多軸ロボットを提供することを目的とする。 Therefore, it is an object of the present invention to provide a wireless power feeding device in which the voltage of the load is constant by the function of the equivalent ideal transformer and the structure can be simplified regardless of the change in the load on the power receiving side, and a multi-axis robot using the wireless power feeding device. To do.

本実施形態の無線給電装置は、電界結合に関与する送電電極部および受電電極部と、特定回路部とから等価理想トランスに相当する回路を構成している。すなわち、送電電極部および受電電極部を有する電極部は、容量素子であるコンデンサとして電極等価回路部を構成する。このとき、特定回路部は、この電極部を含む電極等価回路部とともに等価理想トランスを構成する。これにより、特定回路部の出力側に接続されている負荷は、等価理想トランスを挟んで電圧の振幅が一定の高周波を生成する高周波電源部に接続された状態とみなされる。すなわち、１つ以上の負荷は、等価理想トランスを挟んで高周波電源部に並列に接続された状態とみなされる。その結果、電極部の出力側つまり受電電極側に接続する負荷の数または負荷の大きさが変化しても、電極部をコンデンサとする電極等価回路部は虚数成分の変化の影響を受けない。したがって、受電側の負荷の変化にかかわらず、等価理想トランスの機能により負荷の電圧が一定となり、構造の簡略化を図ることができる。 The wireless power feeding device of the present embodiment constitutes a circuit corresponding to an equivalent ideal transformer from a power transmitting electrode unit and a power receiving electrode unit involved in electric field coupling and a specific circuit unit. That is, the electrode portion having the power transmission electrode portion and the power receiving electrode portion constitutes an electrode equivalent circuit portion as a capacitor which is a capacitive element. At this time, the specific circuit unit constitutes an equivalent ideal transformer together with the electrode equivalent circuit unit including the electrode unit. As a result, the load connected to the output side of the specific circuit unit is regarded as being connected to the high frequency power supply unit that generates a high frequency with a constant voltage amplitude across the equivalent ideal transformer. That is, one or more loads are regarded as being connected in parallel to the high frequency power supply unit with the equivalent ideal transformer in between. As a result, even if the number of loads connected to the output side of the electrode portion, that is, the power receiving electrode side or the magnitude of the load changes, the electrode equivalent circuit portion using the electrode portion as a capacitor is not affected by the change of the imaginary component. Therefore, regardless of the change in the load on the power receiving side, the voltage of the load becomes constant by the function of the equivalent ideal transformer, and the structure can be simplified.

一実施形態による無線給電装置の電気的な構成を示す概略図Schematic diagram showing the electrical configuration of the wireless power supply device according to one embodiment 一実施形態による無線給電装置を適用した多軸ロボットを示す模式的な斜視図Schematic perspective view showing a multi-axis robot to which the wireless power feeding device according to one embodiment is applied. 一実施形態による無線給電装置を適用したロボットの電気的な構成を示す概略図Schematic diagram showing an electrical configuration of a robot to which a wireless power supply device according to an embodiment is applied. 一実施形態による無線給電装置の電気的な構成を示す概略図Schematic diagram showing the electrical configuration of the wireless power supply device according to one embodiment 図１に示す無線給電装置の等価回路を示す概略図Schematic diagram showing an equivalent circuit of the wireless power feeding device shown in FIG. 図３に示すロボットの等価回路を示す概略図Schematic diagram showing the equivalent circuit of the robot shown in FIG.

以下、無線給電装置およびこれを用いた多軸ロボットの実施形態について図面に基づいて説明する。
図１は、一実施形態による無線給電装置１０を示している。無線給電装置１０は、送電側ユニット１１、および受電側ユニット１２を備えている。送電側ユニット１１は、高周波電源部１３および送電電極部１４を有している。高周波電源部１３は、電圧の振幅が一定の高周波を生成する。高周波電源部１３で生成した高周波は、送電電極部１４へ供給される。送電電極部１４は、例えば金属板などで構成され、高周波電源部１３で生成した高周波を出力する。 Hereinafter, an embodiment of a wireless power feeding device and a multi-axis robot using the wireless power feeding device will be described with reference to the drawings.
FIG. 1 shows a wireless power supply device 10 according to an embodiment. The wireless power supply device 10 includes a power transmission side unit 11 and a power reception side unit 12. The power transmission side unit 11 has a high frequency power supply unit 13 and a power transmission electrode unit 14. The high frequency power supply unit 13 generates a high frequency having a constant voltage amplitude. The high frequency generated by the high frequency power supply unit 13 is supplied to the power transmission electrode unit 14. The power transmission electrode unit 14 is made of, for example, a metal plate, and outputs high frequencies generated by the high frequency power supply unit 13.

受電側ユニット１２は、受電電極部１５および負荷１６を備えている。受電電極部１５は、送電電極部１４と対向して設けられている。対向する送電電極部１４と受電電極部１５との間は、空気によって満たされており、電界結合による非接触によって電力が伝達される。すなわち、受電電極部１５は、送電電極部１４から出力された高周波を電界結合によって受け取る。上述のように対向する送電電極部１４と受電電極部１５との間は、非接触であることから、絶縁体である空気が満たされたコンデンサを形成している。これら送電電極部１４と受電電極部１５とは、電極部１７を構成している。 The power receiving side unit 12 includes a power receiving electrode portion 15 and a load 16. The power receiving electrode portion 15 is provided so as to face the power transmission electrode portion 14. The space between the power transmitting electrode unit 14 and the power receiving electrode unit 15 facing each other is filled with air, and electric power is transmitted by non-contact due to electric field coupling. That is, the power receiving electrode unit 15 receives the high frequency output from the power transmission electrode unit 14 by electric field coupling. Since there is no contact between the power transmitting electrode portion 14 and the power receiving electrode portion 15 facing each other as described above, a capacitor filled with air, which is an insulator, is formed. The power transmission electrode unit 14 and the power reception electrode unit 15 constitute an electrode unit 17.

無線給電装置１０は、これら送電側ユニット１１および受電側ユニット１２において次のような電極等価回路部２０を構成している。すなわち、電極等価回路部２０は、電極部１７を構成する一対の送電電極部１４および受電電極部１５をコンデンサとして、送電電極間容量部２１および受電電極間容量部２２とともに構成されている。送電電極間容量部２１および受電電極間容量部２２は、容量素子としてのコンデンサを有していてもよく、一対の回路配線の間で形成される見かけ上のコンデンサであってもよい。電極部１７を構成する送電電極部１４と受電電極部１５とは、電気的な容量が等しく設定されている。これにより、無線給電装置１０は、電極部１７を構成する送電電極部１４および受電電極部１５と、送電電極間容量部２１および受電電極間容量部２２とによって、電極等価回路部２０を構成している。 The wireless power supply device 10 constitutes the following electrode equivalent circuit unit 20 in the power transmission side unit 11 and the power reception side unit 12. That is, the electrode equivalent circuit unit 20 is configured together with the power transmission electrode intercapacity unit 21 and the power reception electrode intercapacity unit 22 by using the pair of power transmission electrode units 14 and the power receiving electrode unit 15 constituting the electrode unit 17 as capacitors. The power transmission electrode-to-electrode capacitance section 21 and the power-receiving electrode-to-receiver capacitance section 22 may have a capacitor as a capacitance element, or may be an apparent capacitor formed between a pair of circuit wirings. The power transmission electrode portion 14 and the power receiving electrode portion 15 constituting the electrode portion 17 are set to have the same electrical capacity. As a result, the wireless power feeding device 10 constitutes the electrode equivalent circuit unit 20 by the power transmission electrode unit 14 and the power receiving electrode unit 15 constituting the electrode unit 17, and the power transmission electrode intercapacity unit 21 and the power receiving electrode intercapacity unit 22. ing.

無線給電装置１０は、特定回路部２３を備えている。特定回路部２３は、送電側ユニット１１において、高周波電源部１３と電極部１７との間に挿入されている。具体的には、特定回路部２３は、直列コイル２４および並列コイル２５を有している。直列コイル２４は、高周波電源部１３と電極部１７との間に直列に挿入されている。また、並列コイル２５は、高周波電源部１３と電極部１７との間に並列に挿入されている。特定回路部２３は、これらの直列コイル２４および並列コイル２５によって、電極等価回路部２０とともにトランスに相当する回路を構成する。これにより、特定回路部２３は、電極等価回路部２０とともに、等価理想トランス２６を構成する。 The wireless power feeding device 10 includes a specific circuit unit 23. The specific circuit unit 23 is inserted between the high frequency power supply unit 13 and the electrode unit 17 in the power transmission side unit 11. Specifically, the specific circuit unit 23 has a series coil 24 and a parallel coil 25. The series coil 24 is inserted in series between the high frequency power supply unit 13 and the electrode unit 17. Further, the parallel coil 25 is inserted in parallel between the high frequency power supply unit 13 and the electrode unit 17. The specific circuit unit 23, together with the electrode equivalent circuit unit 20, constitutes a circuit corresponding to a transformer by the series coil 24 and the parallel coil 25. As a result, the specific circuit unit 23 and the electrode equivalent circuit unit 20 form the equivalent ideal transformer 26.

負荷１６は、受電側ユニット１２において特定回路部２３の出力側に接続している。すなわち、負荷１６は、受電側ユニット１２において、電極部１７の出力側に接続し、受電電極部１５で受け取った電力を消費する。負荷１６は、例えばモータなどの駆動装置、バッテリなどの蓄電装置、およびこれらを制御する制御装置などで構成されている。また、負荷１６は、例えば高周波を直流に整流する整流回路部などの各種の回路を有していてもよい。 The load 16 is connected to the output side of the specific circuit unit 23 in the power receiving side unit 12. That is, the load 16 is connected to the output side of the electrode unit 17 in the power receiving side unit 12 and consumes the power received by the power receiving electrode unit 15. The load 16 is composed of, for example, a drive device such as a motor, a power storage device such as a battery, and a control device for controlling these. Further, the load 16 may have various circuits such as a rectifier circuit unit that rectifies high frequencies to direct current.

上記のような無線給電装置１０は、例えば多軸ロボットに適用される。図２は、無線給電装置１０を適用する多軸ロボットの一例として３軸のロボット３０を示している。無線給電装置１０をロボット３０に適用する場合、高周波電源部１３や送電電極部１４などで構成される送電側ユニット１１は設備などに固定されている。無線給電装置１０の送電電極部１４は、Ｘ軸方向へ延びるレール３１に設けられている。ロボット３０は、レール３１に沿って移動する中間可動部３２を有している。中間可動部３２は、このレール３１に沿ってＸ軸方向へ往復移動する。受電電極部１５は、中間可動部３２に設けられ、レール３１に設けられている送電電極部１４と対向している。また、中間可動部３２は、送電電極部３３を有している。送電電極部３３は、中間可動部３２が受電電極部１５で受け取った電力を中継して送電する。中間可動部３２の送電電極部３３は、Ｘ軸に垂直なＹ軸方向へ延びている。終端可動部３４は、受電電極部３５を有している。終端可動部３４の受電電極部３５は、中間可動部３２の送電電極部３３と対向している。終端可動部３４の受電電極部３５は、中間可動部３２の送電電極部３３に対して移動可能または固定のいずれであってもよい。 The wireless power feeding device 10 as described above is applied to, for example, a multi-axis robot. FIG. 2 shows a 3-axis robot 30 as an example of a multi-axis robot to which the wireless power feeding device 10 is applied. When the wireless power feeding device 10 is applied to the robot 30, the power transmission side unit 11 including the high frequency power supply unit 13 and the power transmission electrode unit 14 is fixed to equipment or the like. The power transmission electrode portion 14 of the wireless power feeding device 10 is provided on a rail 31 extending in the X-axis direction. The robot 30 has an intermediate movable portion 32 that moves along the rail 31. The intermediate movable portion 32 reciprocates in the X-axis direction along the rail 31. The power receiving electrode portion 15 is provided in the intermediate movable portion 32 and faces the power transmission electrode portion 14 provided in the rail 31. Further, the intermediate movable portion 32 has a power transmission electrode portion 33. The power transmission electrode unit 33 relays and transmits the electric power received by the power receiving electrode unit 15 by the intermediate movable unit 32. The power transmission electrode portion 33 of the intermediate movable portion 32 extends in the Y-axis direction perpendicular to the X-axis. The terminal movable portion 34 has a power receiving electrode portion 35. The power receiving electrode portion 35 of the terminal movable portion 34 faces the power transmission electrode portion 33 of the intermediate movable portion 32. The power receiving electrode portion 35 of the terminal movable portion 34 may be movable or fixed with respect to the power transmission electrode portion 33 of the intermediate movable portion 32.

このようなロボット３０の構成により、ロボット３０は、無線給電装置１０によって非接触で電力の供給を受ける。具体的には、ロボット３０の中間可動部３２は、受電電極部１５によってレール３１に沿って移動しながら送電電極部１４から電力を受け取る。中間可動部３２の送電電極部３３は、受電電極部１５で受け取った電力の少なくとも一部を送電電極部３３から出力する。終端可動部３４は、中間可動部３２の送電電極部３３から出力された電力を受電電極部３５で受け取る。これにより、３軸のロボット３０は、中間可動部３２が送電電極部１４から電力を受け取るとともに、終端可動部３４が中間可動部３２から電力を受け取る。このような３軸のロボット３０に適用される無線給電装置１０は、図３に示すような電気的な回路として示される。 With such a configuration of the robot 30, the robot 30 is non-contactly supplied with electric power by the wireless power feeding device 10. Specifically, the intermediate movable portion 32 of the robot 30 receives electric power from the power transmission electrode portion 14 while moving along the rail 31 by the power receiving electrode portion 15. The power transmission electrode unit 33 of the intermediate movable unit 32 outputs at least a part of the electric power received by the power reception electrode unit 15 from the power transmission electrode unit 33. The terminal movable portion 34 receives the electric power output from the power transmission electrode portion 33 of the intermediate movable portion 32 at the power receiving electrode portion 35. As a result, in the three-axis robot 30, the intermediate movable portion 32 receives the electric power from the power transmission electrode portion 14, and the terminal movable portion 34 receives the electric power from the intermediate movable portion 32. The wireless power feeding device 10 applied to such a three-axis robot 30 is shown as an electric circuit as shown in FIG.

次に、上述の構成による無線給電装置１０の作用について説明する。
電極等価回路部２０は、図４に示すように電極部１７の送電電極部１４および受電電極部１５によってコンデンサを構成している。この電極部１７の全体におけるコンデンサの容量は、ＣSとする。したがって、本実施形態のように一対の電極部１７を構成する場合、１つのコンデンサの容量は２ＣSとなる。電極等価回路部２０において、送電電極間容量部２１および受電電極間容量部の容量はそれぞれＣPとする。また、特定回路部２３は、直列コイル２４および並列コイル２５を有している。直列コイル２４のインダクタンスはＬSとし、並列コイル２５のインダクタンスはＬPとする。電極等価回路部２０の電極部１７における送電電極部１４と受電電極部１５との間の結合係数ｋは、以下の式（１）で示されるものとする。 Next, the operation of the wireless power feeding device 10 according to the above configuration will be described.
As shown in FIG. 4, the electrode equivalent circuit unit 20 comprises a capacitor composed of a power transmission electrode unit 14 and a power reception electrode unit 15 of the electrode unit 17. Capacitance of the capacitor in the entire of the electrode portion 17, and C S. Therefore, when a pair of electrode portions 17 are configured as in the present embodiment, the capacitance of one capacitor is 2 C S. In the electrode equivalent circuit 20, the capacitance of the capacitor section 21 and the power receiving electrode capacitance section between the transmission electrodes, respectively, and C P. Further, the specific circuit unit 23 has a series coil 24 and a parallel coil 25. The inductance of the series coil 24 is L S, and the inductance of the parallel coil 25 is L P. The coupling coefficient k between the power transmitting electrode unit 14 and the power receiving electrode unit 15 in the electrode unit 17 of the electrode equivalent circuit unit 20 is represented by the following equation (1).

Figure 2020142336
Figure 2020142336

このように結合係数ｋを設定したとき、特定回路部２３における直列コイル２４のインダクタンスＬS（Ｈ）は以下の式（２）と定め、並列コイル２５のインダクタンスＬP（Ｈ）は以下の式（３）と定める。直列コイル２４のインダクタンスＬSおよび並列コイル２５のインダクタンスＬPは、それぞれこれらの式（２）および式（３）を満たすように設定される。 When the coupling coefficient k is set in this way, the inductance L S (H) of the series coil 24 in the specific circuit unit 23 is determined by the following equation (2), and the inductance L P (H) of the parallel coil 25 is determined by the following equation. It is defined as (3). The inductance L S of the series coil 24 and the inductance L P of the parallel coil 25 are set so as to satisfy these equations (2) and (3), respectively.

Figure 2020142336
Figure 2020142336

その結果、電極等価回路部２０と特定回路部２３とは、以下の式（４）に示すようにインピーダンス変換比をＮ、および入力インピーダンスをＺin（Ω）として、一つのインピーダンス変換回路であるトランスとして機能する。 As a result, the electrode equivalent circuit unit 20 and the specific circuit unit 23 are one impedance conversion circuit in which the impedance conversion ratio is N and the input impedance is Z in (Ω) as shown in the following equation (4). Functions as a transformer.

Figure 2020142336
Figure 2020142336

これにより、図１および図４に示す無線給電装置１０の全体を示す等価回路は、図５で示される。すなわち、無線給電装置１０の等価回路は、高周波電源部１３に負荷１６として抵抗が接続した状態とみなされる。また、図３に示す無線給電装置１０を適用したロボット３０の等価回路は、図６で示される。すなわち、無線給電装置１０の等価回路は、高周波電源部１３に負荷１６としての抵抗が並列に接続した状態とみなされる。そのため、図１に示す状態から図３に示す状態へ負荷１６の数が増加しても、全体を示す等価回路としては図５および図６に示すように等価理想トランス２６を挟んで高周波電源部１３に並列に接続する負荷１６の数が変化したに過ぎないとみなされる。 As a result, the equivalent circuit showing the entire wireless power feeding device 10 shown in FIGS. 1 and 4 is shown in FIG. That is, the equivalent circuit of the wireless power feeding device 10 is regarded as a state in which a resistor is connected to the high frequency power supply unit 13 as a load 16. Further, the equivalent circuit of the robot 30 to which the wireless power feeding device 10 shown in FIG. 3 is applied is shown in FIG. That is, the equivalent circuit of the wireless power feeding device 10 is regarded as a state in which a resistor as a load 16 is connected in parallel to the high frequency power supply unit 13. Therefore, even if the number of loads 16 increases from the state shown in FIG. 1 to the state shown in FIG. 3, the high-frequency power supply unit sandwiches the equivalent ideal transformer 26 as shown in FIGS. 5 and 6 as an equivalent circuit showing the whole. It is considered that the number of loads 16 connected in parallel to 13 has only changed.

以上説明したように、本実施形態の無線給電装置１０は、電界結合に関与する送電電極部１４および受電電極部１５と、特定回路部２３とからトランスに相当する回路を構成している。すなわち、送電電極部１４および受電電極部１５を有する電極部１７は、容量素子であるコンデンサとして電極等価回路部２０を構成する。このとき、特定回路部２３、および電極部１７を含む電極等価回路部２０は、等価理想トランス２６に相当する機能を有している。これにより、特定回路部２３の出力側に接続されている負荷１６は、トランスを挟んで電圧の振幅が一定の高周波を生成する高周波電源部１３に接続された状態とみなされる。すなわち、１つ以上の負荷１６は、等価理想トランス２６を挟んで高周波電源部１３に並列に接続された状態とみなされる。その結果、電極部１７の出力側つまり受電電極部１５側に接続する負荷１６の数または負荷１６の大きさが変化しても、電極部１７をコンデンサとする電極等価回路部２０は虚数成分の変化の影響を受けない。したがって、受電側の負荷１６の変化にかかわらず、等価理想トランス２６の機能により受電側の負荷１６の電圧が一定となり、構造の簡略化を図ることができる。 As described above, the wireless power feeding device 10 of the present embodiment constitutes a circuit corresponding to a transformer from the power transmitting electrode unit 14 and the power receiving electrode unit 15 involved in the electric field coupling, and the specific circuit unit 23. That is, the electrode unit 17 having the power transmission electrode unit 14 and the power receiving electrode unit 15 constitutes the electrode equivalent circuit unit 20 as a capacitor which is a capacitive element. At this time, the electrode equivalent circuit unit 20 including the specific circuit unit 23 and the electrode unit 17 has a function corresponding to the equivalent ideal transformer 26. As a result, the load 16 connected to the output side of the specific circuit unit 23 is regarded as being connected to the high frequency power supply unit 13 that generates a high frequency with a constant voltage amplitude across the transformer. That is, one or more loads 16 are regarded as being connected in parallel to the high frequency power supply unit 13 with the equivalent ideal transformer 26 in between. As a result, even if the number of loads 16 connected to the output side of the electrode unit 17, that is, the power receiving electrode unit 15 side or the size of the load 16 changes, the electrode equivalent circuit unit 20 using the electrode unit 17 as a capacitor has an imaginary component. Not affected by change. Therefore, regardless of the change in the load 16 on the power receiving side, the voltage of the load 16 on the power receiving side becomes constant due to the function of the equivalent ideal transformer 26, and the structure can be simplified.

また、本実施形態の無線給電装置１０を適用したロボット３０は、レール３１などの固定部分と中間可動部３２との間、中間可動部３２と終端可動部３４との間が、それぞれケーブルや配線を用いることなく非接触で電力や信号が伝達される。したがって、ケーブルや配線などによる重量の増加を抑えることができるとともに、ケーブルや配線の切断による機器の停止を低減することができる。 Further, in the robot 30 to which the wireless power feeding device 10 of the present embodiment is applied, cables and wirings are provided between the fixed portion such as the rail 31 and the intermediate movable portion 32, and between the intermediate movable portion 32 and the terminal movable portion 34, respectively. Power and signals are transmitted in a non-contact manner without using. Therefore, it is possible to suppress an increase in weight due to cables and wiring, and it is possible to reduce equipment stoppage due to disconnection of cables and wiring.

以上説明した本発明は、上記実施形態に限定されるものではなく、その要旨を逸脱しない範囲で種々の実施形態に適用可能である。
本開示は、実施例に準拠して記述されたが、本開示は当該実施例や構造に限定されるものではないと理解される。本開示は、様々な変形例や均等範囲内の変形をも包含する。加えて、様々な組み合わせや形態、さらには、それらに一要素のみ、それ以上、あるいはそれ以下、を含む他の組み合わせや形態をも、本開示の範疇や思想範囲に入るものである。 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.
Although the present disclosure has been described in accordance with the examples, it is understood that the present disclosure is not limited to the examples or structures. The present disclosure also includes various modifications and modifications within an equal range. In addition, various combinations and forms, as well as other combinations and forms that include only one element, more, or less, are also within the scope of the present disclosure.

図面中、１０は無線給電装置、１３は高周波電源部、１４、３３は送電電極部、１５、３５は受電電極部、１６は負荷、１７は電極部、２０は電極等価回路部、２３は特定回路部、２４は直列コイル、２５は並列コイル、２６は等価理想トランス、３０はロボット（多軸ロボット）を示す。 In the drawing, 10 is a wireless power supply device, 13 is a high-frequency power supply unit, 14 and 33 are transmission electrode units, 15 and 35 are power receiving electrode units, 16 is a load, 17 is an electrode unit, 20 is an electrode equivalent circuit unit, and 23 is specified. The circuit unit, 24 is a series coil, 25 is a parallel coil, 26 is an equivalent ideal transformer, and 30 is a robot (multi-axis robot).

Claims (3)

電圧の振幅が一定の高周波を生成する高周波電源部（１３）と、
前記高周波電源部（１３）で生成した高周波を送電する送電電極部（１４）、および前記送電電極部（１４）から出力された高周波を電界結合によって非接触で電力を受け取る受電電極部（１５）を有する電極部（１７）と、
前記電極部（１７）をコンデンサとする電極等価回路部（２０）を形成したとき、前記電極等価回路部（２０）とともに等価理想トランス（２６）に相当する回路を構成する特定回路部（２３）と、
前記等価理想トランス（２６）の出力側に接続されている負荷（１６）と、
を備える無線給電装置。 A high-frequency power supply unit (13) that generates a high frequency with a constant voltage amplitude,
A power transmission electrode unit (14) that transmits high frequencies generated by the high frequency power supply unit (13), and a power reception electrode unit (15) that receives power non-contact by electric field coupling of high frequencies output from the power transmission electrode unit (14). The electrode portion (17) having the
When the electrode equivalent circuit unit (20) having the electrode unit (17) as a capacitor is formed, the specific circuit unit (23) that constitutes a circuit corresponding to the equivalent ideal transformer (26) together with the electrode equivalent circuit unit (20). When,
The load (16) connected to the output side of the equivalent ideal transformer (26) and
A wireless power supply device equipped with. 前記特定回路部（２３）は、前記高周波電源部（１３）と前記電極部（１７）との間に、直列に挿入された直列コイル（２４）、および並列に挿入された並列コイル（２５）を有する請求項１記載の無線給電装置。 The specific circuit unit (23) includes a series coil (24) inserted in series between the high frequency power supply unit (13) and the electrode unit (17), and a parallel coil (25) inserted in parallel. The wireless power supply device according to claim 1. 請求項１または２記載の無線給電装置（１０）を備える多軸ロボット。 A multi-axis robot including the wireless power feeding device (10) according to claim 1 or 2.
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