JP2022016707A - Noncontact electric power supply robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a noncontact electric power supply robot that transmits electric power and control signals in a noncontact manner between adjacent joint components, uses a small device at a joint, and is lightweight.

SOLUTION: A noncontact electric power supply robot 1 comprises a power transmitter 2 having a power transmission resonator 21 and sending electric power, electric wire lines 4 and 4 respectively provided for adjacent joint components 1a and 1a, a transmitter 5 that is formed by a pair of transmitter plate bodies 51 and 51 fixed to the respective adjacent joint components 1a and 1a and positioned opposite each other, and by the electric wire lines 4 and 4 connected to the pair of transmitter plate bodies 51 and 51 respectively and that transmits at least electric power in a noncontact manner between the pair of transmitter plate bodies 51 and 51, and a power receiver 6 having a power receiving resonator 61 that resonates with the power transmission resonator 21, receiving electric power via the electric wire line 4 and supplying electric power to a joint driving controller 8 capable of changing an angle between the adjacent joint components 1a and 1a.

SELECTED DRAWING: Figure 6

COPYRIGHT: (C)2022,JPO&INPIT

Description

The present invention relates to a non-contact power feeding robot that feeds power via a non-contact joint.

Robot joints move frequently and at high speeds. In general, between adjacent joint components that make up a joint of a robot, the electrical wiring that has passed through each joint component is routed in the air without being fixed in position so that it can be bent or twisted. Therefore, it is used so that it can withstand frequent and high-speed operation, has less deterioration over time, and has high durability.

However, since the force applied to the electrical wiring that is wired in the air without being fixed in position between the adjacent joint constituent members does not disappear in principle, there remains a possibility that poor contact or disconnection may occur due to deterioration over time. Therefore, attempts have been made to eliminate the electrical wiring of the aerial wiring and to transmit power and control signals between adjacent joint components in a non-contact manner. For example, Patent Document 1 discloses a non-contact power feeding robot that transmits electric power by electromagnetic induction between adjacent joint components and transmits a control signal by electromagnetic induction or optical transmission. Further, Patent Document 2 discloses a non-contact power feeding robot in which a rotary transformer is inserted between a rotating portion and a fixed portion to perform electrical connection between adjacent joint components by electromagnetic induction.

Japanese Unexamined Patent Publication No. 07-100786 Japanese Patent Application Laid-Open No. 2003-117877

However, in the non-contact power feeding robot disclosed in Patent Document 1 and Patent Document 2, since the element for electromagnetic induction is large and very heavy, it is disadvantageous for frequent and high-speed operation in joints. Further, as the number of joints increases and the electromagnetic induction elements are connected in multiple stages, the impedance increases, and it is considered that the efficiency of power transmission is greatly reduced. Since the frequency of electromagnetic induction is relatively low, another means (optical transmission in the example of Patent Document 1) is used for the transmission of the control signal in order to obtain a practical amount of information.

The present invention has been made in view of the above circumstances, and an object thereof is to transmit electric power and control signals between adjacent joint components in a non-contact manner, and the elements in the joints are small and lightweight. The purpose is to provide a non-contact power feeding robot.

In order to achieve the above object, the non-contact power feeding robot according to claim 1 has a power transmitter for transmitting electric power, electrical wiring provided for each of the adjacent joint constituent members, and each of the adjacent joint constituent members. A pair of flat plates for transmitters fixed to each other are provided so as to face each other, and the electrical wiring is connected to each of the pair of flat plates for transmitters, so that at least the electric power is provided between the pair of flat plates for transmitters. A joint drive that has a transmitter that performs non-contact transmission and a power receiving resonator that resonates with the transmission resonator, receives the power through the electrical wiring, and can change the angle between the adjacent joint components. It is characterized by being equipped with a power receiver that supplies electric power to the controller.

The non-contact power feeding robot according to claim 2 is the non-contact feeding robot according to claim 1, which has a control signal transmission resonator and a control signal transmitter that sends a control signal via a flat plate for a control signal transmitter. It has a control signal receiving resonator that resonates with the control signal transmitting resonator, receives the control signal via a flat plate for a control signal receiver connected to the electrical wiring, and controls the joint drive controller. A control signal receiver for transmitting a signal is further provided, and the transmitter is characterized in that the control signal is further transmitted non-contactly between the pair of transmitter flat plates.

The non-contact power feeding robot according to claim 3 is the non-contact power feeding robot according to claim 1, wherein the pair of flat plates for a transmitter has a disk shape.

The non-contact power feeding robot according to claim 4 is the non-contact power feeding robot according to any one of claims 1 to 3, wherein each of the pair of flat plate bodies for a transmitter is one or arranged in parallel. It is characterized by having a plurality of things.

The non-contact power feeding robot according to claim 5 is the non-contact power feeding robot according to any one of claims 1 to 4, wherein the pair of flat plate bodies for a transmitter sandwich a dielectric in the gap thereof. It is characterized by.

The non-contact power feeding robot according to claim 6 is the non-contact power feeding robot according to any one of claims 1 to 5, further comprising a ground wire provided for each of the adjacent joint constituent members. The transmitter is characterized in that a pair of ground cylinders are provided coaxially with each other, and the ground wire is connected to each of the pair of ground cylinders.

The non-contact power feeding robot according to claim 7 is the non-contact power feeding robot according to any one of claims 1 to 6, wherein instead of the flat plate body for the transmitter, cylindrical bodies for the transmitter are coaxially paired with each other. It is characterized by being provided.

According to the non-contact power feeding robot of the present invention, at least electric power can be transmitted non-contactly between adjacent joint components, and the element in the joint can be made small and lightweight.

It is a side view which shows the outline of the example of the non-contact power feeding robot which concerns on embodiment of this invention. It is a schematic perspective view which shows the transmitter and the control signal transmitter of the non-contact power feeding robot as above, where (a) is a transmitter and (b) is a control signal transmitter. It is a schematic perspective view which shows the modification of the transmitter of the non-contact power feeding robot of the same above. It is a schematic diagram which shows the further modification of the transmitter of the non-contact power feeding robot of the same above. It shows the transmitter of the same non-contact power feeding robot. (A) is a side view, and (b) is a schematic perspective view. The outline of the joint of the non-contact power feeding robot and its surroundings is shown, and (a) is a plan view and (b) is a partially enlarged cross-sectional view of the plan view. It is a side view showing the modification of the transmitter of the non-contact power feeding robot as above, in which (a) is the one in which the connection position of the flat plate body for a transmitter and the electric wiring is changed, and (b) is the flat plate body for a transmitter in parallel. It is the one that was placed. It is a schematic perspective view which shows the power receiver and the control signal receiver of the non-contact power feeding robot as above, (a) is a power receiver, (b) is a control signal receiver. It outlines other examples of the joints of the non-contact power feeding robot and its surroundings as above. (A) is a plan view, and (b) is a partially enlarged cross-sectional view of the plan view. It outlines still other examples of the joints of the non-contact power feeding robot and its surroundings as above. (A) is a plan view, and (b) is a partially enlarged cross-sectional view of the plan view. It is a block diagram which shows the structure of the 1st simulation which concerns on the non-contact power feeding robot of the same above. It is a characteristic diagram which shows the result of the 1st simulation related to the said non-contact power feeding robot. It is a block diagram which shows the structure of the 2nd simulation which concerns on the non-contact power feeding robot of the same above. It is a characteristic diagram which shows the result of the 2nd simulation related to the said non-contact power feeding robot. It shows a modified example in which a ground cylinder is provided in the transmitter of the non-contact power feeding robot as described above. (A) is a cross-sectional view, and (b) is a schematic perspective view. It shows a modification of the above-mentioned non-contact power feeding robot transmitter in which the flat plate for the transmitter is divided. (A) is a cross-sectional view, and (b) is a schematic perspective view. It shows a modified example in which a cylinder for a transmitter is used for the transmitter of the non-contact power feeding robot as described above. (A) is a cross-sectional view, (b) is a cross-sectional view obtained by further modifying (a), and (c) is a schematic perspective view.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings. As illustrated in FIG. 1, the non-contact power feeding robot 1 according to the embodiment of the present invention is a multi-joint having a plurality of joints, and each joint is composed of adjacent joint constituent members 1a and 1a. To. As the joint constituent member 1a, a pedestal 1a ₁ or an arm member 1a ₂ or a tip member (a member that contacts an object to perform a required work) 1a ₃ or the like can be applied (see FIG. 1). The non-contact power feeding robot 1 includes a transmitter 2, a control signal transmitter 3, an electric wiring 4, a transmitter 5, a power receiver 6, a control signal receiver 7, and a joint drive controller 8.

As shown in FIG. 2A, the power transmission 2 has a power transmission resonator 21 and transmits electric power via the flat plate body 22 for the power transmission. The resonance frequency of the power transmission resonator 21 is not limited, but can be, for example, one frequency in the range of 1 MHz to 50 MHz. The flat plate body 22 for a power transmission is arranged so as to face the power transmission resonator 21, and an electric wiring 4 described later is connected to the flat plate body 22. As shown in FIG. 3, the power transmission 2 may transmit electric power by connecting the electric wiring 4 to the power transmission resonator 21 without passing through the flat plate body 22 for the power transmission, by adjusting the constants and the like. It is possible.

The power transmission resonator 21 can be, but is not limited to, a coil formed by winding electric conductors in a planar and spiral shape, that is, a spiral coil (see FIG. 2A). The spiral coil is capable of 1/2 wavelength resonance when both ends are opened, and 1/4 wavelength resonance is possible when one end is opened and the other end is grounded. If the 1/4 wavelength resonance has the same resonance frequency, the size of the spiral coil can be reduced. The power transmission resonator 21 is excited by the signal of the high frequency power supply 25 for electric power via the impedance matching means 23 and 24 for impedance matching. Impedance matching means 23, 24 can typically use a coupling loop that is electromagnetically induced coupled to the power transmission resonator 21 and a capacitor that is connected in series with it, but in other forms (eg, without the coupling loop). It may be in the form of being directly connected to the power transmission resonator 21). As shown in FIG. 4, the transmitter 2 may connect the electric wiring 4 to the high frequency power supply 25 for electric power to transmit electric power by adjusting the constants and the like.

The flat plate body 22 for a transmitter is usually made of a metal (for example, copper) and has a disk shape. Further, the surface of the flat plate for power transmission 22 (the surface facing the power transmission resonator 21) is usually flat without unevenness.

As shown in FIG. 2B, the control signal transmitter 3 has a control signal transmission resonator 31 and transmits a control signal via the control signal transmitter flat plate 32. The resonance frequency of the control signal transmission resonator 31 is not limited, but may be, for example, one frequency in the range of 100 MHz to 200 MHz. The flat plate body 32 for the control signal transmitter is arranged so as to face the control signal transmission resonator 31, and the electrical wiring 4 is connected to the flat plate body 32.

The control signal transmission resonator 31 is not limited, but as shown in FIG. 2 (b), the control signal transmission resonator 31 may be a coil formed by winding electric conductors in a planar and spiral shape, that is, a spiral coil. can. The spiral coil is capable of 1/2 wavelength resonance when both ends are opened, and 1/4 wavelength resonance is possible when one end is opened and the other end is grounded. The control signal transmission resonator 31 is excited by the signal of the high frequency power supply 35 for control signals via the impedance matching means 33 and 34 for impedance matching. Impedance matching means 33, 34 can typically use a coupling loop that is electromagnetically induced coupled to the control signal transmission resonator 31 and a capacitor that is connected in series with it, but other forms (eg, coupling loops are used). Instead, it may be in a form of being directly connected to the control signal transmission resonator 31).

The flat plate body 32 for a control signal transmitter is usually made of a metal (for example, copper or the like) and has a disk shape. Further, the surface of the flat plate body 32 for the control signal transmitter (the surface facing the control signal transmission resonator 31) is usually flat without unevenness.

The electric wiring 4 is provided in the joint constituent member 1a constituting each joint and is fixed to the joint constituent member 1a. The electric wiring 4 may be a single wire without a ground wire, but it is also possible to form a coaxial line structure and connect an external conductor to a metal portion of the joint constituent member 1a to form a ground. In addition, it can be bent as appropriate.

The transmitter 5 transmits power and control signals between adjacent joint constituent members 1a and 1a in a non-contact manner. As shown in FIGS. 5A and 5B, the transmitter 5 is provided with a pair of flat plate bodies 51, 51 for transmitters facing each other, and electrical wiring is provided to each of the pair of flat plate bodies 51, 51 for transmitters. 4 and 4 are connected. Power and control signals are transmitted non-contact between the pair of transmitter flat plates 51, 51. The pair of flat plate bodies 51, 51 for a transmitter are usually made of metal (for example, made of copper) in the shape of a disk. The surfaces (surfaces facing each other) of the pair of transmitter flat plates 51 and 51 are usually flat without unevenness.

The pair of transmitter flat plates 51, 51 are arranged so that their central axes coincide with each other, that is, they are coaxial. Further, the pair of transmitter flat plates 51, 51 are arranged so that their central axes coincide with the rotation axis C of the joint, as shown in FIGS. 6A and 6B. Each of the pair of transmitter flat plates 51, 51 is fixed to each joint component 1a. FIG. 6B shows a pair of flat plate bodies 51, 51 for transmitters, each of which is fixed to each joint component 1a via a sturdy electric wiring 4. Each of the pair of transmitter flat plates 51, 51 may be fixed to each joint constituent member 1a via a fixing member (not shown).

In FIGS. 5A and 5B, the electrical wirings 4 and 4 are connected to the central portion of the back surfaces (opposite surfaces of the surfaces facing each other) of the pair of flat plate bodies 51 and 51 for transmitters. As shown in FIG. 7A, it may be connected to an outer surface or the like. Further, the pair of flat plate bodies for transmitters 51 and 51 are not limited to one as shown in FIGS. 5 (a) and 5 (b), but are arranged in parallel as shown in FIG. 7 (b). It is also possible to have a plurality of the same. Then, the size of the transmitter 5 can be reduced.

It is also possible to sandwich the dielectric in the gap between the pair of transmitter flat plates 51, 51. This dielectric can be a solid one, but it can also be a lubricating oil such as silicone oil. The lubricating oil can be present in the gap between the pair of flat plate bodies 51, 51 for a transmitter, for example, by making the space S shown in FIG. 6B hermetically sealable and injecting the lubricating oil into the space S. This dielectric prevents the pair of transmitter flat plates 51 and 51 from coming into contact with each other when excessive vibration occurs, and is similar to reducing the gap between the pair of transmitter flat plates 51 and 51. The effect of the property can be obtained.

Such a transmitter 5 transmits even if the angle between the adjacent joint constituent members 1a and 1a changes, that is, even if the adjacent joint constituent members 1a and 1a rotate around the rotation axis C. The appearance and electrical relationship between the dexterous plates 51, 51 can be kept unchanged, and thus the transmission characteristics of the power and control signals can be kept unchanged. Further, since the transmitter 5 has no electrical wiring whose position is not fixed and is wired in the air between the adjacent joint constituent members 1a and 1a, the transmitter 5 can withstand the frequent and high-speed joint movements. There is little deterioration over time and durability is high. Further, the pair of flat plate bodies 51, 51 for a transmitter constituting the transmitter 5 are small and lightweight as elements.

As shown in FIG. 8A, the power receiving device 6 has a power receiving resonator 61 that resonates with the power transmission resonator 21, and receives power via the power receiving flat plate body 62. The plate body 62 for a power receiver is arranged so as to face the power transmission resonator 61 and is connected to the electric wiring 4. In the joint constituent member 1a or the like at the end, the power receiving device 6 can receive electric power by connecting the electric wiring 4 to the power receiving resonator 61 without passing through the power receiving flat plate body 62.

The power receiving resonator 61 can be, but is not limited to, a coil formed by winding an electric conducting wire in a plane and a spiral shape, that is, a spiral coil (see FIG. 8A). The spiral coil is capable of 1/2 wavelength resonance when both ends are opened, and 1/4 wavelength resonance is possible when one end is opened and the other end is grounded. The electric power received by the power receiving resonator 61 is supplied to the joint drive controller 8 via the impedance matching means 63 and 64 that perform impedance matching. Impedance matching means 63, 64 can typically use a coupling loop that is electromagnetically coupled to the powered resonator 61 and a capacitor that is connected in series with it, but in other forms (eg, without the coupling loop). It may be in the form of being directly connected to the power receiving resonator 61).

The flat plate body 62 for a power receiving device is usually made of a metal (for example, copper or the like) and has a disk shape. Further, the surface of the flat plate body 62 for a power receiver (the surface facing the power receiving resonator 61) is usually flat without unevenness.

As shown in FIG. 8B, the control signal receiver 7 has a control signal receiving resonator 71 that resonates with the control signal transmitting resonator 31, and receives a control signal via the flat plate body 72 for the control signal receiver. .. The flat plate body 72 for the control signal receiver is arranged so as to face the control signal reception resonator 71, and is connected to the electric wiring 4.

The control signal receiving resonator 71 may be, but is not limited to, a coil formed by winding electric conductors in a planar and spiral shape, that is, a spiral coil (see FIG. 8 (b)). The spiral coil is capable of 1/2 wavelength resonance when both ends are opened, and 1/4 wavelength resonance is possible when one end is opened and the other end is grounded. The control signal received by the control signal receiving resonator 71 is sent to the joint drive controller 8 via the impedance matching means 73 and 74 that perform impedance matching. Impedance matching means 73, 74 can typically use a coupled loop that is electromagnetically coupled to the control signal receiving resonator 71 and a capacitor that is connected in series with it, but other forms (eg, coupling loops are used). It may be in the form of being directly connected to the control signal receiving resonator 71, etc.).

The flat plate body 72 for a control signal receiver is usually made of a metal (for example, copper or the like) and has a disk shape. Further, the surface of the flat plate body 72 for the control signal receiver (the surface facing the control signal reception resonator 71) is usually flat without unevenness.

The joint drive controller 8 is supplied with electric power from the power receiver 6 and receives a control signal from the control signal receiver 7. The joint drive controller 8 can change the angle between the adjacent joint constituent members 1a and 1a, that is, the angle at which the adjacent joint constituent members 1a and 1a rotate around the rotation axis C. Specifically, as shown in FIG. 6B, the joint drive controller 8 drives and controls the stator 9A fixed to one of the joint constituent members 1a, and drives the rotor 9B and the rotating member fixed to the rotor 9B. 9C can be rotated. The other joint component 1a is fixed to the rotating member 9C and can rotate with the rotation of the rotating member 9C. As the specific configuration of the joint drive controller 8 can be a known one, detailed description thereof will be omitted.

The adjacent joint constituent members 1a and 1a can have various shapes. When the adjacent joint constituent members 1a and 1a are as shown in FIG. 9 (a), the internal configuration can be the same as that of FIG. 6 (b) as shown in FIG. 9 (b). ..

Further, when the adjacent joint constituent members 1a and 1a are shown in FIG. 10 (a), the mechanism and the joint drive controller 8 between the adjacent joint constituent members 1a and 1a are shown in FIG. 10 (b). , The shape or position of the stator 9A, the rotor 9B, the rotating member 9C, and the like can be changed. The reference numeral 9C'in FIG. 10B is located at a symmetrical position of the rotating member 9C, is fixed to the other joint constituent member 1a (upper joint constituent member 1a in the figure), and has one joint configuration. It is a rotating member that is coupled to one joint constituent member 1a so that the other joint constituent member 1a can freely rotate with respect to the member 1a (lower joint constituent member 1a in the figure). Further, another power receiver 6, a control signal receiver 7, a joint drive controller 8, a stator 9A, and a rotor 9B are provided for the rotating member 9C', and the rotating member 9C'is fixed to the rotor 9B. It is also possible. Therefore, in this case, the electric wiring 4 of the same joint component 1a is branched and connected to the two sets of the power receiver 6 and the control signal receiver 7.

Such a non-contact power feeding robot 1 can transmit a control signal together with electric power to a required location (for example, a joint of the tip member 1a ₃ of the non-contact power feeding robot 1) by using the same electric wiring 4 and a transmitter 5. However, it is also possible to omit the control signal transmitter 3 and the control signal receiver 7 and use another configuration (a configuration for communicating using radio waves or the like) instead.

Next, two simulations performed in relation to the non-contact power feeding robot 1 will be described. The thickness of the electric wiring 4 was 1 mm in diameter. As the power transmitting resonator 21 of the transmitter 2 and the power receiving resonator 61 of the power receiving device 6, a spiral coil having a diameter of 15 cm and a number of turns of 15 was used without grounding at both ends. The control signal transmission resonator 31 of the control signal transmitter 3 and the control signal reception resonator 71 of the control signal receiver 7 used a spiral coil having a diameter of 7.5 cm and a number of turns of 6 without grounding at both ends. The flat plate 22 for the transmitter of the transmitter 2, the flat plate 32 for the control signal transmitter of the control signal transmitter 3, the flat plate 51 for the transmitter of the transmitter 5, the flat plate 62 for the receiver of the receiver 6, and the control signal receiver. As the flat plate body 72 for the control signal receiver of No. 7, a disk-shaped body having a diameter of 7.5 cm was used. The distance between the transmission resonator 21 of the transmitter 2 and the flat plate 22 for the transmitter, the distance between the control signal transmission resonator 31 of the control signal transmitter 3 and the flat plate 32 for the control signal transmitter, and the power receiving resonator 61 of the receiver 6. The distance between the flat plate bodies 62 for the power receiver, the distance between the control signal receiving resonator 71 of the control signal receiver 7 and the flat plate body 72 for the control signal receiver was 5 mm, and the distance between the flat plate bodies 51 and 51 for the transmitter was 2 mm. Impedance matching means 63, 64 of the power receiver 6 and impedance matching means 73, 74 of the control signal receiver 7 used only the coupling loop, and a resistance of 50 ohms was connected to it as a load.

In the first simulation, as shown in FIG. 11, the electric wiring 4 is connected to the transmitter 2, the transmitter 5 (5A) is connected to the electric wiring 4, and the power receiver is branched at the intermediate point A. 6 (6A) was connected. Further, the electric wiring 4 is connected to the other side of the transmitter 5 (5A), the transmitter 5 (5B) is connected to the electric wiring 4, and the power receiver 6 (6B) is branched at the intermediate point B. Connected. Further, the electric wiring 4 was connected to the other end of the transmitter 5 (5B), and the electric wiring 4 was bent at the intermediate point C and the power receiver 6 (6C) was connected to the electric wiring 4. The length of the electrical wiring 4 is between the transmitter 2 and the midpoint A, between the midpoint A and the transmitter 5 (5A), between the midpoint A and the receiver 6 (6A), and the transmitter 5 (5A). Between the midpoint B and the midpoint B, between the midpoint B and the transmitter 5 (5B), between the midpoint B and the power receiver 6 (6B), between the transmitter 5 (5B) and the midpoint C, with the midpoint C The distance between the receivers 6 (6C) was set to 20 cm.

In FIG. 12, S11, S21, S31, and S41 each have a reflection coefficient, a transmission coefficient to the receiver 6 (6A), a transmission coefficient to the receiver 6 (6B), and a transmission coefficient to the receiver 6 (6C), respectively. Shows. The frequency resonates at about 30 MHz, and the transmission coefficient at that frequency is about -3.5 dB (about 40%) for S21, about -7 dB (about 20%) for S31, and about -6 dB (about 25%) for S41. )Met. Therefore, it can be seen that even if the number of joints is large, the decrease in power transmission efficiency is small.

In the second simulation, as shown in FIG. 13, the electric wiring 4 is connected to the transmitter 2, the power receiver 6 is connected to the electric wiring 4, and the electric wiring 4 is branched at the intermediate point D and further at the intermediate point E. The control signal transmitter 3 was connected by bending, and the control signal receiver 7 was connected by branching at the intermediate point F on the power receiving device 6 side of the intermediate point D and further bending at the intermediate point G. The length of the electrical wiring 4 is 5 cm between the transmitter 2 and the midpoint D, 30 cm between the midpoint D and the midpoint E, 5 cm between the midpoint E and the control signal transmitter 3, and the midpoint D. It was 35 cm between the midpoint F, 30 cm between the midpoint F and the midpoint G, 5 cm between the midpoint G and the control signal receiver 7, and 5 cm between the midpoint F and the receiver 6.

In FIG. 14A, S11 and S21 show the reflection coefficient of the transmitter 2 and the transmission coefficient from the transmitter 2 to the receiver 6, respectively. The transmitter 2 and the receiver 6 resonated at a frequency of about 28 MHz, and the transmission coefficient at that frequency was about −0.6 dB (about 90%). Further, in FIG. 14B, S33 and S43 show the reflection coefficient of the control signal transmitter 3 and the transmission coefficient from the control signal transmitter 3 to the control signal receiver 7, respectively. The control signal transmitter 3 and the control signal receiver 7 resonated at a frequency of about 155 MHz, and the transmission coefficient at that frequency was about −0.6 dB (about 90%). Therefore, it can be seen that the electric power and the control signal can be transmitted using the same electric wiring 4.

Although the non-contact power feeding robot according to the embodiment of the present invention has been described above, the present invention is not limited to the one described in the above-described embodiment, and various matters within the scope of the claims. Design changes are possible. For example, the present invention is applicable not only to multiple joints but also to having at least one joint. Further, in the case of multiple joints, the present invention may be applied to at least one joint. Further, as a matter of course, the appearance of the non-contact power feeding robot 1 can be various, and the pedestal 1a ₁ , the arm member 1a ₂ , the tip member 1a ₃ , and the like can be used according to the purpose of use of the non-contact power feeding robot 1. Various shapes and structures are possible.

Further, when the adjacent joint constituent members 1a and 1a are made of synthetic resin and do not have a metal portion, ground wires 9 and 9 may be provided on each of the adjacent joint constituent members 1a and 1a. can. In the transmitter 5, as shown in FIGS. 15A and 15B, the pair of ground cylinders 52A and 52B are not coaxial with each other so as to surround the pair of transmitter flat plates 51 and 51 described above. It can be provided on the contact. Ground wires 9 and 9 are connected to each of the pair of ground cylinders 52A and 52B. The pair of gland cylinders 52A and 52B have a cylindrical shape (bottomed cylindrical shape in the figure). The pair of gland cylinders 52A and 52B are fixed to each of the adjacent joint constituent members 1a and 1a. In this way, the adjacent joint constituent members 1a and 1a can be rotated while ensuring the return path in the transmitter 5. The shape of the ground wire 9 is not limited as long as it extends long and is used as a ground, but as shown in FIGS. 15A and 15B, if an external conductor having a coaxial line structure is used, the ground wire 9 may be used. good.

Further, in order to secure the return path in the transmitter 5, as shown in FIGS. 16A and 16B, the pair of flat plate bodies 51 and 51 for the transmitter are divided in the radial direction to open a gap. It is also possible to connect the electrical wirings 4 and 4 to the ground wires 9 and 9. In FIGS. 16A and 16B, ground wires 9 and 9 are connected to the central portion and electrical wirings 4 and 4 are connected to the peripheral portions, but the reverse is also possible.

Further, in some cases, it is possible to replace the pair of flat plate bodies 51 and 51 for the transmitter of the transmitter 5 with the pair of cylindrical bodies 53A and 53B for the transmitter. As shown in FIGS. 17A, 17B, and 17B, the pair of transmitter cylinders 53A and 53B are provided coaxially and non-contactly with each other. The pair of transmitter cylinders 53A and 53B have a cylindrical shape (bottomed cylindrical shape in the figure), and can be multiplexed (see FIG. 17B).

1 Non-contact power feeding robot 1a Joint component 2 Transmitter 21 Transmission resonator 22 Flat plate for transmitter 3 Control signal transmitter 31 Control signal transmitter resonator 32 Flat plate for control signal transmitter 4 Electrical wiring 5 Transmitter 51 Flat plate for transmitter Body 52A, 52B Ground cylinder 53A, 53B Transmitter cylinder 6 Power receiver 61 Power receiving resonator 62 Power receiving flat plate 7 Control signal receiver 71 Control signal receiving resonator 72 Control signal receiver flat plate 8 Joint drive control Vessel 9 ground line

In order to achieve the above object, the non-contact power feeding robot according to claim 1 has a plurality of joints composed of adjacent joint components, and a transmitter that sends electric power of a predetermined frequency and the adjacent joints. The electrical wiring provided in each of the constituent members and the transmitter flat plate fixed to each of the adjacent joint constituents are provided in pairs facing each other, and the electric power is provided in each of the pair of transmitter flat plates. A transmitter in which wiring is connected to perform at least the power transmission between the pair of transmitter flat plates in a non-contact manner, and a power receiving resonator provided for each of the joints and resonating by receiving the power. It comprises a power receiver that receives the power through the electrical wiring and supplies power to the joint drive controller that can change the angle between the adjacent joint components, and comprises a control signal transmission resonator. It has a control signal transmitter that sends a control signal via a flat plate for a control signal transmitter, and a control signal reception resonator that resonates with the control signal transmission resonator, and receives a control signal connected to the electrical wiring. A control signal receiver that receives the control signal via the dexterous flat plate and sends the control signal to the joint drive controller is further provided, and the transmitter is provided between the pair of transmitter flat plates. Further, the control signal is transmitted in a non-contact manner.

The non-contact power feeding robot according to claim 2 is the non-contact power feeding robot according to claim 1 , wherein the pair of flat plates for a transmitter has a disk shape.

The non-contact power feeding robot according to claim 3 is the non-contact power feeding robot according to claim 1, wherein each of the pair of flat plate bodies for a transmitter is one or a plurality of robots arranged in parallel. It is characterized by being.

The non-contact power feeding robot according to claim 4 is the non-contact power feeding robot according to any one of claims 1 to 3 , wherein the pair of flat plate bodies for a transmitter sandwich a dielectric in the gap thereof. It is characterized by.

The non-contact power feeding robot according to claim 5 has a plurality of joints composed of adjacent joint constituent members, and is provided in each of a transmitter that transmits electric power of a predetermined frequency and the adjacent joint constituent members. An electric wiring and a pair of flat plates for a transmitter fixed to each of the adjacent joint constituent members are provided so as to face each other, and the electric wiring is connected to each of the pair of flat plates for a transmitter. It has a transmitter that transmits at least the electric power between a pair of flat plates for a transmitter in a non-contact manner, and a power receiving resonator that is provided for each of the joints and resonates by receiving the electric power. A ground wire provided on each of the adjacent joint components, comprising a power receiver that receives power and supplies power to the joint drive controller that can change the angle between the adjacent joint components. Further, the transmitter is characterized in that a pair of ground cylinders are provided coaxially with each other, and the ground wire is connected to each of the pair of ground cylinders.

The non-contact power feeding robot according to claim 6 is the non-contact power feeding robot according to any one of claims 1 to 5 , wherein instead of the flat plate body for the transmitter, cylindrical bodies for the transmitter are coaxially paired with each other. It is characterized by being provided.

The non-contact power feeding robot according to claim 7 has a plurality of joints composed of adjacent joint constituent members, and is provided in each of a transmitter that transmits electric power of a predetermined frequency and the adjacent joint constituent members. An electric wiring and a pair of flat plates for a transmitter fixed to each of the adjacent joint constituent members are provided facing each other, and the electric wiring is connected to each of the pair of flat plates for a transmitter. It has a transmitter that transmits at least the power in a non-contact manner between a pair of flat plates for a transmitter, and a power receiving resonator that is provided for each of the joints and resonates by receiving the power. A ground wire provided for each of the adjacent joint components, comprising a power receiver that receives power and supplies power to the joint drive controller that can change the angle between the adjacent joint components. Further, in the transmitter, the flat plate for the transmitter is divided with a gap in the radial direction, and one of the electric wiring and the ground wire is provided in the central portion thereof, and the electric wiring and the peripheral portion thereof are provided in the peripheral portion thereof. The other of the ground wires is connected.

Claims (7)

A transmitter that sends electric power,
The electrical wiring provided on each of the adjacent joint components,
A pair of transmitter flat plates fixed to each of the adjacent joint constituent members are provided facing each other, and the electrical wiring is connected to each of the pair of transmitter flat plates, for the pair of transmitters. A transmitter that transmits at least the power between the flat plates in a non-contact manner,
A power receiver that has a power receiving resonator that resonates with the power transmission resonator, receives the power through the electrical wiring, and supplies power to a joint drive controller that can change the angle between the adjacent joint components.
A non-contact power supply robot characterized by being equipped with. In the non-contact power feeding robot according to claim 1,
A control signal transmitter having a control signal transmission resonator and transmitting a control signal via a flat plate for the control signal transmitter.
It has a control signal receiving resonator that resonates with the control signal transmitting resonator, receives the control signal via a flat plate for a control signal receiver connected to the electrical wiring, and receives the control signal to the joint drive controller. With a control signal receiver to send
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The transmitter is a non-contact power feeding robot that further transmits the control signal between the pair of flat plates for a transmitter in a non-contact manner. In the non-contact power feeding robot according to claim 1 or 2.
The pair of flat plates for a transmitter is a non-contact power feeding robot characterized in that it has a disk shape. In the non-contact power feeding robot according to any one of claims 1 to 3, the non-contact power feeding robot
A non-contact power feeding robot, wherein each of the pair of flat plate bodies for a transmitter is one or a plurality of ones arranged in parallel. In the non-contact power feeding robot according to any one of claims 1 to 4, the non-contact power feeding robot
The pair of flat plate bodies for a transmitter is a non-contact power feeding robot characterized in that a dielectric is sandwiched between the flat plates. The non-contact power feeding robot according to any one of claims 1 to 5.
Further, a ground wire provided for each of the adjacent joint components is provided.
The transmitter is a non-contact power feeding robot characterized in that a pair of ground cylinders are provided coaxially with each other and the ground wire is connected to each of the pair of ground cylinders. In the non-contact power feeding robot according to any one of claims 1 to 6.
A non-contact power feeding robot characterized in that a pair of cylinders for a transmitter are provided coaxially with each other in place of the flat plate for a transmitter.

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