JP3728506B2 - Power distribution unit - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a power distribution unit in which a power supply source is distributed for each unit, and a plurality of units are combined so that each element can share a power supply source corresponding to the number of connections.
[0002]
[Prior art]
When it is difficult to receive power supply from an external commercial power source in various types of devices that operate with electricity, each device is equipped with a battery or generator, and the necessary power can be extracted from the battery and used. Is called. The battery used at that time must have the required storage capacity and required power generation in consideration of restrictions on the weight, volume, etc. of the battery, etc. with respect to the amount of power required for the function of each device, depending on the characteristics of use of each device. The amount will be determined and the appropriate battery or generator will be used.
[0003]
For this reason, when a battery is installed in the unit, each device cannot operate if the stored power is used more than a predetermined amount. When the battery is rechargeable, recharging is performed. It is necessary to exchange. In addition, when a generator is mounted on the unit, it becomes inoperable when each device exceeds the generator load of the generator.
[0004]
On the other hand, when it is necessary to perform various tasks in extreme environments where it is difficult or undesirable for humans to work, such as outer space, planetary exploration, deep sea, and nuclear reactors, they can be used with robots based on the environmental conditions. It is preferable to perform the above operations. In such a robot, it has been proposed to combine a large number of units having the same structure into an assembly unit, and to change, release, and recombine the combined state of the assembly unit to form various structures. .
[0005]
As the unitized robot as described above, for example, Japanese Patent Application Laid-Open No. 2001-200909 has proposed the present patent applicant. The appearance of the unit, which is the minimum structure in this robot, is as shown in FIG. 3, and the first coupling member 32 and the second coupling member 33 having substantially the same shape are coupled by a coupling drive member 34 so as to be freely rotatable. Thus, the unit 31 is configured.
[0006]
In FIG. 3A, the first coupling member 32 includes a cylindrical surface portion 36 having two left and right semicircular cylindrical surfaces, and an end surface portion 37 positioned on the open side of the semicircular cylindrical surface portion 36. A first side surface portion 40 and a second side surface portion 41 formed by both side surfaces of the cylindrical surface portion 36 and the end surface portion 37 are provided, and a coupling recess 42 is formed between the cylindrical surface portions 36. The second coupling member 33 has the same shape as the first coupling member 32 in the above-described outer shape.
[0007]
The end surface portion 37, the first side surface portion 40, and the second side surface portion 41 are internally provided with an assembly coupling device that is disconnected by a magnet connection and a forced separation operation by heating the shape memory alloy. Since this mechanism is not directly related to the present invention, a detailed description thereof is omitted, but this point is described in the above publication. In the top plate 43 of the second member 33, in order to increase the attractive force when the two magnets are attracted as described above, a hole 45 is formed in a portion facing the permanent magnet so that the permanent magnets can contact each other. Yes.
[0008]
Further, in the embodiment shown in the figure, four convex connectors 69 that slightly protrude are provided around the holes 45 on the outer side of the holes 45 in the top plate of the second member 33. On the other hand, a concave connector 49 is arranged outside the magnet 67 exposed on the top plate surface of the first member 32 at a position facing the convex connector 69. Thus, as will be described later, when two automatic assemblies are coupled, both connectors are connected so that signals can be exchanged.
[0009]
As shown in FIG. 3B, the connection drive member 34 that connects the first connection member 32 and the second connection member 33 is provided with a first motor 47 and a second motor 48 between the connection plates 46 on both sides. As shown in FIG. 3C, the driving plate 51 is fixed to the connecting shaft 50 of one motor 47 as protruding from the left side plate 46 in the drawing. In addition, a free rotating plate 59 that is rotatably supported by a bearing 58 on the same axis as the connecting shaft 50 is provided outside the right side plate 46 in the drawing. Further, the second motor 48 side is similarly configured. Accordingly, when the first motor 47 is driven, the first coupling member 32 is rotated, and when the second motor 48 is driven, the second coupling member 33 is rotated.
[0010]
Although the unit alone can be variously deformed and moved by driving each motor, the operation shown in FIG. 4 can be performed by combining a plurality of units. That is, when two units are used, for example, the first unit A and the second unit B coupled as shown in FIG. 4A are used, and the end surface portion of the first coupling member 32 of the first unit A is When the first motor is driven and the connecting drive member 34 is rotated 90 degrees by being fixed to the floor surface, the second unit B is attracted to the second member 33 of the first unit A as shown in FIG. Lifted in condition.
[0011]
Here, when the second motor is rotated by 90 degrees, the second unit B is also rotated by 90 degrees, and the state shown in FIG. From here, when the first motor is rotated 90 degrees in the opposite direction, the position shown in FIG. 4D is reached, and this state is 90 degrees in the length direction from the state shown in FIG. 4A. The position is rotated. Accordingly, the mode can be changed from the state in which the second unit B rotates in the direction perpendicular to the floor surface in FIG. 4A to the state in which the second unit B rotates in parallel to the floor surface in FIG. . When connecting a plurality of units as described above, the connectors shown in FIG. 1 are connected to each other so that control signals can be exchanged, and operations related to each other can be performed and integrated as a whole. It is possible to perform the operation.
[0012]
Further, for example, as shown in the schematic diagram of FIG. 4 (e), four legs B protrude from the central body A to the side, and the floor surface can be grasped downward at the end of each leg. It is also possible to form a quadruped moving structure F in which a suction part C is arranged, a head part D is provided at the front end of the body part A, and a tail part E is provided at the rear part. In addition, a large number of legs can be provided to form a shape. Although the description of the unit assembly of this structure is omitted, it can be formed by sequentially moving each automatic assembly unit, and in this state, it can be moved in any direction. By using a plurality of units as described above, combinations of various structures and shapes can be formed.
[0013]
[Problems to be solved by the invention]
In the above-mentioned apparatus proposed by the present applicant, each unit is provided with two motors and can operate as described above, and it is difficult to obtain external assistance as described above. Units can be easily connected, released, changed or reconnected even in the environment or in a small space. It is conceivable to use an external power source as a drive source of the motor used in such a unit. However, in order to freely move each unit or to make a complicated connection among many units, The cable is a hindrance. For this reason, it is preferable to install batteries individually in such units.
[0014]
When a battery is individually mounted on each unit as described above, the mounted battery requires a capacity that allows each unit to supply sufficient power in a normal operation mode. For this reason, a space for mounting such a battery is required, which increases the size and the weight of the whole.
[0015]
On the other hand, for example, as shown in FIGS. 4A to 4D, when a plurality of units are used in combination, when the state shown in FIG. 4A is changed to the state shown in FIG. The end surface portion of the first coupling member 32 of the first unit A is fixed to the floor surface, and the first motor in the first coupling member 32 is driven to rotate the connection driving member 34 by 90 degrees. The second unit B is simply attracted to the second coupling member 33 of the first unit A with a magnet and does not perform any operation. Similarly, when the state is changed from FIG. 4B to FIG. 4C, only the second motor in the second coupling member 33 of the first unit A operates, and FIG. 4C to FIG. When deforming to the state, the deformation operation is performed by operating only the first motor in the first coupling member 32 of the first unit A.
[0016]
Thus, during the series of deformation operations in FIGS. 4A to 4D, only the motor in the first unit A operates, and the motor in the second unit B does not operate. Therefore, during these operations, only the battery in the first unit A is used, and the battery in the second unit B is not used at all. Therefore, when the operation as described above continues, only the battery in the first unit A is consumed, and even though the battery in the second unit finally exists, the entire device cannot be operated. End up.
[0017]
Similarly, to walk only with a quadruped walking structure as shown in FIG. 4 (e), the motor in the unit of the part that moves the foot operates, and therefore the battery in that unit is only consumed. Thus, the batteries in other units are not consumed. Thus, as before, if the battery of a particular unit is exhausted, the entire structure will not work, or other equipment will reconstruct a new structure and move, leaving the equipment not working, etc. Action is required.
[0018]
As described above, in various devices in which a unit is mounted with a battery and a plurality of similar units are used in combination, if the battery of one unit is exhausted, the combined device becomes inoperable. It is similar to occur. This is a battery in a broad sense, such as a fuel cell, in addition to those using a battery as a power supply source for each unit, and is equipped with a substantial generator, and other various generators. The same problem occurs in the provided one.
[0019]
Therefore, the present invention includes a power supply source for each unit of the device, performs a predetermined operation, and in a unit that operates as a unit assembly by combining a plurality of similar units, when the units are combined, Even when power can be supplied from the power supply source of one unit when power cannot be supplied from the power supply source of one unit, the entire device is prevented from becoming inoperable, and a small power supply source is provided. When a large number of units are combined, the object is to perform the same function as that provided with a large-capacity power supply source that collects the power supply sources of all the units.
[0020]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a power supply source, a device that operates by the power of the power supply source, and a control device that controls the device in the unit. In addition, a coupling / detaching device that can be arbitrarily coupled to or detached from another unit, and a power supply source of each unit by connecting in parallel with the power supply source of the other unit when coupled to the other unit The power line connector that can be used, the signal line connector that can be connected to and communicated with the control device of the other unit at the time of coupling with the other unit, and the coupling with the other unit by the coupling / detaching device sometimes, the power distribution-type units of a plurality linkages robot comprising a control means for performing operation that integrates multiple units, sometimes coupled multiple units by connector the power line, 1 It is obtained by the power distributed unit, characterized in that the equipment in the unit is connected to enable the power of the power supply source of the plurality of units coupled in.
[0022]
The invention according to claim 2 is the power distribution type unit according to claim 1, wherein the power supply source is a generator.
[0023]
Further, the invention according to claim 3 is the power distribution type unit according to claim 1, wherein the power supply source is a battery.
[0026]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a basic system of the present invention and an example of its operation. As shown in FIG. 1A, the first unit A has a motor 3 driven by a battery 2 and other various devices. 4 are controlled by a control device 5 that is operated by the same power source, and performs a predetermined operation. The first unit A is provided with a connector group schematically shown in the figure at the left and right parts of the main body, and the concave connectors 7 and 7 on the right side for the power lines 6 and 6 for the battery 2, and the left side in the figure. Convex connectors 8 and 8, the right concave connectors 10 and 10 for the signal lines 9 and 9 for the control device 5, and the left convex connectors 11 and 11 in the drawing.
[0027]
On the other hand, the second unit B has the same configuration as the first unit A, and includes a motor 14 driven by a battery 13 and other various devices 15, which are driven by a control device 16 that is operated by the same power source. It is controlled and performs a predetermined operation. The second unit B is also provided with a connector group at the left and right portions of the main body in the figure, and the concave connectors 18 and 18 on the right side for the power lines 17 and 17 for the battery 13, the convex connectors 19 and 19 on the left side in the figure, , Concave connectors 21 and 21 on the right side in the figure for signal lines 20 and 20 with respect to the control device 16, and convex connectors 22 and 22 on the left side in the figure.
[0028]
When the first unit A and the second unit B as described above are close to each other as indicated by an arrow in FIG. 6A, the power line 6 of the first unit A is finally obtained as shown in FIG. , 6 and the concave connectors 10 and 10 for the signal lines 9 and 9 of the first unit A are coupled to the concave connectors 7 and 7 for the power lines 17 and 17 of the second unit B. The signal lines 20 and 20 convex connectors 19 and 19 of the second unit B are coupled.
[0029]
As a result, the power lines 6 and 6 of the first unit A and the power lines 17 and 17 of the second unit B are connected to form a common power line, whereby the battery 2 of the first unit A and the battery 13 of the second unit B Are connected in parallel. For this reason, the power use device such as the motor 3 of the first unit A and the power use device such as the motor 14 of the second unit B operate using the power of the batteries 2 and 13 connected in parallel. It becomes possible.
[0030]
At the same time, the signal lines 9 and 9 of the first unit A and the signal lines 20 and 20 of the second unit B are connected to form a common signal line, whereby the control unit 5 and the second unit of the first unit A are connected. It becomes possible for the control device 16 of B to control the device while inputting / outputting signals to / from each other. Therefore, in the state shown in FIG. 1B, for example, when the control device 5 of the first unit A performs a predetermined operation, the control device 16 of the second unit B further performs another predetermined operation in conjunction with this operation. Or by operating the control device 5 of the first unit A as a master computer and operating the control device 16 of the second unit B as a slave computer, the entire unit combination is operated as one device. be able to.
[0031]
The above-described operation by combining the units can be performed by combining a large number of units in the same manner. Particularly, from the viewpoint of common use of batteries included in each unit by combining the units, For example, as shown in FIG. 2, the unit U alone operates using a battery B mounted in the unit U as a power source for the motor M that operates the devices in each unit. As a result of unit coupling as shown in FIG. 1, all of the batteries B, B... Are connected in parallel as shown in FIG. Therefore, at this time, each motor M is in a mode in which all the batteries B are used in common, and only a specific battery is not used, so that only a specific battery does not enter a so-called battery rising state. Also in the case shown in FIG. 2, the signal lines are connected as shown in FIG. 1, and the units are controlled in relation to each other.
[0032]
When applying such a configuration in which a plurality of units are combined so that the battery of each unit can be used in common to the unit assembly robot shown in FIG. 3, the first connecting member is used. The convex connector 69 provided for connecting the signal lines provided in each of the four coupling surfaces of the second coupling member 32 and the second coupling member 33 in the drawing, or the concave connector 49 disposed at a position facing the convex connector 69. The signal lines can be easily applied by using only two connectors each for connecting the signal lines, and using the remaining two connectors as power line connectors for connecting the batteries to each other. In this case, unlike the signal line connector, a connector that can flow a relatively large current is used.
[0033]
Accordingly, for example, in an apparatus operating by connecting two units shown in FIG. 3 as shown in FIGS. 4A to 4D, in the process from FIG. 4A to FIG. Thus, only the motor of the unit A is operated. As described above, the power line of each unit is connected by the connector and the signal line is also connected. As a result, for example, each unit is connected as shown in FIG. It will be. Therefore, when the motor in the unit A in FIG. 4 is operated as described above, the battery in the unit B that does not operate at all during the series of operations can be used. Even though the battery has sufficient stored power, only the stored power of the battery in the unit A is consumed, and the unit assembly is not disabled.
[0034]
As described above, the effect of effectively using the entire battery by connecting a plurality of units is that a larger number of units are combined to perform a predetermined operation as shown in FIG. 4E. Is more effective, and when only a part of the unit assembly is operated as a whole, the battery of many units that hardly operate can be used effectively.
[0035]
Naturally, the present invention can be used in the same way when a large number of units having other structures are coupled in addition to a large number of units having the above-described structure, and each unit has a very small size. The same can be applied from the thing to the big thing. Further, in addition to the one using a normal battery as the power source used in the unit, the present invention can be similarly applied to one using a broad battery such as a fuel cell.
[0036]
Further, even in the case of using a power generation device as a power supply source, including a substantial power generation device such as the fuel cell or solar cell, it can be applied in place of the battery of each of the embodiments, and a large number of units. Can be supplemented by the power generator of the other unit to compensate for the shortage of power supplied by one power generator, and even if the energy source in the power generator of one unit is cut off, It becomes possible to drive and operate the power generator of the unit. Therefore, even if the power generation device of each unit is small, it can be operated in the same manner as that provided with a generator that generates large power as a whole. In addition, when providing such a generator, you may equip each unit with the battery which stores the generated electric power further.
[0037]
【The invention's effect】
Since the present invention is configured as described above, the devices in the unit can be operated by the power of the power supply source provided for each unit, and a plurality of similar units are combined to operate as a unit assembly. When a plurality of units are combined in a unit that enables this, the equipment of one unit can also use the power of the power supply source of the other unit, such as a battery of one unit. When power cannot be supplied from a different power supply source, the power can be used when the power supply source of another unit can supply power.
[0038]
In particular, when a large number of these units are combined to perform a predetermined operation as a whole, it is often the case that the unit to be operated is only a specific one. Even if the power supply source provided for each unit is small, the individual unit can be installed in the same state as that provided with a large power supply source as a whole unit assembly. Can be operated.
[Brief description of the drawings]
FIG. 1 is a diagram showing a basic configuration of a unit used in the present invention and a state in which two units are combined, (a) showing a state in which two units are separated and each unit is individually operated; (B) has shown the state which two units couple | bond together and operate | move.
FIG. 2 is a diagram showing a state in which a plurality of units according to the present invention are coupled and a power line and a signal line are connected.
FIG. 3 is an external view of a unit of an automatic assembly robot to which the present invention is applied.
FIG. 4 is a diagram showing a state in which a plurality of units are coupled, wherein (a) to (d) are diagrams sequentially illustrating a state in which two units are coupled and their forms are changed; It is a figure which shows the example which couple | bonded many units and comprised one unit assembly.
[Explanation of symbols]
2, 13 Battery 3, 14 Motor 4, 15 Various devices 5, 16 Control device 6, 17 Power line 7, 18 Concave connector 8, 19 Convex connector 9, 20 Signal line 10, 21 Concave connector 11, 22 Convex connector

Claims (3)

A power supply,
A device that operates with the power of the power supply;
A control device for controlling the equipment in its own unit;
A connecting / disconnecting device that can be arbitrarily connected to and disconnected from other units,
A connector power line that enables common use power supply of each unit connected in parallel to each other and the power supply of the other units at the time of coupling with the other units,
A signal line connector capable of mutual connection and communication with the control device of the other unit when coupled with the other unit;
In a power distribution type unit of a multi-unit coupled robot comprising a control means for performing an operation in which a plurality of units are integrated when coupled with another unit by the coupling / detaching device,
Sometimes combination of a plurality units by connector the power line, the power distributed unit, characterized in that the devices in one unit is connected to enable the power of the power supply source of multiple units attached.   The power distribution type unit according to claim 1, wherein the power supply source is a battery.   The power distribution type unit according to claim 1, wherein the power supply source is a generator.

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