JP5139711B2 - Electromagnetic coupling device - Google Patents

Description

  The present invention relates to an electromagnetic coupling device for transmitting power or signals.

  Patent Document 1 discloses an automatic tool change coupler as an electromagnetic coupling device. This coupler for automatic tool change has a 1st unit attached to the manipulator side, and a 2nd unit to which a tool is attached. The first unit and the second unit are configured to be detachable from each other. The first unit has a cylindrical portion, and a primary coil is fitted into the cylindrical portion. The second unit has a columnar portion that is inserted into the cylindrical portion of the first unit, and a secondary coil is fitted on the columnar portion. In a state where the first unit and the second unit are attached to each other, the primary coil and the secondary coil face each other in a non-contact manner.

  Patent Document 2 discloses a non-contact charger as an electromagnetic coupling device. This non-contact type charger has a charging unit side housing and a charged unit side housing. The charging unit side housing and the charged unit side housing are detachable from each other. The charging unit side housing has a cylindrical convex portion, and a primary coil is fitted into the cylindrical convex portion. The to-be-charged part side housing has a cylindrical recessed part fitted on the cylindrical convex part of the charging part side housing, and a secondary coil is fitted on the cylindrical recessed part. In a state where the charging unit side housing and the charged unit side housing are attached to each other, the primary coil and the secondary coil face each other in a non-contact manner via the charging unit side housing and the charged unit side housing.

  In the electromagnetic coupling device, a core body made of a magnetic material is used. The core body forms a path of magnetic flux generated when the electromagnetic coil is energized.

  Some electromagnetic coupling devices have a detachable structure, such as an automatic tool changer coupler disclosed in Patent Document 1 and a non-contact charger disclosed in Patent Document 2. In an electromagnetic coupling device having a detachable structure, two electromagnetic coupling bodies that can be electromagnetically coupled to each other are respectively held by two base bodies that are configured to be detachable from each other. Each electromagnetic coupling body has an electromagnetic coil and a core body. A gap is formed between the core bodies in a state where the substrates are attached to each other.

Japanese Patent No. 3185095 JP-A-7-106170

  The size of the gap between each core body includes a dimensional error. As described above, since the size of the gap between the core bodies includes a dimensional error, the size of the gap between the core bodies varies from product to product, and the magnitude of the magnetic resistance of the magnetic path varies from product to product. Therefore, there is a problem that a difference in performance occurs between products in terms of power or signal transmission.

  Further, the size of the gap between the core bodies varies with vibration. Thus, when the size of the gap between the core bodies varies, the magnitude of the magnetic resistance of the magnetic path varies. Therefore, there is a problem that the stability of the capability is reduced with respect to power or signal transmission.

  An object of the present invention is to provide an electromagnetic coupling device capable of reducing the difference in capability between products with respect to power or signal transmission and improving stability.

The present invention includes (a) two base bodies configured to be detachable from each other by being relatively displaced in the detachment direction ;
(B) two electromagnetic coupling bodies capable of electromagnetic coupling to each other,
(B1) each having an electromagnetic coil and a core body that forms a path of magnetic flux generated when the electromagnetic coil is energized;
(B11) Each core body is formed so as to extend along the axis, and has a core part to which the electromagnetic coil is fitted,
(B2) Each core body is held by each base body so that each core body faces a facing direction different from the attaching / detaching direction of each base body in a mounted state in which the base bodies are mounted to each other ;
(B3) in the mounted state in which the substrate is mounted to each other in a manner that the axis of each core portion is coaxial, so that each core portion is opposed, and two electromagnetic conjugates that will be held to each base It is an electromagnetic coupling device characterized by including.
In the invention, it is preferable that the facing direction is orthogonal to the attaching / detaching direction.
The present invention includes (a) two base bodies configured to be detachable from each other by being relatively displaced in the detachment direction;
(B) two electromagnetic coupling bodies capable of electromagnetic coupling to each other,
(B1) each having an electromagnetic coil wound around an axis, and a core body that forms a path of magnetic flux generated when the electromagnetic coil is energized,
(B2) In the mounted state in which the substrates are mounted on each other, each of the electromagnetic coils is held on each substrate so that the axis is parallel to the facing direction orthogonal to the attaching / detaching direction,
(B3) Two electromagnetic coupling bodies held by each base body so that each end face of each core body facing the other core body is perpendicular to the facing direction in a mounting state where the base bodies are mounted to each other. And an electromagnetic coupling device.

  The present invention is characterized in that the substrates are attached to and detached from each other while being guided in the attaching / detaching direction in a state where relative displacement in a direction different from the attaching / detaching direction is prevented.

Or the present invention, each base has a conjugate retaining portion facing the opposite direction in the mounting state, respectively,
Each electromagnetic coupling body is held by a coupling body holding portion of each substrate.

Further, the invention is characterized in that each electromagnetic coupling body is electromagnetically coupled to transmit electric power.
According to the present invention, each electromagnetic coupling body transmits signals by electromagnetic coupling.

According to the present invention, the two substrates are configured to be detachable from each other by being relatively displaced in the detachment direction. Each substrate holds two electromagnetic coupling bodies that can be electromagnetically coupled to each other. Each electromagnetic coupling body has an electromagnetic coil and a core body. Each core body has a core part to which an electromagnetic coil is fitted, and the core part is formed to extend along the axis. Each core body opposes in the opposing direction different from the attachment / detachment direction of each base | substrate in the mounting state in which each base | substrate was mounted | worn with each other. Moreover, each core part opposes in the aspect with which the axis line of each core part becomes coaxial in the mounting state in which each base | substrate was mutually mounted | worn. In the mounted state, a gap is formed between the core bodies. Each such core body forms a path of magnetic flux generated by energizing each electromagnetic coil.

  Regarding the attaching / detaching direction, it is necessary to set a large dimensional tolerance compared to a direction different from the attaching / detaching direction due to the structure. In other words, in the direction different from the attaching / detaching direction, the dimensional tolerance can be set smaller than the attaching / detaching direction due to the structure. In consideration of this point, the facing direction of each core body is set to a direction different from the attaching / detaching direction. Thereby, the difference between products can be reduced with respect to the size of the gap between the core bodies, and the difference between products can be reduced with respect to the magnitude of the magnetic resistance of the magnetic path. Therefore, the capability difference between products can be reduced in terms of power or signal transmission.

In addition, in the mounted state, the relative direction between the substrates due to vibration becomes larger in the attachment / detachment direction than the direction different from the attachment / detachment direction due to the structure. In other words, the relative displacement between the substrates due to vibration can be reduced in the mounting state in a direction different from the attaching / detaching direction compared to the attaching / detaching direction. In consideration of this point, the facing direction of each core body is set to a direction different from the attaching / detaching direction. As a result, fluctuation due to vibration can be reduced with respect to the size of the gap between the core bodies, and fluctuation due to vibration can be reduced with respect to the magnitude of the magnetic resistance of the magnetic path. Therefore, the stability of capability can be improved with respect to power or signal transmission.
Further, according to the present invention, since the facing direction of each core body is orthogonal to the attaching / detaching direction, the difference between products is made as small as possible with respect to the size of the gap between the core bodies, and fluctuation due to vibration is made possible. Can be made smaller. Therefore, regarding the transmission of power or signal, it is possible to reduce the difference in capability between products as much as possible and improve the stability of capability as much as possible.
According to the present invention, the two substrates are configured to be detachable from each other by being relatively displaced in the detachment direction. Each substrate holds two electromagnetic coupling bodies that can be electromagnetically coupled to each other. Each electromagnetic coupling body has an electromagnetic coil and a core body wound around the axis. Each electromagnetic coil is mounted in a state in which the substrates are mounted to each other, and the axis of the electromagnetic coil is parallel to the facing direction orthogonal to the attaching / detaching direction. In addition, each end surface of each core body that faces the other core body is perpendicular to the facing direction in a mounting state in which the substrates are mounted to each other. In the mounted state, a gap is formed between the core bodies. Each such core body forms a path of magnetic flux generated by energizing each electromagnetic coil.
Thereby, the difference between products can be made small regarding the magnitude | size of the gap between each core body, and the difference between products can be made small regarding the magnitude | size of the magnetic resistance of a magnetic path. Therefore, the capability difference between products can be reduced in terms of power or signal transmission.
In addition, fluctuation due to vibration can be reduced with respect to the size of the gap between the core bodies, and fluctuation due to vibration can be reduced with respect to the magnitude of the magnetic resistance of the magnetic path. Therefore, the stability of capability can be improved with respect to power or signal transmission.
In addition, since the facing direction of each core body is orthogonal to the attaching / detaching direction, the difference between products should be made as small as possible with respect to the size of the gap between each core body, and the fluctuation due to vibration should be made as small as possible. Can do. Therefore, regarding the transmission of power or signal, it is possible to reduce the difference in capability between products as much as possible and improve the stability of capability as much as possible.

  Further, according to the present invention, when the bases are attached to and detached from each other, the bases are guided in the attaching / detaching direction in a state where relative displacement in a direction different from the attaching / detaching direction is prevented. By configuring the bases in this way, relative displacement between the bases can be prevented in a direction different from the attaching / detaching direction even in the mounted state.

  According to the invention, each combined body holding portion faces the facing direction in the mounted state. Each of the electromagnetic coupling bodies can be held by each of the coupling body holding portions, and thereby each core body can be opposed to the facing direction.

  Moreover, according to this invention, electric power is transmitted when each electromagnetic coupling body electromagnetically couples. Therefore, electric power can be transmitted in a non-contact manner through each electromagnetic coupling body.

  According to the present invention, each electromagnetic coupling body is electromagnetically coupled to transmit a signal. Therefore, a signal can be transmitted in a non-contact manner through each electromagnetic coupling body.

  FIG. 1 is a schematic diagram showing a simplified configuration of an electromagnetic coupling device 1 according to an embodiment of the present invention. FIG. 1A is a diagram in which first and second bases 11 and 21 are mounted on each other. FIG. 1 (2) shows a detached state in which the first and second substrates 11 and 21 are separated from each other. The electromagnetic coupling device 1 according to the present embodiment is an automatic tool changer and is used to transmit electric power to a tool. Electric power is transmitted to the tool via the electromagnetic coupling device 1.

  The electromagnetic coupling device 1 includes first and second structural bodies 10 and 20. The first structure 10 includes a first base body 11 and a first electromagnetic coupling body 12 held by the first base body 11. The second structural body 20 includes a second base body 21 and a second electromagnetic coupling body 22 held by the second base body 21. The first and second bases 11 and 21 are configured to be detachable from each other. The first and second electromagnetic coupling bodies 12 and 22 can be electromagnetically coupled to each other.

  In the mounted state shown in FIG. 1 (1), the first and second electromagnetic coupling bodies 12, 22 are electromagnetically coupled. In the detached state shown in FIG. 1 (2), the electromagnetic coupling of the first and second electromagnetic coupling bodies 12, 22 is released. The first and second electromagnetic coupling bodies 12 and 22 are electromagnetically coupled to transmit electric power. Thus, electric power is transmitted by the first and second electromagnetic coupling bodies 12 and 22 being electromagnetically coupled. Therefore, in the electromagnetic coupling device 1, electric power can be transmitted in a non-contact manner via the first and second electromagnetic coupling bodies 12 and 22.

  The first base 11 is attached to the robot. The first base 11 has a base 13 attached to the robot and a first combined body holding section 14 that is connected to the base 13 and holds the first electromagnetic coupling body 12. The first electromagnetic coupling body 12 includes a first electromagnetic coil 15 and a first core body 16. A power transmission circuit 17 is mounted on the first base 11. The power transmission circuit 17 is electrically connected to the first electromagnetic coil 15.

  The second base 21 is attached to the tool. The second base 21 includes a base 23 attached to the tool and a second combined body holding section 24 that is connected to the base 23 and holds the second electromagnetic coupling body 22. The second electromagnetic coupling body 22 includes a second electromagnetic coil 25 and a second core body 26. A power receiving circuit 27 is mounted on the second base 21. The power receiving circuit 27 is electrically connected to the second electromagnetic coil 25.

  The first and second electromagnetic coils 15 and 25 are configured by winding an electric wire. The first and second electromagnetic coils 15 and 25 are formed in an annular shape. The first and second electromagnetic coils 15 and 25 are coaxial in the mounted state, and are opposed to each other in the opposite direction (hereinafter referred to as “removal direction”) A (hereinafter referred to simply as “removal direction”) A of the first and second base bodies 11 and 21. , Simply referred to as “opposing direction”). In the present embodiment, the facing direction B is orthogonal to the attaching / detaching direction A.

  The first and second core bodies 16 and 26 are made of a magnetic material, and specifically made of ferrite obtained by sintering a powder of the magnetic material. First and second electromagnetic coils 15 and 25 are attached to the first and second core bodies 16 and 26, respectively. The first and second core bodies 16 and 26 form a path for magnetic flux generated when the first and second electromagnetic coils 15 and 25 are energized. The first and second core bodies 16 and 26 face each other in the facing direction B in the mounted state. In the mounted state, a gap is formed between the first core body 16 and the second core body 26.

  The first and second combined body holding portions 14 and 24 are made of a nonmagnetic material. The first and second combined body holding portions 14 and 24 face the facing direction B in the mounted state. The first and second electromagnetic coupling bodies 12 and 22 are held by the first and second coupling body holding portions 14 and 24, respectively, so that the first and second core bodies 16 and 26 face each other in the facing direction B. Can be made.

  The first combined body holding portion 14 is formed with a first storage space in which the first electromagnetic coupling body 12 is stored. An opening is formed in the first storage space. A second storage space in which the second electromagnetic coupling body 22 is stored is formed in the second combined body holding unit 24. An opening is formed in the second storage space. The openings of the first and second storage spaces are opposed to the facing direction B in the mounted state. The openings of the first and second storage spaces are closed by the first and second lid members 19 and 29, respectively. The openings of the first and second storage spaces are closed by the first and second lid members 19 and 29, respectively, so that the first and second electromagnetic coupling bodies 12 and 22 can be protected from dust and water. .

  The first base 11 is provided with a pin 41 extending in the attaching / detaching direction A. The second base 21 is formed with an insertion hole 42 that extends in the attaching / detaching direction A and into which the pin 41 is inserted. Accordingly, the first and second bases 11 and 21 are attached to and detached from each other while being guided in the attaching / detaching direction A in a state where relative displacement in a direction different from the attaching / detaching direction A is prevented. By configuring the first and second bases 11 and 21 in this manner, relative displacement between the first base 11 and the second base 21 is prevented in a direction different from the attaching / detaching direction A even in the mounted state. be able to.

  FIG. 2 is a schematic diagram showing a simplified configuration of the electromagnetic coupling device 51 of the comparative example. FIG. 2 (1) shows a mounting state in which the first and second bases 11 and 21 are mounted to each other. (2) shows a state in which the first and second substrates 11 and 21 are separated from each other. Since the electromagnetic coupling device 51 of the comparative example is similar to the electromagnetic coupling device 1 of the present embodiment, the corresponding parts are denoted by the same reference numerals and description thereof is omitted. The comparative example is different from the present embodiment in that the facing direction B is the same direction as the attaching / detaching direction A, and the other points are the same as the present embodiment.

  Regarding the attaching / detaching direction A, it is necessary to set a larger dimensional tolerance than a direction different from the attaching / detaching direction A due to the structure. In other words, regarding the direction different from the attaching / detaching direction A, the dimensional tolerance can be set smaller than the attaching / detaching direction A due to the structure.

  In consideration of this point, in the present embodiment, the facing direction B is set to a direction different from the attaching / detaching direction A as shown in FIG. Thereby, the difference between products can be reduced with respect to the size of the gap between the first core body 16 and the second core body 26, and the difference between products is reduced with respect to the magnitude of the magnetic resistance of the magnetic path. can do. Therefore, the difference in capability between products can be reduced in terms of power transmission.

  On the other hand, in the comparative example, as shown in FIG. 2, since the facing direction B is the same direction as the attaching / detaching direction A, the size of the gap between the first core body 16 and the second core body 26. The difference between products increases, and the difference between products increases with respect to the magnitude of the magnetic resistance of the magnetic path. Therefore, regarding the transmission of electric power, the capability difference between products becomes large.

  In addition, in the mounted state, the relative displacement between the first base 11 and the second base 21 due to vibration is greater in the attachment / detachment direction A than in the direction different from the attachment / detachment direction A due to the structure. In other words, the relative displacement between the first base body 11 and the second base body 21 due to vibration in the direction different from the attaching / detaching direction A in the mounted state is smaller than that in the attaching / detaching direction A due to the structure. Can do.

  In consideration of this point, in the present embodiment, the facing direction B is set to a direction different from the attaching / detaching direction A as shown in FIG. As a result, the fluctuation due to vibration can be reduced with respect to the size of the gap between the first core body 16 and the second core body 26, and the fluctuation due to vibration can be reduced with respect to the magnitude of the magnetic resistance of the magnetic path. Can do. Therefore, it is possible to improve the stability of the capability with respect to the power transmission.

  On the other hand, in the comparative example, as shown in FIG. 2, since the facing direction B is the same direction as the attaching / detaching direction A, the size of the gap between the first core body 16 and the second core body 26. The fluctuation due to vibration increases, and the fluctuation due to vibration increases with respect to the magnitude of the magnetic resistance of the magnetic path. Therefore, the stability of the capability is reduced with respect to the power transmission.

  As described above, according to the present embodiment, regarding power transmission, it is possible to reduce the capability difference between products and improve the stability of the capability. Furthermore, in the present embodiment, since the facing direction B is orthogonal to the attaching / detaching direction A, the difference between the products is made as small as possible with respect to the size of the gap between the first core body 16 and the second core body 26. In addition, fluctuation due to vibration can be reduced as much as possible. Therefore, regarding the transmission of power, it is possible to reduce the difference in capability between products as much as possible and improve the stability of capability as much as possible. Since such an effect is produced, it is not necessary to incorporate a circuit for suppressing power fluctuations in the power transmission circuit 17 and the power reception circuit 27, thereby reducing the cost.

  According to the present embodiment, since the facing direction B is different from the attaching / detaching direction A, the first and second lid members 19 and 29 are prevented from colliding with each other, and the first and second lid members 19 are prevented. , 29 can be reduced in impact. Therefore, the thickness of the first and second lid members 19 and 29 can be reduced. By reducing the thickness of the first and second lid members 19 and 29, the gap between the first core body 16 and the second core body 26 can be reduced. Thereby, the magnetic resistance in the gap between the first core body 16 and the second core body 26 can be reduced, and the power transmission efficiency can be improved.

  FIG. 3 is a perspective view of the first core body 16. Since the first and second core bodies 16 and 26 are the same, only the first core body 16 will be described, and the description of the second core body 26 will be omitted. The first core body 16 includes a core part 60, first and second wall parts 61 and 62, and first and second connection parts 63 and 64.

  The core part 60 is formed in a cylindrical shape or a columnar shape. In the present embodiment, the core part 60 is formed in a cylindrical shape. Hereinafter, the direction P of the axis 60 of the core 60 is simply referred to as “axis direction P”, and the radial direction Q around the axis L of the core 60 is simply referred to as “radial direction Q”. The circumferential direction R centered at is simply referred to as “circumferential direction R”. The end surface 60 a on the one side P <b> 1 side in the axial direction of the core portion 60 is formed along a virtual plane that is perpendicular to the axial direction P. The first electromagnetic coil 15 is fitted on the core portion 60.

  The first and second wall portions 61, 62 are spaced apart from the core portion 60 in the radially outward direction Q <b> 1 and are disposed on opposite sides with respect to the core portion 60. The first and second wall portions 61 and 62 are formed to extend in the axial direction P and to extend in the circumferential direction R. The surfaces 65 and 66 facing the core portion 60 of the first and second wall portions 61 and 62 are formed along a cylindrical surface coaxial with the core portion 60. The end surfaces 61a and 62a on the one P1 side in the axial direction of the first and second wall portions 61 and 62 are formed along a virtual plane perpendicular to the axial direction P. In the present embodiment, the end surfaces 61a, 62a on the one P1 side in the axial direction of the first and second wall portions 61, 62 and the end surface 60a on the one P1 side in the axial direction of the core portion 60 are included in the same virtual plane. It is. The first and second wall portions 61 and 62 face the first electromagnetic coil 15 from the radially outer side Q1.

  The first connecting portion 63 connects the end portion 61b on the other axial P2 side of the first wall portion 61 and the end portion 60b on the other axial P2 side of the core portion 60. The second connecting portion 64 connects the end 62b on the other axial P2 side of the second wall portion 62 and the end 60b on the other axial P2 side of the core portion 60. The first and second connecting portions 63 and 64 face the first electromagnetic coil 15 from the other axial P2 side.

  Such a 1st core body 16 covers the 1st electromagnetic coil 15 from the radial direction outward Q1 side about a part of circumferential direction R instead of the whole circumferential direction R. Therefore, the first core body 16 can be reduced in size and weight.

  FIG. 4 is an enlarged cross-sectional view showing a butt portion between the core portion 60 of the first core body 16 and the core portion 60 of the second core body 26 in the electromagnetic coupling device 1 shown in FIG. FIG. 5 is an enlarged cross-sectional view showing a butt portion between the core portion 60 of the first core body 16 and the core portion 60 of the second core body 26 in the electromagnetic coupling device 51 shown in FIG. 4 and 5, the first and second lid members 19 and 29 are omitted and hatching is omitted for easy understanding. 4 and 5, the magnetic flux is indicated by broken lines 71 and 72.

  The first and second core bodies 16 and 26 are arranged such that the axial direction P is parallel to the facing direction B. The first and second core bodies 16 and 26 are in the mounted state, and the core portion 60 is coaxial. Further, in the mounted state, the first and second core bodies 16 and 26 are end faces 60a on the one side P1 side in the axial direction of the core part 60 are opposed to each other, and the end face 61a on the one side P1 side in the axial direction of the first wall part 61. The end faces 62a on the one side P1 side in the axial direction of the second wall portion 62 face each other as a whole.

The magnetic resistance Rm is proportional to the length d of the magnetic path and inversely proportional to the cross-sectional area A of the magnetic path. Such a magnetic resistance Rm is expressed by the following equation, where μ is the magnetic permeability of the magnetic path.
Rm = d / (μ · A)

  When the second base body 21 is displaced relative to the first base body 11 in the attaching / detaching direction A due to vibration, the gap 73 between the core part 60 of the first core body 16 and the core part 60 of the second core body 26. The length of the magnetic path at is changed. Here, it is assumed that the relative displacement δx in the attaching / detaching direction A of the second base 21 with respect to the first base 11 is sufficiently small. At this time, it can be considered that there is no change in the cross-sectional area A of the magnetic path in the gap 73.

  As shown in FIG. 4, when the facing direction B is orthogonal to the attaching / detaching direction A, even if the second base 21 is relatively displaced with respect to the first base 11 in the attaching / detaching direction A, the relative displacement δx can be sufficiently small. For example, the magnetic path length d in the gap 73 hardly changes, and the magnetic resistance Rm in the gap 73 hardly changes.

  On the other hand, as shown in FIG. 5, when the facing direction B is the same direction as the attaching / detaching direction A, when the second base 21 is relatively displaced with respect to the first base 11 in the attaching / detaching direction A, the relative displacement The length d of the magnetic path in the gap 73 changes by δx, and the magnetic resistance Rm in the gap 73 changes greatly.

  The same applies to the gap between the first wall portion 61 of the first core body 16 and the first wall portion 61 of the second core body 26, and the second wall of the first core body 16. The same applies to the gap between the portion 62 and the second wall portion 62 of the second core body 26. According to the present embodiment as described above, since there is almost no change in the magnetic resistance Rm in each gap between the first core body 16 and the second core body 26, the stability of the capability is high with respect to power transmission. Become. On the other hand, in the comparative example, since the magnetic resistance Rm in each gap between the first core body 16 and the second core body 26 changes greatly, the stability of the capability is lowered with respect to power transmission.

  FIG. 6 is a view showing a facing region 81 where the first wall portion 61 of the first core body 16 and the first wall portion 61 of the second core body 26 face each other, and FIG. The case where the wall part 61 is arrange | positioned substantially parallel with respect to the attachment / detachment direction A is shown, FIG.6 (2) shows the case where each 1st wall part 61 is arrange | positioned substantially perpendicularly with respect to the attachment / detachment direction A. FIG. In FIG. 6, the opposing region 81 is hatched for easy understanding. Further, in FIG. 6, in order to facilitate understanding, each first wall portion 61 is shown without being curved although it is gently curved.

  When the first wall portions 61 are arranged substantially parallel to the attaching / detaching direction A, the second base body 21 is compared with the case where the first wall portions 61 are arranged substantially perpendicular to the attaching / detaching direction A. Changes relative to the first base 11 in the attaching / detaching direction A, the change in the area of the facing region 81 is small.

  In view of this point, in another embodiment of the present invention, the first and second core bodies 16 and 26 are arranged so that the first wall portions 61 are substantially parallel to the attaching / detaching direction A. . Thereby, the change of the cross-sectional area A of the magnetic path in the gap between the first wall portion 61 of the first core body 16 and the first wall portion 61 of the second core body 26 can be made as small as possible. Therefore, the change in the magnetic resistance Rm due to the change in the cross-sectional area A of the magnetic path in the gap can be made as small as possible.

  The same applies to the gap between the second wall portion 62 of the first core body 16 and the second wall portion 62 of the second core body 26. According to the present embodiment, the change in the magnetic resistance Rm in the gap between the first wall portions 61 and the gap between the second wall portions 62 can be further reduced. Capability stability can be further improved.

  Each of the embodiments described above is merely an example of the present invention, and the configuration can be changed within the scope of the present invention. For example, the first and second electromagnetic coupling bodies 21 and 22 may transmit signals by electromagnetic coupling. In this case, electric power can be transmitted in a non-contact manner via the first and second electromagnetic coupling bodies 21 and 22. In such an embodiment, regarding the signal transmission, it is possible to reduce the capability difference between products and improve the stability of the capability.

It is a schematic diagram which simplifies and shows the structure of the electromagnetic coupling device 1 which is one Embodiment of this invention. It is a schematic diagram which simplifies and shows the structure of the electromagnetic coupling apparatus 51 of a comparative example. 4 is a perspective view of a first core body 16. FIG. FIG. 2 is an enlarged cross-sectional view illustrating a butt portion between a core portion 60 of a first core body 16 and a core portion 60 of a second core body 26 in the electromagnetic coupling device 1 illustrated in FIG. 1. FIG. 3 is an enlarged cross-sectional view showing a butted portion between a core portion 60 of a first core body 16 and a core portion 60 of a second core body 26 in the electromagnetic coupling device 51 shown in FIG. 2. It is a figure which shows the opposing area | region 81 where the 1st wall part 61 of the 1st core body 16 and the 1st wall part 61 of the 2nd core body 26 mutually oppose.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Electric power transmission apparatus 11 1st base | substrate 12 1st electromagnetic coupling body 14 1st coupling body holding part 15 1st electromagnetic coil 16 1st core body 21 2nd base | substrate 22 2nd electromagnetic coupling body 24 2nd coupling body holding part 25 1st 2 electromagnetic coil 26 second core body

Claims (3)

(A) two substrates configured to be detachable from each other by being relatively displaced in the detaching direction ,
(A1) having a first base to which a robot is attached and a second base to which a tool is attached;
(A2) two bases to which electric power is transmitted between the first base and the second base by mounting the first base and the second base in the attaching / detaching direction;
(B) two electromagnetic coupling bodies capable of electromagnetic coupling to each other,
(B1) having an electromagnetic coil, and a first core body on the first base side and a second core body on the second base side that form a path of magnetic flux generated when the electromagnetic coil is energized ,
(B11) A predetermined gap is formed between the first core body and the second core body so that electric power is transmitted in a non-contact manner between the first base body and the second base body. As well as
(B1 2 ) Each of the first core body and the second core body is formed to extend along an axis, and each has a core portion on which the electromagnetic coil is fitted.
(B2) Even if the first base body and the second base body are separated from each other in the attaching / detaching direction, the size of the predetermined gap formed between the first core body and the second core body is set. as can be maintained, in the mounted state in which the first substrate and the second substrate is mounted to each other in a manner that the first core member and the second core member is opposed to the detachable direction in a direction substantially orthogonal, While being held by the first base and the second base ,
(B3) In a state in which the first base and the second base are attached to each other, the first base and the core are opposed so that the cores face each other in a mode in which the axes of the cores are coaxial. Two electromagnetic coupling bodies held by the second substrate ;
In Rukoto provided with, as the first substrate and the second substrate is spaced the detachable direction, small variations in power transferred contactlessly between the first substrate and the second substrate Electromagnetic coupling device that made it possible .   Each substrate has a combined body holding portion facing in a direction substantially orthogonal to the attaching / detaching direction in the mounted state,
  The electromagnetic coupling device according to claim 1, wherein each electromagnetic coupling body is held by a coupling body holding portion of each base body.   The electromagnetic coupling device according to claim 1, wherein each electromagnetic coupling body transmits a signal by electromagnetic coupling.

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