JPH042487A - Robot for electric power using device - Google Patents

Abstract

PURPOSE:To make a movable part compact and light-weight and to facilitate control of motion of the movable part, by using a composite energy converting device which jointly owns one part of the magnetic materials used for a motor as the magnetic core of a transformer. CONSTITUTION:The direction of a lamp 1 can be changed by composite energy converting devices 6, 7 and servomotor 27. The power to this lamp 1 is fed to the stationary side coil 24 of a transformer through a transmission cable 25 by a control unit 30 as power and sent to a primary movable part 32 by a movable side coil 23. The power fed to this primary movable part 32 is passed through a separation/mixing device 17 and cable P and fed to a secondary movable part 33. Moreover the magnetic core of the external side of the composite energy converting device consisting of external side 6 and internal side 7 is used as the magnetic core of the transformer, the power fed to the secondary movable part 33 is fed to the transformer from an input terminal 8, the power subjected to voltage converting is taken out of an output terminal 5 and fed to the lamp 1.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot for power-using equipment.

[Prior Art] Recently, there has been an increase in the number of devices using robots, and there is a strong demand for devices to be made more compact. Equipment such as FA and OA,
In order to convert most of the supplied power into the voltage for use, a transformer is always used, and in order to perform mechanical movement, actuators such as electric motors are often used.

In addition, electric motors are used not only as drive devices, but also as power generators, such as DC motors, to provide a braking effect. In order to save energy, some are equipped with a generator.

Most robots have multiple degrees of freedom, and the objects that are moved by robots include not only the objects they are trying to move, but also actuators such as electric motors. Therefore, it is important to reduce the weight and size of electric motors and the like.

The objects to be moved are not only objects, but also often devices that require electric power, such as welding equipment. Therefore, it is necessary to send power to the object that the robot is trying to move, and power must be sent to the movable parts using a cable.

In the case of large amounts of power, the diameter of the power transmission cable is large even if the power is to be transmitted to the moving parts, which not only hinders the movement of the robot but also causes the cable to break. Therefore, electric power is generally transmitted by converting it into a high voltage and low current, reducing the diameter of the power transmission cable, and then converting it to a usable voltage using a transformer. In this case, the transformer uses high-frequency power transmission to reduce its size and weight.

As mentioned above, electric motors and transformers are used in a common location, and their weight and size can cause problems when used in robots, etc., or when equipment space is limited. In many cases, cable breakage between the movable part and the fixed part also poses a problem.

[Problems to be Solved by the Invention] The present invention uses a composite energy conversion device in which a part of the magnetic material used in the electric motor is shared as the magnetic core of the transformer, thereby reducing the overall weight and size. This was done to reduce the size and to make the connection between the movable part and the fixed part wireless.

[Means for Solving the Problems] The gist of the present invention is as follows: 1. A composite energy conversion device is used in which a part of the magnetic material used in the electric motor is shared as the magnetic core of the transformer. robot for power-using equipment.

2. The robot for power-using equipment as described in item 1 above, characterized in that the movable part uses a composite energy key conversion device that shares a part of the magnetic material used in the electric motor as the magnetic core of the transformer.

3. The robot for power-using devices according to item 1 or 2 above, characterized in that it moves a power-using device and sends electric power to the power-using device.

4. A robot for power-using equipment, characterized in that power is supplied from the fixed side to the movable side using a transformer in which the fixed side winding and the movable side winding share a magnetic core.

5. A transformer that supplies power from the fixed side to the movable side, in which the fixed side winding and the movable side winding share a common magnetic core, can be used as a transmission device for transmitting electrical signals between the movable side and the fixed side. 4. The robot for a power-using device according to item 4 above, which is used for both purposes.

6. A robot for power-using equipment according to item 4 or 5 above;
A robot for a power-using device, characterized in that the robot for a power-using device according to item 1.2 or 3 above is used at the same time.

It is in.

The present invention will be explained in detail below.

First, a composite energy key conversion device is a device that shares part of the magnetic material used in the electric motor as the magnetic core of the transformer, and has both the functions of an electric motor and the function of a transformer. It is equipped with a winding wire for the device. A part or all of the windings of the motor may be provided in the core hack part, or a part of the windings of the motor may be shared by the primary winding and the secondary winding of the transformer. It is preferable to set the frequency at which the transformer operates to be equal to or higher than the maximum frequency used for the electric motor, since mutual operations are not affected. It is preferable that the sum of the magnetic flux changes acting as a transformer and the magnetic flux changes acting as an electric motor be 90% or less of the saturation magnetization.

Here, the material used for the shared magnetic core may be any soft magnetic material, including commonly used electromagnetic steel sheets, magnetic materials whose main component is iron, nickel, cobalt, etc., their alloys, and soft magnetic materials. It is a magnetic material such as ferrite or amorphous magnetic material, and its manufacturing method and shape are not limited. Preferably, a magnetic material with high magnetic permeability and low iron loss improves the efficiency and high frequency performance of electric motors, etc., and is preferably a plate-shaped magnetic material with a thickness of 0.2 mm or less, and a wire with a diameter of 0.2 mm or less. It is preferable to use a magnetic material having an electric resistance of 50 μΩcm or more, or a magnetic material subjected to magnetic domain refining treatment.

A motor consists of a field and an armature, and is an electromechanical power converter that converts electrical power into mechanical power or mechanical power into electrical power by converting between the current flowing through the armature windings and the magnetic flux generated by the field. It converts synchronous machines, induction machines, DC equipment, etc., such as rotating machines and linear machines. It does not matter if it uses magnets or does not use magnets.

The transformer of the present invention is composed of a primary winding and a secondary winding, and is used for converting voltage or current, and is usually single-phase, but depending on the structure of the motor, it may be three-phase or other. Polymorphic ones are also possible.

Using such a complex energy conversion device, we will build a robot for power-using devices.

Power-using device robots are devices that require electricity,
That is, the power-using device is moved to a predetermined position or made to perform a predetermined motion using an actuator such as an electric motor. Devices that use power include actuators such as electric motors, light sources such as lights, sound sources such as speakers, heating sources such as heaters, welding machines, etc., their controllers, and other devices that supply power to moving parts. Any device that requires this may be used. Here, the actuator such as an electric motor includes an electric motor that moves a power-using device.

When a power-using device is placed in a movable part, a transformer may be required in the movable part. In such a case, if the movable part has an actuator such as an electric motor, replacing the transformer on the movable side with a composite energy conversion device together with the actuator such as the electric motor on the movable side can greatly reduce the weight.

Furthermore, when a device that requires electric power is placed in a movable part, it may be necessary to make it wireless. In this case, power is supplied from the fixed side to the movable side using a transformer in which the fixed side winding and the movable side winding share a magnetic core. The magnetic core may be on the movable side or the fixed side, and if it is on the fixed side, the weight of the movable part will be reduced. Further, the shape of the magnetic core is determined by the movement of the movable part to obtain the most optimal shape, and furthermore, the winding on the movable side and the winding on the fixed side can be made compact.

The magnetic core may be made of any soft magnetic material, including commonly used magnetic steel sheets, magnetic materials containing iron as a main component, nickel, cobalt, etc., and alloys thereof.
It is a magnetic material such as soft ferrite or amorphous magnetic material, and the manufacturing method and shape are not limited. Preferably, high transparency M
It is preferable to use a magnetic material with a low i-rate and iron loss because it improves efficiency. A plate-like magnetic material with a thickness of 0.2 mm or less, a linear magnetic material with a diameter of 0.2 mm or less, and an electrical resistance of 50 μΩc
It is preferable to use a magnetic material having a diameter of m or more or a magnetic material subjected to magnetic domain refining treatment.

A transformer in which the fixed side winding and the movable side winding share a common magnetic core supplies power from the fixed side to the movable side, but this transformer not only sends power from the fixed side to the movable side. It may also be used as a transmission device for sending electrical signals to the movable part. The electrical signal may be not only a signal for controlling a power-using device, but also a signal to be transmitted to a device of another movable part. Electrical signals can be used as is if they can be directly transmitted, but with an amplitude of 1
The information may be transmitted by frequency or pulse modulation methods.

[Effects of the Invention] The robot for power-using devices of the present invention allows power-using devices to
It is used to move to a predetermined position or make a predetermined movement using an actuator such as an electric motor.When using an actuator such as a transformer and electric motor for the movable part, the transformer and electric motor on the movable side By replacing actuators such as the above with a composite energy conversion device, the moving parts become more compact, leading to further weight reduction. Therefore, by reducing the weight, the motion of the movable part can be easily and accurately controlled, and power efficiency is also improved.

When moving an actuator such as an electric motor, a light emitting source such as a light, a sound source such as a speaker, a heating source such as a heater, a welding machine, etc., power is transmitted from the fixed side to the movable side. When transmitting power from the fixed side to the movable side,
In order to reduce the diameter of the power transmission cable, power is transmitted at a high voltage, and the voltage is converted by a transformer in the moving part to a predetermined voltage before use. In this case, the power-using device robot of the present invention can be used, and the power efficiency and precision movement of the device are significantly improved.

In addition, when placing a device that requires power on a moving part, power can be supplied from the fixed side to the movable side using a transformer in which the fixed side winding and the moving side winding share a magnetic core. This makes it possible to make the movable part and the fixed part wireless, eliminating the risk of disconnection of the power transmission cable that transmits power from the fixed side to the movable side, and eliminating the loss of precision in the movement of the movable part due to the cable. In addition, this transformer not only sends power from the fixed side to the movable side, but can also be used as a transmission device to send electrical signals to the movable part, making it possible not only to wirelessly transmit power but also to transmit electrical signals wirelessly. It has become very effective.

[Embodiment] FIG. 1 shows an embodiment of a robot for a power-using device according to the present invention, which controls the direction of a light, which is a power-using device. FIG. 2 is a sectional view taken along line a-a of FIG. 1.

In the figure, 31 is a fixed part, 32 is a primary movable part connected to the fixed side, and 33 is a secondary movable part connected to the primary movable part. 1 is a light that supplies power and whose direction is to be changed; 2 is an arm that holds the light 1; 3 is an input terminal of the light 1; and 4 is a cable that transmits power to the light 1. 6.7 has a motor function on the outside and inside of the composite energy conversion device, and 6 also has a transformer function. 5 and 8 are respectively the secondary side output terminal and the primary side input terminal of the transformer of the composite energy conversion device, 1] is the power input terminal that drives the motor function of the composite energy conversion device, and 14 is the direction This is a signal output terminal.

9, I2 are power transmission cables for the light and motor function operating power of the combined energy conversion device, which are input from the separation and mixing device to the combined energy conversion device, respectively; 15 is a power transmission cable for transmitting the direction signal output from the combined energy conversion device to the separation and mixing device; It's a cable. 17 is a device that separates and mixes the power supplied to the light, the motor function of the complex energy key conversion device, that is, the power for driving the secondary movable part, and the direction signal;
10° and 13 are terminals for outputting the electric power supplied to the light and the electric motor function of the composite energy conversion device, that is, the driving power for the secondary movable part, respectively; 16 is the input terminal for the direction signal;
Reference numeral 8.19 denotes a common terminal and cable for supplying power to the light and the motor function of the composite energy conversion device, that is, power for driving the secondary movable part, and for outputting a direction signal. 21 and 22 are arms that respectively support a composite energy key conversion device and a transformer for transmitting power and signals between the fixed side and the primary movable side.

23, 24.26 is the power between the fixed side and the primary movable side,
These are the movable winding, fixed winding, and magnetic core of a transformer that transmits signals. A cable 25 connects the drive device and a transformer for transmitting power and signals between the fixed side and the primary movable side. 27 is a servo motor that moves the primary moving part; 28
is something that fixes the servo motor 27 and the magnetic core 26,
29 is a cable connecting the servo motor and the drive device.

30 is a drive control device that supplies power to the lights, drives the complex energy conversion device, and the servo motor.

The direction of the light 1 can be changed by a composite energy conversion device 6.7 and a servo motor 27. Power to the light 1 is supplied as electric power from the control device 30 to the fixed winding 24 of the transformer through the power transmission cable 25, and then to the movable winding 24.
3, it is sent to the primary movable side.

The electric power sent to the primary movable side passes through the separation/mixing device 17 and the cable 9, and is sent to the secondary movable side. The magnetic core on the external side of the composite energy conversion device consisting of the external side 6 and the internal side 7 is used as the magnetic core of the transformer, and the power sent to the secondary movable side is sent to the transformer from the input terminal 8, where it is converted into voltage. Electric power is extracted from the output terminal 5 and supplied to the light 1. Power is sent from the control device 30 to the input terminal 8 on the secondary movable side of the composite energy conversion device using high voltage and low current.
Cable 9 should be thin. The cable 4 contains a large amount of current, which is converted into a large current by the transformer of the complex energy conversion device.
Although a large current flows, the cable 4 forms a secondary movable part with the light 1 and the external side 6, which is the secondary movable side of the composite energy conversion device, and is integrated, so there is no problem such as disconnection.

A servo motor 27 for changing the direction of the light 1 is controlled by a control device 30 through a cable 29.

The other device, which changes the direction of the light 1, uses the electric motor function of the complex energy conversion device, which is connected to the control device 30 via the cable 25 and the fixed winding 24 of the transformer.
, the movable winding 23 and the separation/mixing device 17. In this case, the direction detection signal is taken out from the direction signal output terminal 14 of the composite energy conversion device, passes through the signal cable 15, the separation/mixing device 17, the movable winding 23 of the transformer, the fixed winding 24, and the cable 25. Sent to control circuit. In this case as well, the connection between the fixed side and the primary movable side is wireless, and there is no problem of disconnection.

Power is simultaneously sent from the drive device 30 to the light 1 and the composite energy conversion device 6.7 through the cable 25, the fixed winding 24 of the transformer, and the movable winding 23, but the frequencies used are different. Since the design is as follows, the signals are separated by a separation/mixing device and outputted to individual output terminals 1O113. Further, the signal output from the direction signal output terminal of the composite energy converter is also transmitted to the light 1 and the composite energy converter 6.7 at the same time as the power is transmitted to the movable winding 23 and the fixed winding 24 of the transformer in the opposite direction. , and is sent to the drive device 30 through the cable 25. This used frequency is also set to a frequency band that can be separated from the power transmission frequency to the light 1 and the composite energy conversion device 6.7, and the separation/mixing device 17 transmits power to the light 1 and the composite energy conversion device 6.7. The control circuit 30 separates the signal and outputs it as a direction signal.

[Brief explanation of drawings]

Fig. 1 is an embodiment of a robot for a power-using device that controls a light, and Fig. 2 is a sectional view taken along line a-a in Fig. 1. 1...Light, 2...Light holding arm , 6.7・
...External side and internal side of the composite energy conversion device, 17
...Separation and mixing device, 23...Movable side winding, 24-.
- Fixed side winding, 26... Magnetic core, 27... Servo motor, 30... Drive control device, 3I... Fixed part, 32
...Primary moving part, 33...Secondary moving part

Claims (1)

[Scope of Claims] 1. A robot for power-using equipment, characterized in that it uses a composite energy conversion device in which a part of the magnetic material used in the electric motor is shared as the magnetic core of the transformer. 2. The robot for power-using equipment according to claim 1, characterized in that a composite energy conversion device in which a part of the magnetic material used in the electric motor is shared as the magnetic core of the transformer is used for the movable part. 3. The robot for a power-using device according to claim 1 or 2, characterized in that the robot moves a power-using device and sends electric power to the power-using device. 4. A robot for power-using equipment, characterized in that power is supplied from the fixed side to the movable side using a transformer in which the fixed side winding and the movable side winding share a magnetic core. 5. A transformer that supplies power from the fixed side to the movable side, in which the fixed side winding and the movable side winding share a common magnetic core, can be used as a transmission device for transmitting electrical signals between the movable side and the fixed side. 5. The robot for power-using equipment according to claim 4, wherein the robot is used for both purposes. 6. A robot for a power-using device according to claim 4 or 5;
A robot for a power-using device, characterized in that the robot for a power-using device according to claim 1, 2 or 3 is used at the same time.