JPH06133411A - Power supply device for working robot - Google Patents

Abstract

PURPOSE:To enable continuous use without receiving the constraint of the ranges of movement and an object and keep the working accuracy of a working robot without scaling up a device for obtaining a power source. CONSTITUTION:The power supply device has a working robot 20 having a small-sized capacitor 25 and conducting various operation, an electric-power supply-charging robot 30 having a large-sized capacitor 33, being connected to the working robot 20 through a junction device 28 and supplying electric power, an automatic power supply device supplying and charging electric power to the electric-power supply-charging robot 30 and a controller 40 obtaining the signal of a small quantity of residual power of the small-sized capacitor 25 and performing control for supplying the working robot 20 with electric power from the electric-power supply-charging robot 30.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a power supply device for a work robot performing various works such as inspection and remote control.

[0002]

2. Description of the Related Art Conventionally, as a power feeding method for a mobile robot, there are an external power feeding method, a contact current collecting method, a storage battery method, a generator mounting method and the like. The external power supply system is a system in which power is supplied directly from the power supply device 2 to the robot 3 through the electric wire cable 1 as shown in FIG. The contact current collecting method is a method in which power is supplied from the power supply device 4 to the robot 7 through the live cable 5 and the contactor 6, as shown in FIG.

Further, in the above storage battery system, as shown in FIG. 5, a power storage device 9 is built in the robot 8 to supply electric power, and the battery cannot be regenerated by charging once the stored electric power is consumed. There is a case where a certain primary battery is used and a case where a secondary battery which can repeatedly discharge and charge is used.

In the above-described generator mounting system, as shown in FIG. 6, the internal combustion machine 10 rotates the generator 11 to generate electric power and use it as a power source. Further, in FIG. 6, the hydraulic source 12 sends pressure oil to a hydraulic system (not shown), the voltage of the generator 11 is controlled by the voltage control circuit 13, and the current from the generator 11 is rectified by the rectifier circuit 14. The electric power is stored in the power storage device 15 and is stabilized by the stabilizing power supply circuit 16.

[0005]

However, in the external power feeding method shown in FIG. 3 and the contact current collecting method shown in FIG.
Since it is necessary to lay, pull, store, and process cables and the like, the movement range of the robot is greatly restricted, and at the same time, there is a problem that accessibility to an object is reduced.

Further, in the storage battery system shown in FIG. 5, when a primary battery is used, it must be replaced after power consumption, and therefore cannot be continuously used. If long-term use and high output are required, the battery capacity must be increased accordingly, and it is difficult to reduce the size and weight of the robot 8.

On the other hand, when a secondary battery is used, it needs to be charged due to power consumption, but the work may have to be interrupted at the time of charging. It is impossible. Even if the work is not interrupted during charging, if the work target is far from the charging device, charging must be performed via a cable or the like. At the same time as being received, the accessibility to the object is also reduced.

Further, in the generator mounting system shown in FIG.
An internal combustion engine, a generator, various control devices, and various circuits are required, which makes it difficult to reduce the size and weight of the robot body.
In addition, since the internal combustion engine produces noise, vibration, and exhaust gas, environmental pollution is unavoidable, and especially for outdoor use, environmental equipment for the subject must be considered. , We must deal with problems other than power supply equipment. In addition, there is a problem that noise and vibration often interfere with inspection or remote work, which is the original purpose of the robot.

The present invention has been made in consideration of the above-mentioned circumstances, and relates to a work robot, which can be continuously used without being restricted by the movement / target range, and a device for obtaining a power source becomes large. It is an object of the present invention to provide a power supply device for a work robot that avoids the above problem and does not impair the original work accuracy of the work robot.

[0010]

In order to solve the above-mentioned problems, a power supply device for a work robot according to the present invention has a work robot having a small power storage device for performing various works, and a large power storage device. A charging / charging robot that is connected to a work robot via a joining device to supply power, an automatic power supply device that charges / charges this charging / charging robot, and a signal indicating a small amount of residual power of the small power storage device from the working robot to supply And a control device for performing control for supplying power from the charging robot to the work robot.

[0011]

In the present invention having the above structure, since the work robot has the small power storage device, the cable and the like are not required, and therefore the movement range is not restricted and the accessibility to the object is improved. In addition, since the work robot body does not need to be equipped with a large power storage device or a generator, it is possible to reduce the size and weight.

Furthermore, it is possible to perform continuous work for a long time without requiring time for charging other than the intended work. Further, unlike the case where a generator or the like is mounted, vibration and noise do not occur, and therefore workability due to power supply is not deteriorated.

[0013]

Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show an embodiment of a power supply device for a work robot according to the present invention. In FIG. 1, a power supply device for a work robot includes a work robot 20 for performing various tasks such as inspection and remote control, a charging / charging robot 30 for charging / charging the work robot 20, and a work robot 20.
And a control device 40 for controlling the charging / charging robot 30.

The work robot 20 has a moving mechanism 21, a work arm 22, and an inspection sensor 23 required for performing work, and a signal receiving device 24 for receiving a control signal A from a control device 30. A small power storage device 25 that charges electric power and a signal transmission device 26 that generates a signal C with a small amount of residual power of the small power storage device 25 are provided.

The charging / charging robot 30 includes a moving mechanism 31 and
A signal receiving device 32 that receives the control signal B from the control device 40 and a large power storage device 33 that is charged from the automatic power supply device 50 are provided.

The control device 40 includes a signal receiving device 41 for receiving the signal C with a small amount of residual power transmitted from the signal transmitting device 26 of the work robot 20, a signal processing device 42 for processing the signal, a work robot 20 and Signal transmitter 43 for transmitting signals A and B for controlling the charging / charging robot 30
It has and.

Further, one of the flexible connecting devices 27 is attached to the work robot 20, and the other of the connecting devices 27 is attached to the charging / charging robot 30. Both of these connecting devices 27 are joined via a joining device 28. Then, the connecting device 27 is also attached to the automatic power supply device 50, and the connecting device 27 is joined to the connecting device 27 of the charging / charging robot 30 via the joining device 28.

Next, the operation of this embodiment will be described.

The work robot 20 obtains the control signal A from the control device 40 through the signal receiving device 24 and performs the work by the moving mechanism 21 while consuming the electric power in the small power storage device 25.

In the meantime, the charging / charging robot 30 charges the built-in large power storage device 33 from the automatic power feeding device 50 through the connecting device 27 and the joining device 28 as shown in FIG.

Further, when the amount of electric power in the built-in small power storage device 25 becomes small, the work robot 20 transmits a signal C notifying the state from the signal transmission device 26 to the control device 40. Then, the control device 40 receives the signal C by the signal receiving device 41 and processes it by the signal processing device 42.
The charging / charging robot 30 is supplied with an instruction signal D for charging / charging the work robot 20 through the signal receiving device 32.

Thereafter, the charging / charging robot 30 is controlled by the control device 40.
In response to the instruction from, the moving mechanism 31 approaches and connects to the work robot 20. Electric power is supplied to the connected work robot 20 from the large power storage device 33 built in the charging / charging robot 30 via the connecting device 27 and the joining device 28. The supplied electric power charges the small power storage device 25 incorporated in the work robot 20.

In this way, while the work robot 20 is being charged, the work robot 20 can perform the original intended work while the charging / charging robot 30 is connected. After the charging / charging work for the work robot 20 is completed, the charging / charging robot 30 returns to the automatic power feeding device 50 again and the large power storage device 33 via the coupling device 27 and the joining device 28.
To charge.

The work robot 20 again performs the target work independently. Then, as soon as the amount of power in the small power storage device 25 becomes small, the small power storage device 25 is charged by the charging / charging robot 30 as described above.

As described above, according to this embodiment, since the work robot 20 is supplied with electric power by the charging / charging robot 30, no cable or the like is required. Also, the work robot 2
The electric power can be obtained by mounting only the small power storage device 25 on the main body 0. Furthermore, the charging / charging of the charging / charging robot 30 does not require the work robot 20 body to spend time for charging / charging.

Therefore, since it is not necessary to lay and treat cables and the like, the movement range is not restricted, and the accessibility to the work object is improved. Further, since the work robot 20 main body can secure electric power only by mounting the small power storage device 25, it is possible to reduce the size and weight. further,
It is possible to perform continuous work for a long time without requiring time for charging and charging other than the target work.

[0028]

As described above, according to the power supply device for a work robot according to the present invention, a work robot having a small power storage device for performing various works, and a joining device for the work robot having a large power storage device. A charging / charging robot that is connected via a power supply, an automatic charging device that charges / charges the charging / charging robot, and a work robot from the charging / charging robot that receives a small amount of residual power signal of the small power storage device from the working robot. Since the work robot is equipped with a control device that controls the power supply, it can be used continuously for a long time without restricting the movement and target range of the work robot, and the work robot becomes larger to acquire a power source. It is possible to avoid this and to reduce the size and weight, and as a result, it is possible to dramatically improve the work efficiency.

Further, since there are no factors such as noise and vibration caused by the power feeding device that hinder the original purpose of the robot,
It is possible to prevent the work accuracy from decreasing.

[Brief description of drawings]

FIG. 1 is a schematic configuration diagram showing an embodiment of a power supply device for a work robot according to the present invention.

FIG. 2 is a schematic configuration diagram showing a state in which the work robot of FIG. 1 is being charged and charged.

FIG. 3 is a schematic configuration diagram showing a first conventional example of a power supply device for a work robot.

FIG. 4 is a schematic configuration diagram showing a second conventional example of a power supply device for a work robot.

FIG. 5 is a schematic configuration diagram showing a third conventional example of a power supply device for a work robot.

FIG. 6 is a block diagram showing a fourth conventional example of a power supply device for a work robot.

[Explanation of symbols]

 20 Work Robot 21 Moving Mechanism 22 Working Arm 23 Inspection Sensor 24 Signal Receiving Device 25 Small Power Storage Device 26 Signal Transmitting Device 27 Connecting Device 28 Joining Device 30 Charging / Robot 31 Moving Mechanism 32 Signal Receiving Device 33 Large Power Storage Device 40 Control Device 41 signal receiving device 42 signal processing device 43 signal transmitting device 50 automatic power supply device

Claims (1)

[Claims] 1. A work robot having a small power storage device for various kinds of work, a charging / charging robot having a large power storage device which is connected to the work robot via a joining device to supply power, and a charging / charging robot. An automatic power supply device for charging, and a control device for performing control for obtaining a signal of a small amount of residual power of the small power storage device from the work robot to supply power to the work robot from the charge / charge robot. Power supply device for work robot.