JPH11355906A - Non-contact feeding device and uniaxial robot using the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a non-contact feeding mechanism which improves the power generating efficiency with a pickup coil, by reducing leakage flux in a magnetic member, and which makes it possible to use a power supply having general commercial power source frequency for the supply of electric power to a feeder line. SOLUTION: EI-shaped core 1 has two through-holes to form virtually closed magnetic paths. Passing the two through-holes of the EI-shaped core 1, primary windings 2 are laid along a path on which the EI-shaped core 1 moves. Furthermore, secondary windings 5 are wound as a pickup coil on the center pole of the EI-shaped core 1. In this structure, an AC current supplied from a commercial power supply to the primary windings 2 induces electric power in the secondary windings 5, and the induced power is supplied to powerdemanding parts including a motor 7.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a non-contact power supply device and a one-axis robot using the same.

[0002]

2. Description of the Related Art A device that performs a linear motion in one axis direction (hereinafter, referred to as a linear motion robot) is widely used in the transportation and positioning of articles, and such a linear motion robot is shown in FIG. A type that draws such a power line or a type that uses a current collector as shown in FIG. 7 is well known.

In the type in which the power line is dragged as shown in FIG. 6, a power line 103 for supplying power from an AC power supply 101 when the moving unit 102 moves on the base 104.
Will be dragged. In such a type of linear uniaxial robot, since the moving unit 102 reciprocates by dragging the power line 103, problems such as disconnection of the power line 103 and generation of dust occur.

In the type using the current collector shown in FIG.
When the moving unit 202 reciprocates on the base 204, power is supplied from the AC power supply 201 to the moving unit 202 via the power supply rail 203 and the current collecting unit 205. Therefore, the power cable is not dragged unlike the uniaxial linear robot shown in FIG. However, in the type using the current collector, the energizing rail 203 and the current collector unit 2 are used.
Since the current collectors 05 wear due to contact with each other, maintenance is indispensable. Further, the problem of generation of dust due to abrasion of a contact object during the reciprocating operation of the moving unit 202 is inevitable.

In order to solve the above-mentioned problems, a non-contact power supply mechanism which enables non-contact power supply has been disclosed in Japanese Patent Laid-Open No. Hei.
207606 and JP-A-8-126107. This non-contact power feeding mechanism will be briefly described with reference to FIG. As shown in FIG. 8, the two concave portions of the E-shaped magnetic member 301 mounted on the moving body 300
A power supply line 303 is laid along the moving path of the moving body 300 using the support portions 304a and 304b. Also, E
A pickup coil 302 is wound around the center pole of the mold magnetic member 301. In this state, a high-frequency AC current is caused to flow through the power supply line 303, so that the E-shaped magnetic member 301 is formed.
, An alternating magnetic flux is generated. When the alternating magnetic flux links with the pickup coil 302, an induced electromotive force is generated in the pickup coil 302, and power is supplied to the moving body 300.

[0006]

However, in the above-mentioned non-contact power feeding mechanism, since the E-shaped magnetic member 301 has the E-shaped shape, the passage (magnetic path) of the magnetic flux does not become a closed path, and the leakage magnetic flux is reduced. As a result, the power generation efficiency of the pickup coil decreases. In general, the feed line 3
03 is formed by winding a conductor once.
The feed line 30 is supplied by a commercial AC power supply of about z to 60 Hz.
When the power is supplied to the power supply 3, the magnetic member 301 is in a magnetically saturated state, a large amount of exciting current flows, and wasteful power is consumed.

In order to prevent such power waste, Japanese Patent Application Laid-Open Nos. Hei 5-207606 and Hei 8-126107 disclose.
In the publication, a high-frequency power supply is provided to supply a high-frequency current to the power supply line 303. As described above, the conventional non-contact power supply device requires a high-frequency conversion circuit, and therefore, the size of the device is increased. Also, Japanese Patent Application Laid-Open No. 8-12610
No. 7 proposes to reduce the inductance and the leakage magnetic flux by narrowing the interval between the feed lines 303, but if such a method is adopted, the shape of the feed line 303 or the shape of the magnetic member is proposed. Will be limited.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and reduces a leakage magnetic flux in a magnetic member to improve power generation efficiency by a pickup coil, and a general commercial power supply for supplying power to a power supply line. It is an object of the present invention to provide a wireless power supply device capable of using a power supply having a frequency.

Another object of the present invention is to provide a single-axis robot which realizes maintenance-free operation by suppressing disconnection of power lines and generation of dust by applying the non-contact power supply device according to the present invention. It is in.

[0010]

Means for Solving the Problems In order to achieve the above object, a non-contact power supply according to one aspect of the present invention has, for example, the following configuration. That is, a magnetic member having at least two through holes and forming a substantially closed magnetic path, and a primary winding laid along the path through which the magnetic member moves through the two through holes. And a secondary winding wound around the magnetic member. Then, an electric power induced in the secondary winding by supplying an alternating current to the primary winding is supplied to a power demanding unit.

According to another aspect of the present invention for achieving the above object, there is provided a uniaxial robot having the following configuration. That is, a moving body having at least two through holes and forming a substantially closed magnetic path, on which a magnetic member wound with a secondary winding is mounted, and a rail for determining a moving path of the moving body A primary winding that is laid so that the magnetic member can move along the path through which the moving body passes through the two through holes, and an AC current that flows through the primary winding to cause the secondary winding to flow. And a moving mechanism for moving the moving body on the rail using electric power induced in a next winding.

[0012]

Preferred embodiments of the present invention will be described below with reference to the accompanying drawings.

FIG. 1 is a diagram for explaining the principle of the contactless power feeding mechanism according to the present embodiment. In FIG. 1, reference numeral 1 denotes an EI type core, which is made of a magnetic material such as a silicon steel plate. Reference numeral 2 denotes a primary winding, which is laid along the moving direction of the EI type core 1 and supplied with electric power from a commercial power supply 3. The primary winding 2 has a plurality of turns. A commercial power supply 3 supplies power to the primary winding 2. A switch 4 turns on / off the power supply from the commercial power supply 3 to the primary winding 2. Reference numeral 5 denotes a secondary winding wound around the center pole of the EI type core 1 and functions as a pickup coil. When power is supplied from the commercial power supply 3 to the primary winding 2, an alternating magnetic flux passing through the secondary winding 5 is generated in the EI type core 1, and as a result, an induced electromotive force is generated in the secondary winding 5. 6
Is a motor controller, which operates by receiving supply of electric power generated in the secondary winding 5. Reference numeral 7 denotes a motor, which is driven under the control of the motor controller 6. Reference numeral 8 denotes a rotary encoder that detects the angle of the rotation axis of the motor 7 and
The detection signal is provided to the motor controller 6. The motor controller 6 controls the rotation operation of the motor 6 based on a detection signal from the rotary encoder 8. The power demanding unit that consumes the power obtained from the secondary winding 5 is not limited to a motor controller or the like, and a plurality of power demanding units may be provided.

According to the non-contact power feeding mechanism described above, E
By using the I-shaped core 1, the path (magnetic path) of the magnetic flux generated when an alternating current flows through the primary winding is closed.
For this reason, the leakage magnetic flux is extremely reduced as compared with the conventional E-shaped core, and the generation efficiency of the induced electromotive force in the secondary winding 5 is improved. Also, since the primary winding 2 has a plurality of windings, the primary winding 2 can be supplied by an AC power supply having a frequency of about the normal commercial power supply frequency.
, It is possible to keep the exciting current small, and wasteful power consumption is reduced. Therefore, a high-frequency power supply is not required, and the size of the device can be reduced.

Next, a uniaxial linear motion robot provided with the above-described non-contact power feeding mechanism will be described below. 2 to 5 are views for explaining the configuration of the single-axis linear motion robot according to the present embodiment. FIG. 2 is a partially cutaway perspective view of the single-axis linear motion robot according to the present embodiment. FIG. 4 is a side view of the uniaxial linear motion robot according to the present embodiment, and FIG. 5 is a top view of the uniaxial linear motion robot according to the present embodiment. FIG. 3 is a cross-sectional view taken along the line CC of FIG. 4, and FIG.
It is sectional drawing. FIG. 4 is a sectional view taken along the line AA of FIG.

Reference numeral 10 denotes an outer case of the uniaxial linear motion robot. Reference numeral 11 denotes a slider unit, which incorporates the EI type core 1 and the motor unit 60 described with reference to FIG.
The motor unit 60 includes a motor controller 6,
A motor 7 and a rotary encoder 8 are provided. Reference numeral 12 denotes a tool mounting base on which various work tools can be mounted. The tool mounting base is the slider 11
It is fixed to. Reference numeral 13 denotes a pulley whose shaft portion is fixed to the slider portion 11. The pulley 13 is shown in FIG.
As is clear from FIG. 4, it is provided at four places below the slider part 11. Reference numeral 14 denotes a pinion gear, which is connected to the rotation shaft of the motor 7 via a predetermined gear structure. Reference numeral 15 denotes a rack gear, which meshes with the pinion gear 14. 16 is a rail, and the pulley 13 is a rail 16
Roll on

According to the configuration of the uniaxial linear robot described above,
By driving the motor 7 to rotate, the pinion gear 14 rotates at a predetermined gear ratio, and the slider portion 11 moves on the rail 16 by meshing with the rack gear 15. The position of the rail 16 and the relationship between the width of the rail 16 and the width of the pulley 13 are adjusted so as to maintain the meshing between the pinion gear 14 and the rack gear 15.

Reference numeral 17 denotes a winding case for housing the primary winding 2. The winding case 17 houses the primary winding 2 therein as shown in FIG. 3 and forms a loop as shown in FIG. 5 to correspond to a plurality of turns of the primary winding 2.
As shown in FIG. 4, the winding case 17 is supported and fixed to the outer cover 10 at both ends of the outer cover 10 by support members 18a and 18b. Note that the winding case 17 can be attached to the outer cover 10 without any support member.
May be directly fixed to the inner wall surface of the vehicle. In addition, an opening 17 a for taking in a wiring for forming the primary winding 2 is provided in a part of the winding case 17.

The winding case 17 passes through an opening provided in the slider section 11 and is fixed inside the EI.
It passes through the through hole of the mold core 1. A secondary coil (pickup coil) is wound around the center pole of the EI core 1 as described above with reference to FIG. 1, and is connected to the motor controller 6 in the motor unit 60. Therefore, when an alternating current flows through the primary winding, an induced electromotive force is generated in the secondary winding, and the motor controller 6 and the motor 7 are driven. The secondary winding can also supply electric power for driving an actuator mounted on the tool mounting base 12 by wiring to the tool mounting base 12 as necessary.

The above-described uniaxial linear motion robot is
It is only an application example of the non-contact power feeding mechanism, and it goes without saying that various modifications are possible. That is, the electric power supplied from the non-contact power supply mechanism shown in FIG.
Any mechanism may be used as long as it has a mechanism that converts the EI type core 1 into a driving force for moving the fixed moving body.

Although the secondary winding 5 is wound on the center pole of the EI type core 1 in the above embodiment, the secondary winding may be wound on another part of the EI type core 1. Further, the shape of the magnetic material is not limited to the EI type, and
It is sufficient if it has at least two through-holes for letting through and has a shape that forms a substantially closed magnetic path.

In the above-described embodiment, the drive control of the uniaxial linear motion robot is performed by, for example, a servo system constituted by the motor controller 6, the motor 7, and the rotary encoder 8, but the present invention is not limited to this. For example, position detection may be performed using a photo sensor, a proximity sensor, or the like.

[0023]

As described above, according to the present invention,
Since the leakage magnetic flux in the magnetic member is reduced, the power generation efficiency of the pickup coil is improved. Further, a power supply having a general commercial power supply frequency can be used for supplying power to the power supply line.

Further, according to the present invention, the maintenance-free operation is realized by suppressing the disconnection of the power line and the generation of dust.
An axis robot is provided.

[0025]

[Brief description of the drawings]

FIG. 1 is a diagram illustrating the principle of a non-contact power feeding mechanism according to an embodiment.

FIG. 2 is a partially cutaway perspective view of the uniaxial linear motion robot according to the present embodiment.

FIG. 3 is a front view of the uniaxial linear motion robot according to the present embodiment.

FIG. 4 is a sectional view taken along the line AA of FIG. 3;

FIG. 5 is a top view of the uniaxial linear motion robot according to the present embodiment.

FIG. 6 is a diagram illustrating a general device that performs linear motion in one axial direction.

FIG. 7 is a diagram illustrating a general device that performs linear motion in one axial direction.

FIG. 8 is a diagram illustrating a conventional non-contact power feeding mechanism.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 EI type core 2 Primary winding 3 AC power supply 4 Switch 5 Secondary winding 6 Motor unit 10 Outer case 11 Slider part 12 Tool mounting base 13 Pulley 14 Pinion gear 15 Rack gear 16 Rail 17 Winding case 18a, 18b Support member

Claims (5)

[Claims] 1. A magnetic member having at least two through holes and forming a substantially closed magnetic path, and a primary member laid along a path through which the magnetic member moves through the two through holes. A winding, and a secondary winding wound around the magnetic member, wherein an electric current induced in the secondary winding is supplied to a power demanding unit by passing an alternating current through the primary winding. Non-contact power supply device. 2. The non-contact power supply device according to claim 1, wherein the primary winding has a plurality of turns. 3. The non-contact power supply device according to claim 1, wherein the magnetic member is an EI type magnetic material, and the secondary winding is wound around a center pole thereof. 4. A moving body having at least two through holes and forming a substantially closed magnetic path, on which a magnetic member wound with a secondary winding is mounted, and a moving path of the moving body. A rail to be determined, a primary winding that is laid so that the magnetic member can move along a path along which the moving body passes through the two through holes, and passing an alternating current to the primary winding. And a moving mechanism for moving the moving body on the rail by using electric power induced in the secondary winding. 5. A motor driven by receiving the electric power, a pinion gear fixed to the motor,
The single-axis robot according to claim 4, further comprising a rack gear that meshes with the pinion gear.