JPS61128703A - Vehicle power supply system - Google Patents

Abstract

PURPOSE:To simultaneously operate and work in a vehicle by disposing an electrode plate on a moving area, and laying an insulating sheet thereon, and providing a spikelike or pinlike electrode in the vehicle. CONSTITUTION:When one 12 of two legs of a robot walking with the two legs contacts the ground, spike-like electrode group 13 provided on the back 12a of the leg 12 are protruded into an insulating sheet 5 on the surface by the weight of the robotto make contact with an electrode plate 2. When the leg contacts the ground, a ground contact sensor 7 operates to flow a current to a coil 6b so that an attracting operation occurs between an electromagnet 6 and the plate 2. Voltages of different polarity are alternately applied to the plate 2. The outputs of the electrodes 13 contacted with the plate 2 are supplied through diodes connected in anti-parallel.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a power supply system for supplying power to a mobile object such as a traveling robot that moves freely within a fixed movement area.

[Conventional technology]

BACKGROUND ART Conventionally, power has been supplied to a mobile object such as a traveling robot that moves freely within a fixed moving area by connecting a power cable to the mobile object or by mounting a storage battery on the mobile object. However, the former method has disadvantages in that the cable obstructs the movement of the moving object and that a heavy cable is passed around once, placing a large load on the moving object.In addition, the latter method is equipped with a storage battery, so it is difficult to move the moving object. As the body becomes larger and heavier, there are disadvantages in that it is busy, the operating time is limited depending on the capacity of the storage battery, and a predetermined charging time is required.

Therefore, a large number of electrode plates are placed within a predetermined movement area, a robot is provided that travels within this movement area, and a plurality of electrodes connected to rectifying elements are provided on the legs of this robot. 2. Description of the Related Art A mobile device configured to supply power to a robot via an electrode plate and an electrode element has been proposed.

[Problems to be solved]

This mobile device is excellent in that it can operate continuously without connecting cables that would impede movement and without installing a storage battery. However, in this mobile device, all of the many electrode plates are exposed on the moving surface, so transport vehicles or workers other than the mobile object to which power is supplied cannot operate the mobile object. During the operation, that is, when current is flowing through the electrode plate, it was not possible to stand on the electrode plate and perform work at the same time as the moving body was operating.

Father, if the moving object is a robot that runs on two legs like a human, it is difficult to maintain balance while moving.
There was a problem that the mechanism became complicated.

[Means for solving problems]

The present invention has been made in view of the above-mentioned circumstances, and includes disposing a large number of electrode plates made of magnetic material on the moving area surface, laying an insulating sheet on the upper surface to cover the electrode plates, and An electromagnet is installed on the sole of the foot, and an electrode group consisting of spike-shaped or pin-shaped electrodes is installed at a position that does not interfere with the electromagnet, and these electrode groups are pierced through an insulating sheet to make contact with the electrode plate. The composition is as follows. With this configuration, even when power is supplied to the electrode plate and the moving object is in operation, a carrier vehicle or a worker can stand on the electrode plate and work at the same time as the moving object. At the same time, the feet of the moving body are attracted to the surface of the moving area by electromagnets, allowing stable running while maintaining balance.

〔Example〕

Next, embodiments of the present invention will be described based on the drawings.

Fig. 1 is a perspective view of the nut flow side applied to a bipedal running robot, Fig. 2 is an enlarged sectional view of the main part showing the contact state between the electrode plate and the electrode in the above-mentioned running robot, and Fig. 3 is FIG. 4 is an explanatory diagram showing the connection relationship between the electrode plate and the electrode element, and FIG. 4 is a circuit diagram of the power feeding system.

The power supply system of this embodiment shown in these drawings is applied to a bipedal robot 11, which is a moving body 10 that moves freely on a predetermined moving area surface 1, and electrodes made of a magnetic material are installed on the moving area surface 1. A large number of plates 2.2t are arranged, an insulating sheet 5 is laid on the top surface, and an electromagnet 6 is attached to the foot part.
Spike-shaped or pin-shaped electrode elements 13a, . . . , 1
The mobile body 10 is provided with an electrode group 13 made up of 3r.

Electrode plate 2.2 Vi is formed of a conductive plate made of a magnetic and electrically conductive material such as iron or nickel, and is placed on the moving area surface l with an insulator 3 made of synthetic resin or the like sandwiched therebetween. Many are arranged in parallel. The distance between adjacent electrodes is set to be at least as long as the maximum width of the contact surface of the electrode in order to prevent one of the electrodes described later from simultaneously contacting an adjacent electrode plate 2.2 and causing a short circuit. The sum of this interval and the width of the 11j electrode plate 2 is set so that the electrode groups described later can simultaneously contact electrode plates 2.2 having different polarities.

These electrode plates 2Vi are each connected to a power source 4. In this case, the electric sign boards 2 arranged in parallel are alternately connected to the anode and cathode of the W source 4 in order to make the polarities of the adjacent electrode plates 2.2 different.

Note that the electrode plate 2 is not limited to a band shape, but may be rectangular to square, elliptical to circular, or ring-shaped or any other suitable shape. and,
These can be arranged in a matrix or concentrically. Alternatively, the portion of the insulator 3 may simply be a gap.

The insulating sheet 5 is made of an insulating material such as rubber, synthetic resin, or cloth that is flexible enough to be penetrated by a spike-shaped electrode to be described later.

The insulating sheet 5 is pasted and laid over the entire upper surface of the electrode plate 2.2 in the movement area surface 1 at several positions with an even thickness. Note that the thickness of the insulating sheet 5 is set such that complete insulation is ensured and the thickness of the moving body foot portion 12 described later is
It is sufficient that the electrode plate 2.2 has a thickness that allows the magnetic force of the electromagnet 6 to reach the electrode plate 2.2, and a thickness that allows the electrode elements 13a, . . . , 13r to penetrate through the electrode plate 2.2.

The electromagnet 6 installed in the robot is composed of an iron core 6a and a coil 6b, and the soles 12a of both legs 12.12 are arranged as attraction surfaces, and when the coil 6b is energized, magnetic flux is generated in the iron core 6a. , the electrode plate 2 is attracted through the insulating sheet 5. The coil 6b is energized by a control device (not shown).
This is done alternately on the left and right sides based on control signals from the. That is, when one of the feet 12 touches the surface of the moving area, the ground sensor 7 is activated, and the control device turns on the switch (not shown) of the coil 6b of the foot 12 in response to this signal. Then, the switch (not shown) of the coil 6b of the other leg portion 12 is turned off to stop the current supply. As a result, the former leg 12 is attracted and fixed to the electrode plate 2 by magnetic force and becomes a support leg, and the latter leg 12 loses its magnetic force and is released, becoming a free leg. The robot 11 supports its weight with support legs and maintains its balance, and moves forward or backward by sending its free legs back and forth.

In this embodiment, an electromagnet 6 is provided at the center of the sole surface 12a of the foot.
Of course, it is not limited to the central government;
Multiple pieces may be provided on one leg 12^.

The electrode group 13 includes a plurality of electrodes 13a, . . . , 13r.
These electrode elements 13a, . . . , 13r are formed into a tapered spike shape. The pole 13a
,...

The shape of 13r may be a bottle shape or the like in addition to a spike shape. And these electrode elements 13a,
. . , 13r is provided so as to be freely retractable via a suppression spring 12C in a storage portion 12b provided at a position that does not interfere with the electromagnet 6 on the back surface 12a of the foot portion of the robot 110. Note that the pressing spring 12C is omitted and the electrodes 13a, .
It is also possible to attach 13r to the sole surface of the foot 12aK:@.

The electrode elements 13a, . . . , 13r are arranged insulated from each other, and in this embodiment, except for the part where the electromagnet 6 is provided, they are arranged in a matrix. However, the arrangement of the electrodes 13a, . . . , 13r is of course not limited to this. For example, in the case of a multi-legged robot,
It is possible to configure each foot portion to correspond to one electrode element. Father, electrode 13a.

..., 13ri! The cross section is not limited to a circular cross section, but may be a non-circular cross section.

Each of the electrode elements 13a, . . . , 13rKFi and diodes 14.15 are connected. Diode 14°15
are connected in opposite directions to each electrode 13a, . Power supply terminals 17a and 17bK: Connected with corresponding polarity. However, each diode 14.
15, power terminals 17a and 17 are connected individually without common connection.
It may be connected to b.

A robot 11 to which this embodiment is applied runs on two legs using legs 12, performs forward, backward, turning, etc. operations according to instructions from an operator, and uses an electric motor as its main driving source. The electrode group 13 is provided on both legs 12.12 so that power can be supplied from either of them. The mobile power supply section 16 is a circuit that converts the supplied power into voltage and current suitable for each power source such as the electric motor and control device in the robot 11, and may be equipped with a small storage battery, battery, etc. if necessary. good.

Next, the operation of this embodiment will be explained.

Now, the robot 11 is running on two legs, and one of its legs 12
When the robot touches the ground, the spike-shaped electrode #13 provided on the back surface 12a of the foot 12 sticks through the insulating sheet 5 due to the weight of the robot 11 and comes into contact with the electrode plate 2.2. Then, at the same time as the earth is grounded, the ground sensor 7 is activated, energizing the coil 6b and creating an adsorption action between the electromagnet 6 and the electrode plate 2.2, firmly holding the foot 1z of the robot 110 between the electrode plates 2 and 2.
Kii will arrive first. At this time, each electrode element 13a,...
13r and the electrode plate 2.2 are in the state shown in FIG. 3, the electrodes 13a, 13b, 13
e, 13f, 1 gol.

13m, 131), 13Q are in contact with the electrode plate 2 of the anode, respectively, and electrode elements 13c, 13d, 13
h, 13j, and 13o are electrode plates 2, each of which is a cathode.
Kokura and others contribute to the energization. Other electrodes 13g
, 13i, 13k, 13n.

13r falls on the insulator 3 and does not contribute to current flow.

Here, if we take out and explain 13f and 13j as an arbitrary pair from the electrode element on the anode side and the electrode element on the cathode side, first, in the electrode element 13f, the diode 14 is opposite to the electrode element 4. direction, and the diode 15 is in the forward direction, so the power supply terminal 17 is connected via the diode 15.
A current flows through a. On the other hand, in the electrode element 13j, the diode 14 is in the forward direction and the diode 5 is in the opposite direction with respect to the electric current 14, so that a current flows from the power supply terminal 17b via the diode 14.

Furthermore, if the robot 11 moves and the foot 12 also moves, for example, the electrodes 13f and 131 come into contact with the electrode plate 2 having the opposite polarity to the front, then the relationship between the forward and reverse directions of the diodes 14 and 15 will be different from the above. It will be the opposite. However, even in this case, the magnetism at the power supply terminals 171.17b remains unchanged.

The above relationship is exactly the same for other electrodes.

That is, the diodes 14 and 15 form a bridge rectifier circuit by connecting arbitrary electrodes with different polarities (x3f, 13j in the above case). Therefore, even if the polarity of the electrode plate in contact with each electrode changes as the robot 11 moves, DC power of constant polarity can always be obtained at the power terminals 17a and 17b. Furthermore, even if the power source 4 is an alternating current source, the bridge rectifier path prevents rectification, so it can be used in the same way as a direct current power source.

Note that the present invention is applicable not only to the simple supply of power, but also to the case where, for example, power and mobile control signals are sent and received at the same time. In this case, by providing means for coupling and separating the power supply current and transmission/reception signals on the moving area surface side and the moving object side, the moving area surface side and the moving object can be connected at any position within the moving area. power and signals are exchanged between the two.

〔Effect of the invention〕

As explained above, the present invention arranges a large number of magnetic electrode plates on the surface of the moving area, lays an insulating sheet on the upper surface of the electrode plates, and installs an electromagnet and a plurality of electromagnets on the moving body. An electrode group consisting of spike-shaped or pin-shaped electrodes is provided, and an electromagnet causes an adsorption effect, and the electrode group is inserted into an insulating sheet and brought into contact with an electrode plate. In addition, when the moving body is in operation, even when current is flowing through the electrode plate, the moving vehicle or a person, etc. is placed on the electrode plate, and the moving body It has the effect of being able to perform cropping at the same time as the operation.

[Brief explanation of drawings]

The drawings show an embodiment of the present invention. Fig. 1 is a perspective view of the embodiment applied to a bipedal robot, and Fig. 2 shows a state of contact between the electrode plate and the electrode in the above-mentioned mobile robot. FIG. 3 is an explanatory diagram showing the connection relationship between the electrode plate and the electrode element, and FIG. 4 is a circuit diagram of the power supply system.

Claims (1)

[Scope of Claims] A power supply system for supplying power to a moving object that freely moves within a certain moving area, wherein a large number of magnetic electrode plates are arranged at predetermined intervals within the moving area. At the same time, each of the electrode plates is connected to a power source while changing the polarity alternately, an insulating sheet is laid on the top surface of the many electrode plates, and an electromagnet is placed on the back of the foot of the moving body. At the same time, a plurality of electrode elements are provided in a mutually insulated state so as to be able to come into contact with the electrode plate by piercing the above-mentioned insulating sheet at positions that do not interfere with the electromagnet, and each of the electrode elements is provided with a rectifying element. A mobile body power supply system characterized in that the commutators are connected with their orientations changed as appropriate, and the other ends of each commutator are connected to mobile body power supply terminals with their polarities corresponding to each other.