(1) 1260259 玖、發明說明 【發明所屬之技術領域】 本發明，是有關機械手臂系統。 【先前技術】 習知技術之機械手臂系統，是爲了安裝於產業用機械 手臂的手腕之工具上的感測器之信號確認和傳動裝置的電 源供給’從機械手臂控制盤等使信號電纜等之電纜設置於 機械手臂內部或外部。 因此’上述機械手臂系統，由於電纜之存在在機械手 臂的動作產生限制，根據情況因爲電纜切斷會有生產和作 業線上停止的間題。 因此’導入機械手臂系統的業界，正期待開發機械手 臂之動作範圍限制少，難以發生生產和作業線上停止的機 械手臂系統。 【發明內容】 【發明所欲解決之問題】 因此，本發明，其課題是提供一種機械手臂系統，針 對機械手臂之動作範圍限制少，難以發生生產和作業線上 的停止。 【解決問題之手段】 本發明之機械手臂系統，是使安裝於機械手臂之手腕 -5- 1260259 (2) 的工具及控制盤之間的資訊相互交往藉由無線通訊進行的 機械手臂系統。分別設有含資訊通訊形成工具側之電源的 蓄電池及充電於蓄電池之充電器複數個。在前述蓄電池設 有自動交換機構，可將連接側從工具交換到充電器或相反 地交換。安裝於工具側之蓄電池的電量變少的話則使該蓄 電池充電移轉到空的充電器，並且工具接受已充電的其他 蓄電池。 本發明之機械手臂系統，進而，當蓄電池安裝於工具 側時’蓄電池與工具側之電源用配線形成通電連接狀態， 當蓄電池安裝於充電器側時，蓄電池與充電器側之充電用 配線形成通電連接狀態。 此外，上述發明之機械手臂系統及其他目的、作用和 效果，參考以下之圖面加以說明可更加明暸。 【實施方式】 【發明之實施形態】 第1圖是本發明之一實施形態的機械手臂系統之槪念 圖。 對於該機械手臂系統之基本構成加以說明。該機械手 臂系統，如第1圖所示，使安裝於機械手臂R之手腕的工 具3及控制盤4之間的資訊相互往來藉由無線通訊所構成 。該機械手臂系統，各設有2個含資訊通訊形成工具3 側之電源的蓄電池1及充電於蓄電池的充電器2，並且在 前述蓄電池1設有自動交換機構1 a，將連接側從工具3 -6- 1260259 (3) 側可交換到充電器2或其相反。而且，安裝於工具3側之 蓄胃、池1的電量變少，則使該蓄電池1充電，返回到成空 白勺％ m器2 ’並且將充電後的其他蓄電池1從充電器2在 Π：具3側接受。此外，本實施形態，在作業時2個充電器 2及1個蓄電池〗安裝於充電盤5，而1個蓄電池丨形成 安裝於工具側3側的狀態下。 機械手臂系統之各主要部的構成，如下。 蓄電池1，如第2圖所示，具有用來與電源用配線通 電連接的接點銷P 1、P 1，及用來與充電用配線通電連接 的接點銷P 2、P 2。 又’在該電池1，如第2圖所示具備上述的自動交換 機構1 a。該自動交換機構1 a，如同圖所示，具備：在中 央部具有空間部10a的本體10;使前述本體10貫通在左 右進退自如且在兩端部設有周溝1 1 a、1 1 b的軸體Π ;安 裝於前述空間部1 0 a之中央部且收容於空間部1 0 a的板體 1 2 ;將前述板體〗2彈推於左側的彈簧1 3 ;將軸體1 1彈 推於左側的彈簧1 4 ;及，在前述本體1 〇之兩端部設成旋 轉自如且尖部嵌入於前述周溝1 1 a、1 1 b的卡止用凸輪板 15、 16。 充電器2，如第1圖和第2圖所示，具備設有空間21 插入自動交換機構1 a之左端部且設有上述卡止用凸輪板 1 6 ' 1 6及形成卡止和非卡止狀態的保持具本體2 0，進而 ，具備在充電用配線成爲通電連接狀態的接點銷P3、P3 (4) 1260259 工具3，於此特別使用何物並無特定記載，但該工具 3如第1圖和第2圖所示，譬如設有感測器3 a、傳動裝置 3 b、無線通訊手段3 c，又，具備用來保持上述蓄電池1 及具備於此之自動交換機構1 a的保持具本體3 0。 保持具本體30，與上述保持具本體20同樣構成’如 第2圖所示設有空間3 1插入自動交換機構1 a之右側端部 且設有上述卡止用凸輪板1 5、1 5及形成卡止和非卡止狀 態的卡止用銷3 2。進而，具備在電源用配線成爲通電連 接狀態的接點銷P4、P4。 此外，上述感測器3 a之確認信號，或從機械手臂控 制盤4之傳動裝置3b的動作信號等，是藉由無線通訊手 段3 c及機械手臂控制盤4之無線信號的相互往來而進行 〇 充電盤5，如第2圖所示，具備有氣缸5 0，使其輸出 軸5 1出沒，介於自動交換機構1 a將蓄電池1從工具3側 交換於充電器2側，或其相反。 將蓄電池1從工具3側移動於充電器2側或其相反的 態樣加以說明。於此，首先連接於工具3側之蓄電池1， 介於自動交換機構1 a，對於如何從工具3側朝向充電器2 側移動，而且，安裝於充電器2側之蓄電池1如何移動到 工具側簡單加以說明。 首先，當蓄電池1必要充電的情況下，對於蓄電池1 從工具3側朝向充電器2側移動加以說明。 (5) 1260259 (1 ) •蓄電池1連接於工具3側的狀態（第2圖） 該狀態下，藉由彈簧1 3、1 4的彈力使軸體1 1以最大 限度移動於左側，與前述軸體1 1卡合的卡止用凸輪板1 5 、1 5與卡合用銷3 2、3 2形成卡合狀態。因此，蓄電池1 形成堅固地安裝於工具3的狀態。 此外，該狀態下藉由接點銷P1、P 1及接點銷P4、P4 的接觸使蓄電池1及電源用配線形成通電連接狀態’蓄電 池1成爲傳動裝置3 b和感測器3 a動作必要的電源。 (2 )·自動交換機構1 a之左端側插入於空間2 1的狀態 (第3圖） 該狀態是蓄電池1連接於充電器2側的準備狀態，卡 止用凸輪板1 5、1 5是與卡合用銷3 2、3 2卡合狀態的情況 。因此，蓄電池1堅固地安裝於工具3側的狀態。 (3 ) •蓄電池1連接於充電器2側的狀態（第4圖） 該狀態下，推壓於輸出軸5 1的軸體1 1是以最大限移 動於右側，與前述軸體1 1卡合的卡止用凸輪板1 5、1 5是 與卡止用銷3 2、3 2形成非卡合狀態同時卡止用凸輪板1 6 、1 6是與卡止用銷22、22形成卡合狀態。因此蓄電池1 堅固地安裝於充電器2側的狀態。 (4 ) •工具3從充電器2側分離的狀態（第5圖） 從上述（3 )的狀態使工具3從充電器2側分離，則 -9 - (6) 1260259 蓄電池1從工具3卸下，並存留在充電器2。 此外，該狀態下藉由接點銷P2、P2及接點銷P3、P3 的接觸使蓄電池1及電源用配線形成通電連接狀態，並對 蓄電池1開始充電。 - 其次，對於將安裝於另外充電器2側的其他蓄電池1 . 安裝於工具側的情況加以說明。 (5 )·將工具3之保持具本體3 0的空間3 1，使安裝於 · 另外充電器2之狀態的自動交換機構1 a之右端側外插（ · 參考第4圖、第5圖） 此時，使氣缸5之輸出軸5 0後退，藉由彈簧i 3、14 之彈力使軸體1 1移動到左側，其結果，卡止用凸輪板1 5 、15形成與卡止用銷32、32卡合狀態同時卡止用凸輪板 1 6、1 6與卡止用銷2 2、2 2形成非卡合狀態（參考第3圖 )° 因此蓄電池1堅固地安裝於工具3側的狀態。 春 該狀態下，將工具3從充電器2分離，則蓄電池1從 充電池2卸下，並移動到工具3存留於此。 (6 ) ♦從上述（1 )〜（5 )該機械手臂系統，將蓄電池1 可容易在短時間交換。 該機械手臂系統是如上述所構成，從控制盤4朝向工 具3由於不存在電攬，所以機械手臂之動作範圍的限制少 ，具有所謂難以發生生產和作業線上停止的優點。 -10- (7) 1260259 上述實施形態，將蓄電池1及充電器2作爲二個，但 並不限定於此二個以上亦可。該情況下，在工具3可安裝 二個蓄電池1的形式。 【發明效果】 本發明由於如上述的構成，所以可提供機械手臂之動 作範圍的限制少，難以發生生產和作業線上停止的機械手 臂系統。 【圖式之簡單說明】 第1圖是本發明之一實施形態的機械手臂系統之槪念 圖。 第2圖是顯示當蓄電池使用時蓄電池之自動交換機構 及工具側之保持具本體的關係剖面圖。 第3圖是顯示將前述自動交換機構之左端側插入於充 電器側的保持具空間之狀態的剖面圖。 第4圖是顯示在充電器2側安裝蓄電池之自動交換機 構的狀態剖面圖。 第5圖是顯示從第4圖狀態分離工具之狀態的剖面圖 圖號說明】 R…機械手臂 1…蓄電池 -11 - (8)1260259 1 a…自動交換機構 2…充電器 3…工具(1) 1260259 发明, DESCRIPTION OF THE INVENTION [Technical Field of the Invention] The present invention relates to a robot arm system. [Prior Art] The mechanical arm system of the prior art is for the signal confirmation of the sensor mounted on the tool of the wrist of the industrial robot arm and the power supply of the transmission device, such as a signal cable or the like from the robot arm control panel. The cable is placed inside or outside the robot arm. Therefore, the above-mentioned robot arm system has a limitation in the action of the robot arm due to the presence of the cable, and depending on the situation, the cable cut will cause the production and the work line to stop. Therefore, the industry that introduces the robot arm system is expecting to develop a robot arm system in which the range of operation of the robot arm is limited and it is difficult to stop production and the line. SUMMARY OF THE INVENTION [Problems to be Solved by the Invention] Accordingly, an object of the present invention is to provide a robot arm system in which the range of operation of the robot arm is limited, and production and stoppage on the work line are less likely to occur. [Means for Solving the Problem] The robot arm system of the present invention is a robot arm system in which information between a tool mounted on a wrist of a robot arm -5-1260259 (2) and a control panel is communicated by wireless communication. A plurality of batteries including a power source on the information communication forming tool side and a plurality of chargers charged in the battery are respectively provided. In the foregoing battery, an automatic switching mechanism is provided, and the connection side can be exchanged from the tool to the charger or vice versa. When the amount of charge of the battery mounted on the tool side is reduced, the battery is charged to the empty charger, and the tool accepts the charged other battery. In the robot arm system of the present invention, when the battery is attached to the tool side, the battery and the power supply wiring on the tool side are electrically connected. When the battery is mounted on the charger side, the charging wiring on the battery and the charger side is energized. Connection Status. Further, the robot arm system of the above invention and other objects, operations and effects will be more apparent from the following description. [Embodiment] Embodiments of the Invention Fig. 1 is a conceptual view of a robot arm system according to an embodiment of the present invention. The basic structure of the robot system will be described. As shown in Fig. 1, the robot arm system causes information between the tool 3 attached to the wrist of the robot arm R and the control panel 4 to communicate with each other by wireless communication. The robot arm system is provided with two batteries 1 including a power source on the side of the information communication forming tool 3 and a charger 2 charged in the battery, and the battery 1 is provided with an automatic exchange mechanism 1 a, and the connection side is provided from the tool 3 -6- 1260259 (3) The side can be switched to charger 2 or vice versa. Further, when the amount of electricity stored in the stomach 3 and the pool 1 is small on the side of the tool 3, the battery 1 is charged, and the battery 1 is returned to the blank tray 2' and the other battery 1 after charging is charged from the charger 2: Accepted with 3 sides. Further, in the present embodiment, two chargers 2 and one battery are mounted on the charging tray 5 during operation, and one battery cartridge is mounted on the tool side 3 side. The configuration of each main part of the robot arm system is as follows. As shown in Fig. 2, the battery 1 has contact pins P1 and P1 for electrically connecting to the power supply wiring, and contact pins P2 and P2 for electrically connecting the charging wiring. Further, in the battery 1, as shown in Fig. 2, the above-described automatic exchange mechanism 1a is provided. As shown in the figure, the automatic exchange mechanism 1a includes a main body 10 having a space portion 10a at a center portion, and the main body 10 is vertically movable in the left and right directions, and peripheral grooves 1 1 a and 1 1 b are provided at both end portions. a shaft body Π; a plate body 1 2 installed in the central portion of the space portion 10 a and housed in the space portion 10 a; a spring 1 3 that pushes the plate body 2 to the left side; the shaft body 1 1 The springs 1 4 that are pushed to the left side; and the locking cam plates 15 and 16 that are rotatably attached to the circumferential grooves 1 1 a and 1 1 b are provided at both end portions of the main body 1 . As shown in FIGS. 1 and 2, the charger 2 is provided with a space 21 inserted into the left end portion of the automatic switching mechanism 1a, and is provided with the above-described locking cam plate 16'16 and forming a card and a non-card. In addition, the holder main body 20 is provided, and the contact pin P3, P3 (4) 1260259 tool 3 in which the charging wiring is electrically connected is provided, and the tool 3 is not specifically described, but the tool 3 is not described. As shown in Fig. 1 and Fig. 2, for example, a sensor 3a, a transmission device 3b, and a wireless communication means 3c are provided, and a battery 1 and an automatic switching mechanism 1a provided therewith are provided. Hold the body 30. The holder main body 30 is configured similarly to the holder main body 20. As shown in Fig. 2, a space 31 is inserted into the right end portion of the automatic exchange mechanism 1a, and the locking cam plates 15 and 15 are provided. The locking pin 3 2 is formed in a locked and non-locked state. Further, the contact pins P4 and P4 in which the power supply wiring is electrically connected are provided. In addition, the confirmation signal of the sensor 3a or the operation signal of the transmission device 3b from the robot arm control panel 4 is performed by the wireless communication means 3c and the wireless signals of the robot arm control panel 4. As shown in Fig. 2, the charging tray 5 is provided with a cylinder 50 for causing the output shaft 51 to be infested, and the automatic exchange mechanism 1a exchanges the battery 1 from the tool 3 side to the charger 2 side, or vice versa. . The battery 1 is moved from the side of the tool 3 to the side of the charger 2 or the opposite thereof. Here, first, the battery 1 connected to the tool 3 side is interposed between the automatic exchange mechanism 1a, how to move from the tool 3 side toward the charger 2 side, and how the battery 1 attached to the charger 2 side moves to the tool side. Simply explain. First, when the battery 1 is required to be charged, the battery 1 is moved from the tool 3 side toward the charger 2 side. (5) 1260259 (1) • The state in which the battery 1 is connected to the tool 3 side (Fig. 2) In this state, the shaft body 1 1 is moved to the left side by the elastic force of the springs 1 3 and 14 to the maximum extent, The locking cam plates 1 5 and 15 engaged with the shaft body 1 1 are engaged with the engaging pins 3 2 and 3 2 . Therefore, the battery 1 is formed in a state of being firmly attached to the tool 3. Further, in this state, the battery 1 and the power supply wiring are electrically connected by the contact of the contact pins P1 and P1 and the contact pins P4 and P4. The battery 1 becomes necessary for the transmission 3b and the sensor 3a. Power supply. (2) The state in which the left end side of the automatic switching mechanism 1a is inserted into the space 2 1 (Fig. 3) This state is a ready state in which the battery 1 is connected to the charger 2 side, and the locking cam plates 15 and 15 are The case where the engagement pin 3 2, 3 2 is engaged with the engagement pin. Therefore, the battery 1 is firmly attached to the tool 3 side. (3) The state in which the battery 1 is connected to the charger 2 (Fig. 4) In this state, the shaft body 1 1 pressed against the output shaft 51 is moved to the right side at the maximum limit, and is stuck with the shaft body 1 1 The locking cam plates 15 and 15 are in a non-engaged state with the locking pins 3 2, 3 2, and the locking cam plates 1 6 and 16 form a card with the locking pins 22 and 22 State. Therefore, the battery 1 is firmly attached to the state of the charger 2 side. (4) • The state in which the tool 3 is separated from the charger 2 side (Fig. 5) The tool 3 is separated from the charger 2 side from the state of the above (3), then the -9 - (6) 1260259 battery 1 is unloaded from the tool 3. Next, and stay in the charger 2. Further, in this state, the battery 1 and the power supply wiring are electrically connected by the contact of the contact pins P2 and P2 and the contact pins P3 and P3, and the battery 1 is started to be charged. - Next, the case where the other battery 1 attached to the other charger 2 side is attached to the tool side will be described. (5) The space 3 of the holder body 30 of the tool 3 is externally inserted from the right end side of the automatic exchange mechanism 1a attached to the state of the charger 2 (refer to Figs. 4 and 5) At this time, the output shaft 50 of the cylinder 5 is retracted, and the shaft body 1 1 is moved to the left side by the elastic force of the springs i 3 and 14, and as a result, the locking cam plates 15 and 15 are formed and the locking pin 32 is formed. In the 32-engaged state, the locking cam plates 1 6 and 16 and the locking pins 2 2, 2 2 are in a non-engaged state (refer to FIG. 3). Therefore, the battery 1 is firmly attached to the tool 3 side. . In this state, when the tool 3 is separated from the charger 2, the battery 1 is detached from the rechargeable battery 2 and moved to the tool 3 to remain there. (6) ♦ From the above (1) to (5) of the robot arm system, the battery 1 can be easily exchanged in a short time. Since the robot arm system is configured as described above, since there is no electric power from the control panel 4 toward the tool 3, there is little restriction on the range of operation of the robot arm, and there is an advantage that production and the line stop are difficult to occur. -10- (7) 1260259 In the above embodiment, the battery 1 and the charger 2 are two, but it is not limited to two or more. In this case, two forms of the battery 1 can be mounted in the tool 3. [Effect of the Invention] According to the present invention, as described above, it is possible to provide a robot arm system in which the restriction range of the robot arm is small and it is difficult to cause production and stop on the line. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a conceptual view of a robot arm system according to an embodiment of the present invention. Fig. 2 is a cross-sectional view showing the relationship between the automatic exchange mechanism of the battery and the holder body on the tool side when the battery is used. Fig. 3 is a cross-sectional view showing a state in which the left end side of the automatic exchange mechanism is inserted into the holder space on the charger side. Fig. 4 is a cross-sectional view showing the state of an automatic switch mechanism in which a battery is mounted on the side of the charger 2. Figure 5 is a sectional view showing the state of the separation tool from the state of Fig. 4. Description of the figure: R... Robot arm 1... Battery -11 - (8) 1260259 1 a... Automatic switching mechanism 2... Charger 3... Tool
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