WO2022138445A1 - ロボット - Google Patents
ロボット Download PDFInfo
- Publication number
- WO2022138445A1 WO2022138445A1 PCT/JP2021/046520 JP2021046520W WO2022138445A1 WO 2022138445 A1 WO2022138445 A1 WO 2022138445A1 JP 2021046520 W JP2021046520 W JP 2021046520W WO 2022138445 A1 WO2022138445 A1 WO 2022138445A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- arm
- power
- shaft
- transmission unit
- power transmission
- Prior art date
Links
- 230000005540 biological transmission Effects 0.000 claims abstract description 48
- 238000000034 method Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 230000003028 elevating effect Effects 0.000 description 1
- 238000003754 machining Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/0025—Means for supplying energy to the end effector
- B25J19/0045—Contactless power transmission, e.g. by magnetic induction
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/005—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators using batteries, e.g. as a back-up power source
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J50/00—Circuit arrangements or systems for wireless supply or distribution of electric power
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J7/00—Circuit arrangements for charging or depolarising batteries or for supplying loads from batteries
- H02J7/0068—Battery or charger load switching, e.g. concurrent charging and load supply
Definitions
- This disclosure relates to robots.
- SCARA robots are known that include a shaft that is movably supported vertically with respect to the arm and a power supply device that supplies power to a tool attached to the lower end of the shaft in a non-contact manner (for example, non-patent literature). See 1.).
- a power feeding device is attached to the upper end of the shaft, and when the shaft is moved up and down with respect to the arm, the entire power feeding device is moved up and down together with the shaft.
- the cable connecting the power supply to the power supply device is repeatedly deformed as the shaft moves up and down, so that the durability of the cable is reduced. Therefore, it is desired to prevent the cable from being deformed by moving the shaft up and down with respect to the arm, and to be able to supply electric power to the tool attached to the shaft in a durable manner.
- One aspect of the present disclosure is an arm, a shaft movably supported by the tip of the arm in a predetermined axial direction, a power transmission unit fixed to the arm and connected to a power source, and fixed to the shaft.
- the power receiving unit and the battery provided, and the shaft being arranged at a predetermined position in the axial direction, the power receiving unit is brought close to the power transmission unit and receives power transmitted from the power transmission unit wirelessly.
- the battery is a robot that stores the electric power received by the power receiving unit and uses it as a power source for a device attached to the shaft.
- FIG. 3 is a cross-sectional view of the robot of FIG. 1 when the shaft is arranged at a position different from the position of FIG. It is a block diagram of the robot and the tool of FIG.
- the robot 1 according to the embodiment of the present disclosure will be described below with reference to the drawings.
- the robot 1 is, for example, a horizontal articulated robot as shown in FIG.
- the robot 1 has a base 2 installed on a horizontal floor surface and a first arm 3 rotatably supported with respect to the base 2 around a first axis (first vertical axis) A extending in the vertical direction. I have.
- the robot 1 has a second arm (arm) 4 rotatably supported with respect to the first arm 3 around a second axis (second vertical axis) B parallel to the first axis A, and a second arm 4.
- Is provided with a shaft 5 supported so as to be able to move up and down along a third axis (axis) C parallel to the first axis A.
- the robot 1 includes a power transmission unit 7 attached to the second arm 4, a power receiving unit 8 fixed to a tool (device) 6 attached to the tip of the shaft 5, and a battery 9.
- the power receiving unit 8 and the battery 9 are indirectly fixed to the shaft 5 via the tool 6 by being fixed to the tool 6. It was
- the robot 1 is connected to the control device 101 by a cable 10 connected to the base 2, and the control device 101 is connected to the power supply 100. Further, a duct 11 is connected between the base 2 and the second arm 4, and a cable 12 wired from the base 2 to the second arm 4 is housed in the duct 11.
- FIG. 2 shows only the cable 12 connected to the power transmission unit 7, which will be described later, as the cable 12.
- the cable 10 and the cable 12 transmit electric power, a control signal, and the like from the control device 101, respectively.
- the base 2 is provided with a first transmission / reception device 22 for transmitting / receiving control signals by wireless communication.
- the first transmission / reception device 22 may be arranged in the control device 101, or may be arranged in another position such as the second arm 4.
- the shaft 5 is a ball screw spline shaft that penetrates the tip of the second arm 4 in the vertical direction.
- the shaft 5 is supported by a ball screw nut 41 arranged in the second arm 4 so as to be able to move up and down along the third axis C, and is supported by a ball spline nut 42 arranged in the second arm 4. It is rotatably supported around the 3-axis line C.
- the ball screw nut 41 and the ball spline nut 42 are rotatably supported around the third axis C and are rotationally driven by a motor (not shown).
- the tool 6 is a hand that performs work such as gripping the work W, as shown in FIG. 3, for example.
- the tool 6 includes a hand base 61 fixed to the lower end of the shaft 5, a pair of finger portions 62 supported by the hand base 61, and a servomotor 63 for opening and closing the finger portions 62.
- the tool 6 includes a second transmission / reception device 65 that wirelessly transmits / receives a control signal between the tool control device 64 that controls the tool 6 and the first transmission / reception device 22. And are provided.
- the battery 9 is connected to the power receiving unit 8 and the tool control device 64.
- a power transmission unit 7 is fixed to the lower surface of the second arm 4, and a cable 12 introduced into the second arm 4 is connected via a duct 11.
- the power receiving unit 8 is fixed to the upper surface of the hand base 61.
- the power receiving unit 8 is in a state (charging position) in which the shaft 5 is arranged at the uppermost position of the operating range in the vertical direction and is arranged at a predetermined angle around the third axis C as shown in FIG. They are arranged at positions facing the power transmission unit 7 at predetermined intervals in the vertical direction.
- the tool control device 64 controls the servomotor 63 by the control signal wirelessly transmitted from the first transmission / reception device 22 to operate the tool 6.
- the shaft 5 is operated and the tool 6 is arranged at the charging position with respect to the second arm 4 as shown in FIG.
- the power receiving unit 8 is opposed to the power transmission unit 7. In this state, electric power is transmitted from the power transmitting unit 7 to the power receiving unit 8 in a non-contact manner, and the electric power received by the power receiving unit 8 is charged into the battery 9.
- the ball screw nut 41 and the ball spline nut 42 are operated to raise and lower the shaft 5 and rotate it around the third axis C to position the tool 6 in a desired position.
- the power transmission unit 7 and the power reception unit 8 are separated from each other, the power supply from the power transmission unit 7 is cut off, so that the tool 6 uses the power charged in the battery 9. It is controlled by the tool control device 64 provided in the tool 6.
- the second transmission / reception device 65 receives the control signal wirelessly transmitted from the first transmission / reception device 22. Further, power is supplied to the tool control device 64 from the battery 9, and a control signal is input from the second transmission / reception device 65. Then, the tool control device 64 supplies electric power to the servomotor 63 based on the input control signal. As a result, the robot 1 can drive the tool 6 arranged at a position other than the charging position to perform a desired work.
- the second arm 4 and the shaft 5 are not connected by a movable cable. Therefore, the shaft 5 can perform an elevating operation and a rotational operation around the third axis C with respect to the second arm 4 without being restricted by the movable cable. This makes it possible to secure a wide operating range of the shaft 5.
- the power transmission unit 7 is fixed to the second arm 4, even if the shaft 5 is displaced with respect to the second arm 4, the cable 12 connected to the power transmission unit 7 remains stationary on the second arm 4. Can be maintained. Therefore, it is possible to prevent the cable 12 from being repeatedly deformed due to the operation of the shaft 5 and improve the durability of the robot 1.
- the robot 1 in order to charge the battery 9 provided in the tool 6, it is only necessary to operate the shaft 5 with respect to the second arm 4. That is, since it is not necessary to operate the first arm 3 and the second arm 4 for charging, the moving distance of the tool 6 for charging can be minimized. As a result, the time required for the operation for charging can be minimized, and the possibility that the tool 6 and the peripheral object interfere with each other due to the operation for charging can be minimized.
- the power transmission unit 7 is fixed to the second arm 4, but instead of this, the power transmission unit 7 may be detachably attached to the second arm 4.
- a screw hole (mounting portion) (not shown) for fastening a bolt for attaching and detaching the power transmission unit 7 may be provided on the lower surface of the second arm 4.
- the power transmission unit 7 can be attached at an appropriate position according to the position of the power receiving unit 8 arranged on the tool 6.
- one power transmission unit 7 and one power reception unit 8 are provided, but instead of this, at least one of the power transmission unit 7 and the power reception unit 8 may be provided in plurality.
- the charging positions where the tools 6 are arranged can be set at a plurality of locations. Therefore, the charging position where the movement amount of the shaft 5 is the smallest can be selected according to the position of the shaft 5 immediately before charging the battery 9, and the efficiency of the charging operation can be further improved.
- the power receiving unit 8 and the battery 9 are provided in the tool 6, but the tool 6 may be fixed to the shaft 5 separately from the tool 6.
- the power transmission unit 7 is fixed to the lower surface of the second arm 4, the power receiving unit 8 is fixed to the upper surface of the tool 6, and the power transmission unit 7 and the power receiving unit 8 face each other in the vertical direction at the charging position. It was decided to be placed.
- the power transmission unit 7 may be fixed to the upper surface of the second arm 4, and the power reception unit 8 may face above the power transmission unit 7 at the charging position.
- the power transmission unit 7 and the power reception unit 8 may be arranged at positions facing each other in the radial direction around the third axis C at the charging position. As a result, the power transmission unit 7 and the power reception unit 8 can be arranged at a position where they do not easily interfere with peripheral devices.
- the battery 9 may be charged while the first arm 3 and the second arm 4 are moving.
- the first arm 3 and the second arm 4 are rotated around the first axis A and the second axis B, respectively, and the posture is being changed significantly.
- the tool 6 may be arranged at a predetermined charging position with respect to the second arm 4.
- the horizontal articulated robot is exemplified as the robot 1, but the present invention is not limited to this, and any robot can be used as long as it supports the tool 6 so as to be movable in a predetermined axial direction. It may be applied to a robot of the form of.
- the hand is exemplified as the tool 6, but the tool 6 is not limited to this, and any tool such as a machining tool, a painting tool, and a cleaning tool may be used.
- the servomotor 63 is exemplified as the electric actuator of the tool 6, but the present invention is not limited to this, and an actuator powered by any electricity such as a solenoid valve or an electromagnet may be used.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Manipulator (AREA)
Abstract
Description
したがって、アームに対してシャフトを昇降動作させることによるケーブルの変形を防止して、シャフトに取り付けられたツールに耐久的に電力を供給できることが望まれている。
本実施形態に係るロボット1は、例えば、図1に示されるような水平多関節型ロボットである。ロボット1は、水平な床面に設置されるベース2と、鉛直方向に延びる第1軸線(第1の鉛直軸線)A回りにベース2に対して回転可能に支持された第1アーム3とを備えている。ロボット1は、第1軸線Aに平行な第2軸線(第2の鉛直軸線)B回りに第1アーム3に対して回転可能に支持された第2アーム(アーム)4と、第2アーム4に第1軸線Aに平行な第3軸線(軸線)Cに沿って昇降可能に支持されたシャフト5とを備えている。
また、ベース2には、制御信号を無線通信によって送受信する第1送受信装置22が備えられている。第1送受信装置22は、制御装置101に配置されていてもよいし、第2アーム4等の他の位置に配置されていてもよい。
バッテリ9は、受電ユニット8およびツール制御装置64に接続されている。
受電ユニット8は、ハンドベース61の上面に固定されている。受電ユニット8は、シャフト5が、図2に示されるように、鉛直方向の動作範囲の最上位に配置され、かつ、第3軸線C回りに所定角度に配置された状態(充電位置)において、送電ユニット7に鉛直方向に所定の間隔をあけて対向する位置に配置されている。
本実施形態に係るロボット1を用いてツール6により作業を行うには、シャフト5を作動させて、図2に示されるように、第2アーム4に対してツール6を充電位置に配置することにより、送電ユニット7に受電ユニット8を対向させる。この状態で、送電ユニット7から受電ユニット8に電力が非接触で送電され、受電ユニット8により受け取られた電力がバッテリ9に充電される。
例えば、図4に示されるように、送電ユニット7と受電ユニット8とが離れた状態においては、送電ユニット7から電力の供給は途絶えるので、ツール6は、バッテリ9に充電された電力を用いてツール6に備えられたツール制御装置64により制御される。
これにより、ロボット1は、充電位置以外の位置に配置されたツール6を駆動させ、所望の作業を行うことができる。
例えば、第2アーム4の下面に、送電ユニット7を着脱可能に取り付けるためのボルトを締結する図示しないネジ孔(取付部)を設けておけばよい。これにより、送電ユニット7に故障などが発生した場合であっても、第2アーム4から送電ユニット7だけを取り外して保守することができ、メンテナンス性を向上することができる。
これにより、バッテリ9に充電を行う際、ツール6が配置される充電位置を複数箇所に設定することができる。したがって、バッテリ9に充電を行う直前のシャフト5の位置に応じて、シャフト5の移動量が最も小さくて済む充電位置を選択することができ、充電動作の効率をさらに向上することができる。
また、本実施形態においては、送電ユニット7を第2アーム4の下面に固定し、受電ユニット8をツール6の上面に固定し、充電位置において送電ユニット7と受電ユニット8とが鉛直方向に対向して配置されることとした。これに代えて、送電ユニット7を第2アーム4の上面に固定し、充電位置において受電ユニット8を送電ユニット7の上方に対向させてもよい。あるいは、充電位置において送電ユニット7と受電ユニット8とが第3軸線C回りの径方向に対向する位置に配置されていてもよい。
これにより、送電ユニット7や受電ユニット8を周辺機器と干渉しにくい位置に配置することができる。
例えば、作業中の工程から次の工程に切り替えるために、第1アーム3および第2アーム4をそれぞれ第1軸線Aおよび第2軸線B回りに回転させて、姿勢を大きく変化させている途中の第2アーム4に対して、ツール6を所定の充電位置に配置すればよい。
これにより、工程の切り替えに必要な時間を有効に利用して、バッテリ9に充電を行うことができ、ロボット1の作業効率を向上することができる。
また、本実施形態においては、ツール6としてハンドを例示したが、これに限定されるものではなく、機械加工ツール、塗装ツール、清掃ツールなど任意のツールであってもよい。
3 第1アーム
4 第2アーム(アーム)
5 シャフト
6 ツール(機器)
7 送電ユニット
8 受電ユニット
9 バッテリ
100 電源
A 第1軸線(第1の鉛直軸線)
B 第2軸線(第2の鉛直軸線)
C 第3軸線(軸線)
Claims (5)
- アームと、
該アームの先端に所定の軸線方向に移動可能に支持されるシャフトと、
前記アームに固定され、電源に接続される送電ユニットと、
前記シャフトに対して固定された受電ユニットおよびバッテリとを備え、
前記シャフトが前記軸線方向の所定位置に配置された状態において、前記受電ユニットが前記送電ユニットに近接させられて、該送電ユニットから送られる電力を無線で受け取り、
前記バッテリが、前記受電ユニットによって受け取られた前記電力を蓄電し、前記シャフトに取り付けられた機器の動力源として使用するロボット。 - 第1の鉛直軸線回りに回転可能に支持される第1アームを備え、
前記アームが前記第1アームの先端に、前記第1の鉛直軸線に平行な第2の鉛直軸線回りに回転可能に支持されている請求項1に記載のロボット。 - 前記シャフトが、前記軸線回りに回転可能に前記アームに対して支持され、
前記シャフトが、前記軸線回りの所定角度および、前記軸線方向の所定位置に配置された状態において、前記受電ユニットが前記送電ユニットに近接させられて、該送電ユニットから送られる前記電力を受け取る請求項1または請求項2に記載のロボット。 - 前記アームの外表面に、前記送電ユニットを着脱可能に取り付けるための複数の取付部が設けられている請求項1から請求項3のいずれかに記載のロボット。
- 前記送電ユニットおよび前記受電ユニットの少なくとも一方が、複数設けられている請求項1から請求項4のいずれかに記載のロボット。
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN202180084179.1A CN116635196A (zh) | 2020-12-21 | 2021-12-16 | 机器人 |
US18/252,233 US20240009868A1 (en) | 2020-12-21 | 2021-12-16 | Robot |
DE112021005039.7T DE112021005039T5 (de) | 2020-12-21 | 2021-12-16 | Roboter |
JP2022571376A JP7453420B2 (ja) | 2020-12-21 | 2021-12-16 | ロボット |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2020211002 | 2020-12-21 | ||
JP2020-211002 | 2020-12-21 |
Publications (1)
Publication Number | Publication Date |
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WO2022138445A1 true WO2022138445A1 (ja) | 2022-06-30 |
Family
ID=82159321
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
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PCT/JP2021/046520 WO2022138445A1 (ja) | 2020-12-21 | 2021-12-16 | ロボット |
Country Status (6)
Country | Link |
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US (1) | US20240009868A1 (ja) |
JP (1) | JP7453420B2 (ja) |
CN (1) | CN116635196A (ja) |
DE (1) | DE112021005039T5 (ja) |
TW (1) | TW202224885A (ja) |
WO (1) | WO2022138445A1 (ja) |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09300270A (ja) * | 1996-05-21 | 1997-11-25 | Shinko Electric Co Ltd | 多関節ロボットのハンド部給電装置 |
JP2018094650A (ja) * | 2016-12-09 | 2018-06-21 | 株式会社ダイヘン | 搬送ロボットシステム |
Family Cites Families (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP7054834B2 (ja) * | 2017-07-20 | 2022-04-15 | パナソニックIpマネジメント株式会社 | 電極ユニット、送電装置、受電装置、電子機器、移動体、および無線電力伝送システム |
JP7346025B2 (ja) * | 2018-12-25 | 2023-09-19 | キヤノン株式会社 | ロボットシステム、ロボットシステムの制御方法、ロボットシステムを用いた物品の製造方法、送電モジュール、給電方法、無線給電モジュール、プログラム及び記録媒体 |
GB2602816A (en) * | 2021-01-15 | 2022-07-20 | Cmr Surgical Ltd | RFID shield |
-
2021
- 2021-12-16 WO PCT/JP2021/046520 patent/WO2022138445A1/ja active Application Filing
- 2021-12-16 JP JP2022571376A patent/JP7453420B2/ja active Active
- 2021-12-16 CN CN202180084179.1A patent/CN116635196A/zh active Pending
- 2021-12-16 US US18/252,233 patent/US20240009868A1/en active Pending
- 2021-12-16 DE DE112021005039.7T patent/DE112021005039T5/de active Pending
- 2021-12-17 TW TW110147586A patent/TW202224885A/zh unknown
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH09300270A (ja) * | 1996-05-21 | 1997-11-25 | Shinko Electric Co Ltd | 多関節ロボットのハンド部給電装置 |
JP2018094650A (ja) * | 2016-12-09 | 2018-06-21 | 株式会社ダイヘン | 搬送ロボットシステム |
Also Published As
Publication number | Publication date |
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JPWO2022138445A1 (ja) | 2022-06-30 |
DE112021005039T5 (de) | 2023-12-14 |
US20240009868A1 (en) | 2024-01-11 |
TW202224885A (zh) | 2022-07-01 |
CN116635196A (zh) | 2023-08-22 |
JP7453420B2 (ja) | 2024-03-19 |
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