Wireless valve manifold

Abstract

DEPCT64 The wireless valve manifold (60) is assembled in order to provide the capability. In wireless communication and to have a number of solenoid valves (56) manifold valves This wireless (60) can be moved by means of a motion unit (14) in addition. The wireless valve manifold (60) is equipped with a battery (76) which can supply power to A number of solenoid valves (56) and power receiving control units (78) which were connected with the battery (76) and charging the battery (76) with electrical power by relying on the transmission of electrical power Wireless from feeder station (82) of wireless manifold valve (60) -----------------------------------------------------------

Description

Wireless Valve Manifold

[0001] The present invention relates to a wireless valve manifold that is configured to be movable.

[0002] A robot system, for example, includes an end effector that grips a workpiece, and the end effector is provided with a mechanism for processing the workpiece. For example, Japanese Patent Laid-Open Publication No. 7-19793 discloses a system in which the end effector is provided with a nozzle (lance) that washes the workpiece with high pressure. The lance performs high-pressure washing based on the opening and closing of a valve (solenoid valve).

[0003] Although not disclosed in JP-A-7-19793, in the case of a robot system in which a plurality of solenoid valves operate a plurality of corresponding mechanisms to perform a process (such as transporting a workpiece), a valve manifold that operates the plurality of solenoid valves is provided in the end effector. For example, the valve manifold switches between supplying and discharging pressure fluid based on whether each solenoid valve is energized or de-energized, thereby operating the mechanism (such as gripping a workpiece).

[0004] In this type of robot system, a harness is installed along the robot arm to continuously supply power to the valve manifold of the end effector. However, installing a harness in this manner limits the robot's range of motion and can cause inconveniences such as the harness becoming tangled in the components that make up the robot. Since a valve manifold with many valves consumes a lot of power, if a battery were to be installed in the end effector, the battery would become larger and heavier.

[0005] The present invention has been made in consideration of the above-described circumstances, and aims to provide a wireless valve manifold that can achieve stable movement of a movable part and continuous operation of the wireless valve manifold by transmitting power wirelessly to the wireless valve manifold.

[0006] In order to achieve the above-mentioned object, one aspect of the present invention is a wireless valve manifold having a plurality of solenoid valves and configured to be capable of wireless communication, the wireless valve manifold being configured to move by a movable part, having a battery capable of storing power and supplying the power to the plurality of solenoid valves, and a power receiving part connected to the battery and charging the battery with power by wireless power transmission from a power supply station of the wireless valve manifold.

[0007] According to the present invention, the wireless valve manifold includes a battery and a power receiving unit, allowing the battery to be charged by wireless power transmission at appropriate times, such as when the wireless valve manifold is temporarily stopped. This eliminates the need for a harness to supply power to the wireless valve manifold through the moving part, and also reduces the battery's charge capacity, thereby reducing its weight and size. As a result, stable movement of the moving part and continuous operation of the wireless valve manifold can be achieved. In particular, wireless valve manifolds are often used in factory environments where dust, oil mist, and the like are dispersed. By incorporating a battery and a power receiving unit, the exposed portion of the internal structure can be reduced, significantly improving dustproofing and waterproofing. Furthermore, the battery can be replaced when its performance deteriorates.

[0008] 3A is an explanatory diagram showing a robot system according to an embodiment of the present invention; FIG. 3B is an explanatory diagram showing wireless power transmission of the robot system; FIG. 3A is an explanatory diagram of a robot system according to a first modified example; and FIG. 3B is an explanatory diagram of a robot system according to a second modified example.

[0009] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to preferred embodiments thereof and the accompanying drawings.

[0010] 1, a robot system 10 according to an embodiment of the present invention is installed, for example, in a factory and provided in the vicinity of a transport conveyor 12 that transports workpieces W. The robot system 10 grasps and moves the workpieces W to place them on the transport conveyor 12, or removes the workpieces W from the transport conveyor 12 and moves them to another location. Note that the robot system 10 is not limited to being one that transports workpieces W, but may be configured to be movable and applicable to various configurations that perform treatments (transport, processing, assembly, inspection, sorting, packaging, etc.) of the workpieces W.

[0011] The robot system 10 includes an articulated robot 16 (hereinafter simply referred to as the robot 16) that corresponds to the movable unit 14 of the present invention and moves the workpiece W, and a control unit 18 (see FIG. 2 ) that controls the operation of the robot 16. The robot 16 includes a fixed base 20, a plurality of arms 22 mounted on the base 20, a plurality of joints 24 that connect the base 20 or one arm 22 to another arm 22 in an angle-variable manner, and an end effector 26 that directly grips the workpiece W. Note that the robot 16 may be configured to be movable as a whole.

[0012] Specifically, the arms 22 include a first arm 30 having a predetermined length and one end 30a connected to the upper portion of the base 20, and a second arm 32 having one end 32a connected to the first arm 30 and having an end effector 26 connected to the other end 32b. The first arm 30 has a fixed extension length, while the second arm 32 is extendable along its extension direction. For example, the second arm 32 is formed into a telescopic shape by stacking multiple cylindrical bodies, and includes an arm extension cylinder 34 on its side. The arm extension cylinder 34 is connected to the base end of the cylindrical body at the one end 32a and the tip end of the cylindrical body at the other end 32b. By advancing and retracting the cylinder shaft under the control of the control unit 18, the cylindrical body at the other end 32b advances and retracts relative to the cylindrical body at the one end 32a, thereby extending and retracting the second arm 32.

[0013] On the other hand, the multiple joint portions 24 include a first joint portion 36 provided between the base 20 and the first arm 30, a second joint portion 38 provided between the first arm 30 and the second arm 32, and a third joint portion 40 provided between the second arm 32 and the end effector 26.

[0014] The first joint unit 36 ​​is composed of a horizontal rotation unit 36a that can rotate the first arm 30 horizontally (along a horizontal plane) 360° on the upper surface of the base 20, and a vertical rotation unit 36b that is located above the horizontal rotation unit 36a and can rotate the first arm 30 in the vertical direction. Servo motors and the like (not shown) are provided inside the horizontal rotation unit 36a and the vertical rotation unit 36b. Each servo motor rotates when power is supplied under the control of the control unit 18, and changes the horizontal orientation of the first arm 30 with respect to the base 20 and the tilt angle thereof with respect to the horizontal direction.

[0015] The second joint unit 38 is composed of a bearing mechanism 38a that rotatably connects the other end 30b of the first arm 30 and one end 32a of the second arm 32, and an arm rotation cylinder 38b that is connected to the control unit 18 and moves forward and backward under the control of the control unit 18. The arm rotation cylinder 38b has a cylinder tube attached to the first arm 30 and a cylinder shaft that moves forward and backward relative to the cylinder tube attached to the second arm 32. In other words, the second arm 32 rotates around the bearing mechanism 38a in accordance with the extension and contraction of the cylinder shaft, thereby adjusting the relative angle with the first arm 30.

[0016] The third joint 40 has, at the other end 32b of the second arm 32, a pivotal support mechanism 40a that causes the end effector 26 to hang down in the vertical direction, and an end effector moving cylinder 40b that is fixed to the pivotal support mechanism 40a and expands and contracts in the vertical direction. The pivotal support mechanism 40a supports the end effector moving cylinder 40b in a vertical position regardless of the angle of the second arm 32. The end effector moving cylinder 40b is connected to the control unit 18 and is configured to move forward and backward in conjunction with the gripping / releasing operation of the workpiece W by the end effector 26 under the control of the control unit 18.

[0017] The end effector 26 has a frame 42 connected to the second arm 32 (third joint 40) and a plurality of gripping mechanisms 44 fixed to the frame 42. The frame 42 is composed of an outer frame 42a that is rectangular in plan view and an intermediate frame 42b that extends along the short side of the central portion of the longitudinal direction of the outer frame 42a. The outer frame 42a is designed with planar dimensions that correspond to the shape of the workpiece W to be transported. The cylinder shaft of the end effector moving cylinder 40b is fixed to the center portion of the intermediate frame 42b (the center of gravity of the end effector 26 in the horizontal plane).

[0018] The multiple gripping mechanisms 44 are fixed to both longitudinal sides of the outer frame 42a and to the center of the outer frame 42a in the lateral direction. That is, the end effector 26 of this embodiment has six gripping mechanisms 44. Each gripping mechanism 44 has a fluid pressure cylinder 46 that operates based on the supply and discharge of pressurized fluid (air, etc.), a support body 48 that actually supports the workpiece W, and a motion transmission unit 50 that converts the operating force of the fluid pressure cylinder 46 to operate the support body 48. The gripping mechanisms 44 are fixed to the outside of the outer frame 42a by, for example, screwing the motion transmission unit 50 to the side surface of the outer frame 42a.

[0019] The fluid pressure cylinder 46 has, for example, a piston and a piston rod (both not shown) in a cylinder bore, and is connected to a tube 52 for supplying and discharging pressurized fluid. The fluid pressure cylinder 46 advances the piston and piston rod based on the pressurized fluid supplied to the base end side of the piston in the cylinder bore, and retracts the piston and piston rod based on the pressurized fluid supplied to the tip end side of the piston. Note that the fluid pressure cylinder 46 may also be a mechanism that rotates a shaft based on the supply and discharge of pressurized fluid.

[0020] The support body 48 is configured as a scraper that can be displaced between a retracted position where it is retracted from the workpiece W and a gripping position where it is positioned below the workpiece W in the direction of gravity. The motion transmission unit 50 converts the operating force of the piston rod of the fluid pressure cylinder 46 when it advances or retreats into the motion of the scraper (movement between the retracted position and the gripping position).

[0021] The end effector 26 according to this embodiment includes a plurality of valve units 54 that switch between supplying and discharging pressurized fluid to the fluid pressure cylinders 46. A solenoid valve 56 is provided inside each valve unit 54. For example, the number of valve units 54 provided corresponds to the number of gripping mechanisms 44 (fluid pressure cylinders 46) (six). The valve units 54 are formed in the same shape and are attached to a connector connection base 58 that collectively mounts the valve units 54. In other words, the wireless valve manifold 60 according to this embodiment includes a plurality of valve units 54 and the connector connection base 58. The wireless valve manifold 60 is provided on the outside (side) of the outer frame 42a.

[0022] Specifically, the valve unit 54 has a housing 62 that houses the above-mentioned solenoid valve 56, a flow path for pressure fluid (not shown) provided in the housing 62, and a flow path switching unit (not shown) provided in the housing 62 that switches the flow path under the operation of the solenoid valve 56 (all not shown). The housing 62 is formed into a cassette that is long in the vertical direction and short in the width direction, and a surface that is attached to the connector connection base 58 is provided with a plurality of openings (not shown) that respectively communicate with a plurality of ports provided in the connector connection base 58.

[0023] Each valve unit 54 is configured to receive power from a connector connection base 58, and operates the solenoid valve 56 based on this power supply. For example, the solenoid valve 56 is a pilot solenoid valve that receives power from a solenoid (not shown) to displace a movable valve unit (not shown) and move a spool of a flow path switching unit. The flow path switching unit switches the outflow (or inflow) of pressurized fluid from a specified opening based on the movement of the spool.

[0024] 2, the connector connection base 58 has a manifold base 64 on which a plurality of valve units 54 can be arranged, and a serial interface unit 66 (hereinafter referred to as the SI unit 66) provided on the side of the manifold base 64. In addition, a wireless module 68 capable of wirelessly communicating with the control unit 18 of the robot system 10 is connected to the connector connection base 58 (SI unit 66).

[0025] The manifold base 64 is formed in the shape of a rail on which a plurality of valve units 54 can be mounted in a line in the width direction. The manifold base 64 has a port 70 for each valve unit 54 through which the pressure fluid that has passed through the valve unit 54 flows out or into. Communication passages (not shown) that connect each opening of the plurality of valve units 54 to each port 70 are provided inside the manifold base 64. A tube 52 for the flow of pressure fluid that leads to the fluid pressure cylinder 46 is connected to each port 70.

[0026] The SI unit 66 functions as a slave that receives control signals from the control unit 18 (master) of the robot system 10 via a wireless module 68 and performs appropriate processing based on these control signals. A sensor (not shown) that detects the operation of the end effector 26 is also connected to the SI unit 66, and the SI unit 66 transmits the sensor detection signal to the control unit 18. Note that the structure attached to the manifold base 64 is not limited to the SI unit 66, and a connector unit with an appropriate wiring method can be applied to the connector connection base 58.

[0027] The SI unit 66 has a box-shaped housing 72, and a plurality of connectors and a display unit (not shown) are provided on the outer surface of the housing 72. The plurality of connectors include, for example, a communication connector connected to the wireless module 68, a ground connector connected to ground, an output connector connected to the valve unit 54, and an input connector to which a sensor or the like is connected. Also provided within the housing 72 is a manifold controller 74 (hereinafter simply referred to as the controller 74) that controls the operation of the wireless valve manifold 60.

[0028] The controller 74 receives an operation command (control signal) for each valve unit 54 from the control unit 18 via the wireless module 68, and supplies power at appropriate timing to the valve unit 54 corresponding to the operation command. The multiple valve units 54 energize the coils of the solenoid valves 56 based on the power supply from the controller 74, and deenergize the coils of the solenoid valves 56 based on the non-supply of power from the controller 74.

[0029] Also provided within the housing 72 of the SI unit 66 are a battery 76 that supplies power to the valve unit 54, a power receiving control unit 78 (power receiving unit) that charges the battery 76 via wireless power transmission, and a power stabilization circuit 80 that is provided between the power receiving control unit 78 and the battery 76.

[0030] It is preferable to adopt an appropriate battery 76 taking into consideration the charge capacity, size, weight, etc. The controller 74 is a computer having a processor, memory, and input / output interface, and operates and performs appropriate processing based on power supplied from the battery 76. For example, the controller 74 supplies power from the battery 76 to a predetermined solenoid valve 56 based on an operation command from the control unit 18. The controller 74 may also be configured to have a function of monitoring the state of charge (battery SOC) of the battery 76 and transmitting SOC information to the control unit 18.

[0031] The power receiving control unit 78 charges the battery 76 by receiving power from outside the wireless valve manifold 60 (from a power supply unit 88 of a power supply station 82, which will be described later). The wireless power transmission method is not particularly limited, and examples include magnetic coupling, electrolytic coupling, evanescent wave, laser, microwave, and ultrasonic methods. The power receiving control unit 78 may be configured in a structure appropriate for the method. For example, in the case of a magnetic coupling method (magnetic resonance method), the power receiving control unit 78 is configured as a power receiving coil formed in a predetermined shape, and supplies electromotive force generated by electromagnetic induction to the battery 76 via a power stabilizing circuit 80. The power stabilizing circuit 80 may have a switch function that switches between discharging (supplying power) from the battery 76 to the solenoid valve 56 and charging from the power receiving control unit 78 to the battery 76.

[0032] The power receiving control unit 78 is provided on the side opposite to the side on which the multiple valve units 54 are arranged within the housing 72. The power receiving control unit 78 is arranged sufficiently close to the side of the housing 72 so that the distance between the power receiving control unit 78 and the power supply unit 88 during wireless power transmission is as short as possible.

[0033] The robot system 10 also includes a power supply station 82 that transmits power wirelessly to the wireless valve manifold 60. The power supply station 82 includes a base 84 having an upper surface 84a at a predetermined height, and a protruding structure 86 that is provided at a predetermined position on the upper surface 84a. The power supply station 82 also includes a power supply unit 88 inside the protruding structure 86 that transmits power wirelessly to the power receiving control unit 78, and a station controller 89 that controls the power supply unit 88. The station controller 89 is connected to the control unit 18.

[0034] The power supply station 82 is provided at the origin position of the end effector 26 of the robot 16. For example, the power supply station 82 is installed at a position opposite the transfer conveyor 12 with the robot 16 in between. The robot system 10 may be configured to place the end effector 26 that has returned (moved) to the origin position on the upper surface 84a of the platform 84, or may be configured to keep the end effector 26 spaced apart from the upper surface 84a. The robot system 10 may also be configured to temporarily fix (set) the end effector 26 that has returned to the origin position, or may be configured to maintain a free state at the origin position.

[0035] The protruding structure 86 is disposed in a position where, when the end effector 26 returns (moves) to the origin position, the power receiving control unit 78 of the wireless valve manifold 60 faces the power supply unit 88. The power supply unit 88 may employ an appropriate structure (a structure corresponding to the power receiving control unit 78) depending on the method of wireless power transmission, and is configured as a power transmission coil in the case of a magnetic field coupling type (magnetic field resonance type), for example.

[0036] The power supply station 82 is connected to an external AC power source 90, and an AC / DC converter 92 and the like are provided between the AC power source 90 and the power supply unit 88. When the power supply unit 88 is configured as a transmission coil, a high-frequency oscillator, a resistor, a resonant capacitor (not shown), and the like are provided upstream of the power supply unit 88 in the power supply station 82.

[0037] 1 , the control unit 18 of the robot system 10 is configured as a computer having a processor, memory, input / output interface, and wireless module (not shown). The control unit 18 controls the operation of the robot 16 as well as the operation of the end effector 26, thereby transporting the workpiece W. In controlling the end effector 26, the control unit 18 transmits operation commands to the wireless valve manifold 60 by wireless communication via the wireless module, thereby operating each solenoid valve 56. The multiple gripping mechanisms 44 operate based on the operation of the valve units 54 (solenoid valves 56) connected to them.

[0038] The control unit 18 also controls the operation of the robot 16 to move the end effector 26 (wireless valve manifold 60) between a treatment position for the workpiece W and an origin position. The treatment position for the workpiece W includes, for example, a position where the end effector 26 grips the workpiece W at the stacked portion of the workpiece W (a workpiece W removal position: not shown), and a position where the gripped workpiece W is moved and released from the grip (a workpiece W placement position). In this embodiment, the placement position is on the transport conveyor 12. In other words, the treatment position for the workpiece W corresponds to the range in which the robot 16 transports the workpiece W.

[0039] On the other hand, the origin position corresponds to the installation position of the power supply station 82. As the end effector 26 (wireless valve manifold 60) moves to the origin position, the robot system 10 performs wireless power transmission between the power supply unit 88 provided at the origin position and the power receiving control unit 78 of the wireless valve manifold 60.

[0040] The wireless valve manifold 60 according to this embodiment is basically configured as described above, and its operation will be described below.

[0041] The robot system 10 operates the robot 16 under the control of the control unit 18, grips the workpiece W with the end effector 26, and moves the gripped workpiece W. The workpiece W is transported from the take-out position to the transport conveyor 12 (loading position) in FIG.

[0042] During this transport of the workpiece W, the control unit 18 issues an operation command to the wireless valve manifold 60 held by the end effector 26 at an appropriate timing. Based on this operation command, the wireless valve manifold 60 supplies power from the battery 76 to a plurality of (predetermined) valve units 54. Here, each gripping mechanism 44 positions the support 48 in a retracted position when the solenoid valve 56 of the valve unit 54 is in a de-energized state. When the solenoid valve 56 is energized, each gripping mechanism 44 moves the support 48 to the gripping position and grips the workpiece W. In the gripped state of the workpiece W, the wireless valve manifold 60 cuts off the power supply to the valve unit 54, thereby moving the support 48 from the gripping position to the retracted position and releasing the grip of the workpiece W.

[0043] The robot system 10 periodically charges the battery 76 of the wireless valve manifold 60 under the control of the control unit 18. For example, when the transport of the workpiece W is temporarily stopped (or after each transport of the workpiece W), the control unit 18 operates the robot 16 to move the end effector 26 to the power supply station 82 (origin position).

[0044] The control unit 18 monitors the coordinate position of the end effector 26 (wireless valve manifold 60), and when the end effector 26 moves to the origin position, calculates the movement path of the end effector 26 based on the monitored coordinate position and the previously stored origin position. Then, by operating the robot 16 along the movement path, the power receiving control unit 78 is guided to come close to and face the power supply unit 88.

[0045] 2 , in the robot system 10, when the power receiving control unit 78 and the power supply unit 88 face each other as the end effector 26 returns to the origin position, wireless power transmission is performed from the power supply unit 88 to the power receiving control unit 78. For example, the facing arrangement of the power receiving control unit 78 and the power supply unit 88 is determined by the station controller 89 or the control unit 18 based on detection of a magnetic field in the power supply unit 88. As a result, the battery 76 of the wireless valve manifold 60 discharges power to the solenoid valve 56 and charges the power that has been reduced.

[0046] The robot system 10 may be configured, for example, to constantly wirelessly transmit the SOC of the battery 76 from the wireless valve manifold 60 to the control unit 18. This causes the control unit 18 to stop power supply from the power supply unit 88 when the battery 76 is close to full charge (above a stop threshold). The control unit 18 may also be configured to perform interrupt processing to move the end effector 26 to the origin position when the SOC is low (below a charge request threshold).

[0047] The present invention is not limited to the above-described embodiment, and various modifications are possible within the spirit and scope of the invention. For example, the mounting position of the wireless valve manifold 60 relative to the end effector 26 is not particularly limited. For example, the wireless valve manifold 60 may be provided in the center of the frame 42, with the power receiving control unit 78 provided on the underside of the housing 72. In this case, the robot system 10 may be configured such that the power supply unit 88 is provided inside the upper surface 84a of the power supply station 82, and the power receiving control unit 78 and the power supply unit 88 are arranged opposite each other above and below to perform wireless power transmission.

[0048] The wireless valve manifold 60 may also be expandable with an input signal processor 100 that receives sensor inputs from sensors (not shown) that detect the position of a fluid actuator, such as the fluid pressure cylinder 46 (or other fluid actuator). The input signal processor 100 has multiple connectors 100a that can be connected to the sensors, and internal circuitry for processing the sensor inputs. The controller 74 can easily recognize the status of the fluid pressure cylinder 46 based on the sensor inputs.

[0049] Furthermore, the target on which the wireless valve manifold 60 is provided is not limited to the robot 16 described above. For example, a robot system 10A according to a first modified example shown in Fig. 3A includes a disk 94 as the movable part 14 that can be rotated in a circumferential direction by a drive source (not shown), and has a mechanism part 94a that processes (transports, etc.) a workpiece W to a predetermined position on the disk 94. Meanwhile, the wireless valve manifold 60 is installed at a predetermined circumferential position on the lower surface (or upper surface 84a) of the disk 94, and is configured to move integrally with the disk 94 as it rotates.

[0050] The wireless valve manifold 60 also includes a power receiving control unit 78 on the surface opposite the mounting surface of the disk 94 (the lower surface in FIG. 3A ), and the power receiving control unit 78 is configured to be disposed opposite the power supply unit 88 of the power supply station 82 at a predetermined angular position (origin position) of the disk 94. As a result, at the origin position, power is charged to the battery 76 of the wireless valve manifold 60 by wireless power transmission.

[0051] 3B , the robot system 10B according to a second modified example includes a rail 96 and a slider 98 that are movable back and forth in a linear direction by a drive source (not shown), as the movable unit 14, and a mechanism 98a that processes (transports, etc.) the workpiece W on the slider 98. In this case as well, the wireless valve manifold 60 is installed on the underside of the slider 98 or the like and moves integrally with the slider 98. When the slider 98 returns to the origin position, the wireless valve manifold 60 is disposed opposite the power supply unit 88 of the power supply station 82, thereby charging the battery 76.

[0052] The technical ideas and effects that can be understood from the above-described embodiments will be described below.

[0053] The wireless valve manifold 60 includes a battery 76 and a power receiving control unit 78, which allows the battery 76 to be charged via wireless power transmission at appropriate times, such as when the wireless valve manifold 60 is temporarily stopped. This eliminates the need for a harness to supply power to the wireless valve manifold 60 through the moving part 14, and also reduces the battery 76's charge capacity, thereby reducing its weight and size. As a result, stable movement of the moving part 14 and continuous operation of the wireless valve manifold 60 are achieved. In particular, the wireless valve manifold 60 is often used in factory environments where dust, oil mist, and the like are dispersed. Therefore, the use of the battery 76 and the power receiving control unit 78 reduces the exposed portion of the internal structure, significantly improving dustproofing and waterproofing. Furthermore, the battery 76 can be replaced when its performance deteriorates.

[0054] Furthermore, the movable unit 14 is a robot 16 having an end effector 26, and the wireless valve manifold 60 is provided on the side of the end effector 26. As a result, the wireless valve manifold 60 suppresses the influence of the end effector 26 when the end effector 26 is moved to perform wireless power transmission between an external power supply unit 88 and the power receiving control unit 78. For example, the power receiving control unit 78 can be located sufficiently close to the power supply unit 88, thereby improving charging efficiency.

[0055] Also provided is a control unit 18 that controls the operation of the movable unit 14 (robot 16) to move the wireless valve manifold 60 at least between an origin position and a treatment position for the workpiece W, and when the wireless valve manifold 60 moves to the origin position, the power receiving control unit 78 transmits wireless power to a power supply unit 88 that is provided at the origin position. In this way, the movement of the wireless valve manifold 60 to the origin position is used as a trigger for the power receiving control unit 78 to transmit wireless power to the power supply unit 88, which makes it possible to easily charge the battery 76.

[0056] The power receiving control unit 78 is housed inside the housing 72, which is provided at one end in the direction in which the plurality of solenoid valves 56 are arranged, and is provided in the vicinity of the side surface opposite the positions of the solenoid valves 56. In this way, by providing the power receiving control unit 78 inside the housing 72 in the vicinity of the side surface opposite the positions of the solenoid valves 56, the wireless valve manifold 60 can be brought sufficiently close to the power supply unit 88 when wireless power transmission is performed.

[0057] The wireless valve manifold 60 can also be expanded with an input signal processing unit that receives sensor input from a sensor that detects the position of the fluid actuator. In this way, the wireless valve manifold 60 can recognize the position of a fluid actuator such as the fluid pressure cylinder 46, switch the operation of the solenoid valve 56, notify the control unit 18 of the status, and perform other control functions.

Claims

DEPCT641. A wireless valve manifold (60) which includes a number of solenoid valves (56) and is configured to perform wireless communication where the wireless valve manifold is configured to be moved by a mobile unit (14). The wireless valve manifold which is assembled in: a battery (76) is configured to store power and to supply power to a number of solenoid valves; and a power receiving section (78) is connected to the battery and is configured to charge the battery by wirelessly transferring power from the feeding station (82) for the wireless valve manifold.

2. A wireless valve manifold in accordance with claim 1 where: a mobile unit is a robot (16) which includes terminal transmitters (26); and the wireless valve manifold is attached to the side of the terminal transmitter.3.Wireless valve manifold pursuant to claim 1 or 2 where: the control unit (18) is provided with a control unit which is configured to control the movement of the mobile unit so that the wireless valve manifold is moved minimally between its original position and the workpiece handling position; and the wireless power transfer from the feed section (88) is provided in its original position to the power receiving section which is operated when the wireless valve manifold is moved to its original position.

4. Any wireless valve manifold pursuant to claims 1 through 3 where the power receiving section is provided within the housing (72) which is placed at the end of one row of a number of solenoid valves and which is placed adjacent to the side surface of the housing opposite to the side surface of this section in which the solenoid valves are placed. 5.The wireless valve manifold under claims 1 through 4, where the wireless valve manifold is configured as an extension to include an input signal processing section (100) configured to receive input from a sensor which detects a position of the fluid actuator.