robot

Abstract

A robot (1) is provided with an arm (4), a shaft (5) supported at the front end of the arm (4) in a manner movable in a prescribed axis (C) direction, a power transmission unit (7) fixed to the arm (4) and connected to a power source (100), and a power receiving unit (8) and a battery (9) fixed to the shaft (5), in a state where the shaft (5) is disposed at a prescribed position in the axis (C) direction, the power receiving unit (8) is close to the power transmission unit (7) and receives power transmitted from the power transmission unit (7) in a wireless manner, and the battery (9) stores power received by the power receiving unit (8) and serves as a power source for a device (6) mounted to the shaft (5).

Description

TECHNICAL FIELD

[0001] The present disclosure relates to a robot. BACKGROUND

[0002] A SCARA robot is known, which is provided with a shaft supported in the arm in a manner capable of moving in the vertical direction, and a power supply device that supplies power to a tool mounted to the lower end of the shaft in a non-contact manner (for example, refer to Non-Patent Literature 1). In this SCARA robot, the power supply device is mounted to the upper end of the shaft, and when the shaft is raised and lowered with respect to the arm, the power supply device as a whole is raised and lowered with the shaft.

[0003] PRIOR ART DOCUMENTS

[0004] NON-PATENT LITERATURE

[0005] Non-Patent Literature 1: "SCARA robot for use! Solve the wire breakage of the robot operation part that rotates in a circle! " [online], [searched on November 30, 2020], URL: <URL: https: / / www.b-plus-kk.jp / blog / 2017 / 11 / 13 / 254> SUMMARY

[0006] PROBLEMS TO BE SOLVED BY THE INVENTION

[0007] When the power supply device as a whole is raised and lowered with the shaft, since the cable connecting the power supply to the power supply device is repeatedly deformed with the raising and lowering action of the shaft, the durability of the cable decreases.

[0008] Therefore, it is desirable to be able to prevent the deformation of the cable caused by the raising and lowering action of the shaft with respect to the arm, and to be able to supply power to the tool mounted on the shaft for a long time.

[0009] SOLUTION TO THE PROBLEM

[0010] An aspect of the present disclosure is a robot provided with: an arm; a shaft supported in the front end of the arm in a manner capable of moving in a prescribed axis direction; a power transmission unit fixed to the arm and connected to a power source; and a power receiving unit and a battery fixed to the shaft, in a state where the shaft is disposed at a prescribed position in the axis direction, the power receiving unit is close to the power transmission unit, and receives power transmitted from the power transmission unit in a wireless manner, and the battery stores the power received by the power receiving unit, and functions as a power source for a device mounted to the shaft. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 FIG. 1 is a diagram showing the overall structure of a robot according to an embodiment of the present disclosure.

[0012] Figure 2 FIG. 2 is a diagram showing the power supply device of the robot according to the embodiment of the present disclosure. Figure 1A cross-sectional view of the robot's internal structure.

[0013] Figure 3 For installation at Figure 1 A magnified view of the tools on the robot.

[0014] Figure 4 In order to be in Figure 1 In robots, axes are configured to... Figure 2 Sectional views at different locations.

[0015] Figure 5 for Figure 1 A block diagram of robots and tools. Detailed Implementation

[0016] The following description, with reference to the accompanying drawings, illustrates one embodiment of the robot 1 of this disclosure.

[0017] The robot 1 in this embodiment can be, for example, as follows: Figure 1 The robot 1 is a horizontal, multi-jointed robot. The robot 1 has a base 2 mounted on a horizontal surface and a first arm 3 supported on the base 2, which is rotatable about a first vertical axis (first vertical axis) A extending in a vertical direction. The robot 1 has a second arm 4 and an axis 5. The second arm 4 is supported on the first arm 3, which is rotatable about a second vertical axis (second axis) B parallel to the first axis A. The axis 5 is supported on the second arm 4, which is movable up and down along a third vertical axis (axis) C parallel to the first axis A.

[0018] Additionally, robot 1 includes a power transmission unit 7 mounted on the second arm 4, a power receiving unit 8 fixed to a tool (device) 6 mounted on the front end of shaft 5, and a battery 9. The power receiving unit 8 and battery 9 are indirectly fixed to shaft 5 via the tool 6 because they are fixed to the tool 6.

[0019] like Figure 2 As shown, robot 1 is connected to control device 101 via cable 10 connected to base 2, and control device 101 is connected to power supply 100. In addition, a conduit 11 is connected between base 2 and second arm 4, and the conduit 11 houses cable 12 that runs from base 2 to second arm 4.

[0020] Regarding cable 12, Figure 2 Only cable 12, which is connected to power transmission unit 7 described later, is shown in the diagram. Cables 10 and 12 transmit power, control signals, etc., from control device 101, respectively.

[0021] Additionally, the base 2 is equipped with a first transceiver 22 for transmitting and receiving control signals wirelessly. The first transceiver 22 can be configured on the control device 101 or on other locations such as the second arm 4.

[0022] The shaft 5 is a ball screw spline shaft that penetrates the front end portion of the second arm 4 in the vertical direction. The shaft 5 is supported so as to be able to be raised and lowered along the third axis C by a ball screw nut 41 disposed inside the second arm 4, and is supported so as to be able to rotate around the third axis C by a ball spline nut 42 disposed inside the second arm 4. The ball screw nut 41 and the ball spline nut 42 are supported so as to be able to rotate around the third axis C, and are each driven to rotate by a motor that is not shown.

[0023] As shown in FIG. 6, the tool 6 is, for example, a hand that performs a work such as gripping a workpiece W. The tool 6 has a hand base 61 fixed to the lower end of the shaft 5, a pair of finger portions 62 supported on the hand base 61, and a servo motor 63 that drives the finger portions 62 to open and close. Figure 3 Figure 2 Figure 5 As shown in FIG. 6, a tool control device 64 that controls the tool 6 and a second transceiver device 65 that transmits and receives control signals in a wireless manner with the first transceiver device 22 are provided in the tool 6.

[0024] The battery 9 is connected to the power receiving unit 8 and the tool control device 64.

[0025] A power transmission unit is fixed to the lower surface of the second arm 4, and a cable 12 that is introduced into the second arm 4 via the pipe 11 is connected.

[0026] The power receiving unit 8 is fixed to the upper surface of the hand base 61. As shown in FIG. 7, the shaft 5 is disposed at the uppermost position in the vertical direction of the range of movement, and in a state in which the shaft 5 is disposed at a prescribed angle around the third axis C (a charging position), the power receiving unit 8 is disposed at a position that opposes the power transmission unit 7 at a prescribed interval in the vertical direction. Figure 2

[0027] Further, in the state in which the power transmission unit 7 and the power receiving unit 8 oppose each other, the electric power transmitted by the cable 12 is transmitted from the power transmission unit 7 to the power receiving unit 8 in a non-contact manner, and is charged to the battery 9. The tool control device 64 controls the servo motor 63 to operate the tool 6 using the control signals transmitted in a wireless manner from the first transceiver device 22.

[0028] Next, the operation of the robot 1 of the present embodiment thus configured will be described.

[0029] When the robot 1 of the present embodiment performs a work using the tool 6, the shaft 5 is operated, and as shown in FIG. 8, the tool 6 is disposed at the charging position with respect to the second arm 4, so that the power receiving unit 8 opposes the power transmission unit 7. In this state, the electric power is transmitted from the power transmission 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 to the battery 9. Figure 2 Further, in the state in which the power transmission unit 7 and the power receiving unit 8 oppose each other, the electric power transmitted by the cable 12 is transmitted from the power transmission unit 7 to the power receiving unit 8 in a non-contact manner, and is charged to the battery 9. The tool control device 64 controls the servo motor 63 to operate the tool 6 using the control signals transmitted in a wireless manner from the first transceiver device 22.​​​

[0030] In a state where the battery 9 is properly charged, the tool 6 is disposed to a desired position by causing the ball screw nut 41 and the ball spline nut 42 to work, thereby causing the shaft 5 to be raised and lowered and rotated around the third axis C.

[0031] For example, as shown in FIG. 6, in a state where the power transmission unit 7 and the power receiving unit 8 are separated, the power supply from the power transmission unit 7 is interrupted, and the tool 6 is controlled by the tool control device 64 possessed by the tool 6 using the power charged to the battery 9. Figure 4

[0032] Specifically, as shown in FIG. 7, the second transceiver device 65 receives the control signal transmitted wirelessly from the first transceiver device 22. In addition, the tool control device 64 is supplied with power from the battery 9 while being input with the control signal from the second transceiver device 65. Then, the tool control device 64 supplies power to the servo motor 63 in accordance with the input control signal. Figure 5

[0033] Thus, the robot 1 is able to drive the tool 6 disposed at a position other than the charging position to perform a desired work.

[0034] In this case, according to the robot 1 of the present embodiment, the second arm 4 is not connected to the shaft 5 with a movable cable. Therefore, the shaft 5 is able to perform a raising and lowering action and a rotation action around the third axis C with respect to the second arm 4 without being restricted by the movable cable. Thus, it is possible to ensure a wide range of action of the shaft 5.

[0035] In addition, since 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 is able to maintain a state of being stationary on the second arm 4. Therefore, it is possible to prevent the cable 12 from repeatedly deforming in conjunction with the action of the shaft 5, thereby improving the durability of the robot 1.

[0036] In addition, according to the robot 1 of the present embodiment, in order to charge the battery 9 provided to the tool 6, it is only necessary to cause the shaft 5 to act with respect to the second arm 4. That is, it is not necessary to cause the first arm 3 and the second arm 4 to act in order to charge, and thus it is possible to minimize the movement distance of the tool 6 for charging. It is thus possible to minimize the time required for the charging action, and it is possible to lower the possibility of interference between the tool 6 and surrounding objects due to the charging action.

[0037] By minimizing the time required for the charging action, it is not only possible to perform charging during the standby time of the work of the tool 6, but also possible to frequently move the tool 6 to the charging position during the work. Therefore, it is possible to realize weight reduction by minimizing the capacity of the battery 9. ​​

[0038] Further, in the present embodiment, although the power transmission unit 7 is fixed to the second arm 4, instead, the power transmission unit 7 can be attached to the second arm 4 in a detachable manner.

[0039] For example, a not-illustrated threaded hole (mounting portion) that fastens a bolt for attaching the power transmission unit 7 in a detachable manner can be provided on the lower surface of the second arm 4. Thereby, even in the case where the power transmission unit 7 malfunctions, it is possible to detach only the power transmission unit 7 from the second arm 4 to perform maintenance, and it is possible to improve the maintainability.

[0040] Further, by providing the threaded hole for mounting the power transmission unit 7 at a plurality of locations, it is possible to mount the power transmission unit 7 at an appropriate position that aligns with the position of the power reception unit 8 provided to the tool 6.

[0041] Further, in the present embodiment, although one each of the power transmission unit 7 and the power reception unit 8 are provided, instead, a plurality of each of the power transmission unit 7 and the power reception unit 8 can be provided.

[0042] Thereby, when charging the battery 9, it is possible to provide a plurality of charging positions at which the tool 6 is disposed. Therefore, it is possible to select a charging position at which the movement amount of the shaft 5 is the smallest, according to the position of the shaft 5 immediately before the battery 9 is charged, and thereby further improve the efficiency of the charging operation.

[0043] Further, in the present embodiment, the power reception unit 8 and the battery 9 are provided to the tool 6, but can be fixed to the shaft 5 separately from the tool 6.

[0044] Further, in the present embodiment, the power transmission unit 7 is fixed to the lower surface of the second arm 4, and the power reception unit 8 is fixed to the upper surface of the tool 6, and the power transmission unit 7 and the power reception unit 8 are disposed in opposition to each other in the vertical direction at the charging position. Instead, the power transmission unit 7 can be fixed to the upper surface of the second arm 4, and the power reception unit 8 can be disposed in opposition to the upper side of the power transmission unit 7 at the charging position. Or, the power transmission unit 7 and the power reception unit 8 can be disposed at positions that are in opposition to each other in the radial direction around the third axis line C at the charging position.

[0045] Thereby, it is possible to dispose the power transmission unit 7 and the power reception unit 8 at positions that are less likely to interfere with surrounding equipment.

[0046] Further, in the present embodiment, it is also possible to charge the battery 9 during the movement of the first arm 3 and the second arm 4.

[0047] For example, in order to switch from a process in the work to the next process, the first arm 3 and the second arm 4 are rotated around the first axis line A and the second axis line B, respectively, and the tool 6 is disposed at a prescribed charging position with respect to the second arm 4 at an intermediate position where the attitude changes greatly.

[0048] Thus, the battery 9 can be charged using the time required for the process switching efficiently, and the work efficiency of the robot 1 can be improved.

[0049] In the present embodiment, a horizontal multi-joint robot is exemplified as the robot 1, but is not limited thereto, and can be applied to any robot as long as the robot can support the tool 6 to move in the prescribed axial direction.

[0050] In the present embodiment, a hand is exemplified as the tool 6, but is not limited thereto, and can be any tool such as a machining tool, a painting tool, a cleaning tool, and the like.

[0051] In the present embodiment, a servo motor 63 is exemplified as the electric actuator of the tool 6, but is not limited thereto, and can be any electrically powered actuator such as a solenoid valve or an electromagnet.

[0052] Explanation of Reference Numerals:

[0053] 1 robot

[0054] 3 first arm

[0055] 4 second arm (arm)

[0056] 5 shaft

[0057] 6 tool (device)

[0058] 7 power transmission unit

[0059] 8 power reception unit

[0060] 9 battery

[0061] 100 power supply

[0062] A first axis (first vertical axis)

[0063] B second axis (second vertical axis)

[0064] C third axis (axial line)

Claims

1. A robot, characterized in that, Possessing: an arm; a shaft supported at a front end of the arm in a manner movable in a prescribed axial direction; a power transmission unit fixed to the arm and connected to a power source; and, a power receiving unit and a battery fixed to the shaft, when the shaft is moved in the prescribed axial direction and disposed at a prescribed position in the prescribed axial direction so that the power receiving unit and the power transmission unit are opposed and close to each other, the power receiving unit receives power transmitted from the power transmission unit in a wireless manner, the battery stores the power received by the power receiving unit and serves as a power source for a device mounted to the shaft.

2. The robot according to claim 1, characterized in that: the robot possesses a first arm supported in a manner rotatable around a first vertical axis, the arm is supported at a front end of the first arm in a manner rotatable around a second vertical axis parallel to the first vertical axis.

3. The robot according to claim 1 or 2, characterized in that: the shaft is further supported at the arm in a manner rotatable around the prescribed axis, when the shaft is moved in the prescribed axial direction and rotated around the prescribed axis and disposed at a prescribed position in the prescribed axial direction and at a prescribed angle around the prescribed axis, so that the power receiving unit and the power transmission unit are opposed and close to each other, the power receiving unit receives the power transmitted from the power transmission unit in a wireless manner.

4. The robot according to claim 1 or 2, characterized in that: a plurality of mounting portions for detachably mounting the power transmission unit are provided on an outer surface of the arm.

5. The robot according to claim 1 or 2, characterized in that: at least one of the power transmission unit and the power receiving unit is provided in a plurality.

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