Tool system, electric tool, holder, and holder master unit

Abstract

The present invention addresses the problem of improving the degree of freedom of the layout of a work place. A tool system (1) comprises an electric tool (4) and a holder (3). The electric tool (4) is used by a robot (5). The electric tool (4) in the state of not being used by the robot (5) is set in the holder (3). The electric tool (4) has a battery unit (41) and a drive unit (42). The drive unit (42) is driven by power supplied from the battery unit (41). The holder (3) has a charging unit. The charging unit charges the battery unit (41) of the set electric tool (4).

Description

Tool system, power tool, holder and holder main unit

[0001] The present disclosure relates generally to a tool system, a power tool, a holder, and a holder parent unit, and more particularly to a tool system, a power tool, a holder, and a holder parent unit for a power tool used by a robot.

[0002] Patent Document 1 discloses that a robot uses a magnetic tool in a work area.

[0003] In a system in which a robot performs a task using a power tool, the power tool needs to be supplied with power. If a power supply line for supplying power to the power tool is connected to the power tool, the layout of the work area may become complicated.

[0004] Special Publication No. 2013-532372

[0005] The present disclosure has been made in view of the above-mentioned circumstances, and aims to provide a tool system, a power tool, a holder, and a holder main unit that can improve the degree of freedom in the layout of a work area.

[0006] A tool system according to one aspect of the present disclosure includes a power tool and a holder. The power tool is used by a robot. The power tool is set in the holder when not being used by the robot. The power tool has a battery unit and a drive unit. The drive unit is driven by power supplied from the battery unit. The holder has a charging unit. The charging unit charges the battery unit of the set power tool.

[0007] According to one aspect of the present disclosure, there is provided a power tool used as part of the tool system, the power tool being used by the robot, the power tool including the battery unit and the drive unit.

[0008] According to an aspect of the present disclosure, there is provided a holder used as part of the tool system, the holder being configured to hold the power tool when not in use by the robot, and the holder including the charging unit.

[0009] A holder master unit according to an aspect of the present disclosure is used as part of the tool system. The holder master unit supplies power to the holder. The holder master unit includes a charging control unit.

[0010] Fig. 1 is a schematic diagram showing a configuration of a robot system according to an embodiment. Fig. 2 is a block diagram showing the configuration of the robot system. Fig. 3 is a plan view of a holder included in the robot system. Fig. 4 is a flowchart showing the operation of a tool system included in the robot system.

[0011] Preferred embodiments of the present disclosure will be described in detail below with reference to the drawings. Elements common to the embodiments described below are designated by the same reference numerals, and redundant descriptions of the common elements may be omitted. The following embodiment is merely one of various embodiments of the present disclosure. Various modifications of the embodiment may be made depending on the design, etc., as long as the object of the present disclosure can be achieved. Furthermore, the embodiments (including modified examples) may be realized in appropriate combinations.

[0012] The drawings described in this disclosure are schematic diagrams, and the ratios of the sizes and thicknesses of the components in the drawings do not necessarily reflect the actual dimensional ratios. Note that the arrows indicating the directions in the drawings are merely examples and are not intended to define the directions when using the robot system 100. Furthermore, the arrows indicating the directions in the drawings are merely shown for the purpose of explanation and do not have any substance.

[0013] (1) Overview An overview of a robot system 100 according to this embodiment will be described with reference to FIGS. 1 and 2. FIG.

[0014] The robot system 100 of this embodiment includes a robot 5 and a tool system 1. The robot 5 of this embodiment is an industrial robot. The robot 5 of this embodiment uses a power tool 4 to tighten a work object X1 such as a screw or a bolt.

[0015] The tool system 1 includes a power tool 4 and a holder 3 .

[0016] The power tool 4 is used by the robot 5. The power tool 4 has a battery unit 41 and a drive unit 42 that is driven by power supplied from the battery unit 41.

[0017] The holder 3 is configured to hold a power tool 4 that is not being used by the robot 5. The holder 3 has a charging unit 32 (see FIG. 2 ) that charges the battery unit 41 of the set power tool 4. Here, "the power tool 4 is set in the holder 3" is intended to include the power tool 4 being mechanically connected to the holder 3, the power tool 4 being placed on the holder 3, the power tool 4 being supported by the holder 3, or the power tool 4 and the holder 3 being electrically connected, etc.

[0018] Since the power tool 4 has a battery unit 41, there is no need to connect a power supply line to the power tool 4. Therefore, the robot system 100 (or the tool system 1) of this embodiment allows for greater flexibility in the layout of the work area around the robot 5. Furthermore, when the power tool 4 is not being used by the robot 5, it is set in the holder 3 and charged by the holder 3. Therefore, the tool system 1 of this embodiment has the advantage of eliminating the need to know the charge state of the battery unit 41 of the power tool 4 or to separately perform charging work.

[0019] (2) Details The detailed configuration of the robot system 100 according to this embodiment will be described below with reference to FIGS. 1 to 3. FIG.

[0020] (2.1) Configuration of the Robot System The robot system 100 of this embodiment is used, for example, in an assembly line in a factory where workpieces X0 are assembled. In this embodiment, at least a part of the assembly work of the workpieces X0 is performed by a robot 5.

[0021] As shown in FIG. 1 , the robot system 100 includes a robot 5 and a tool system 1 .

[0022] (2.2) Configuration of the Robot As described above, the robot 5 of this embodiment is an industrial robot. The robot 5 performs at least a part of the assembly work of the workpiece X0. The robot 5 uses the power tool 4 to tighten a work object X1 such as a screw or a bolt.

[0023] The robot 5 is electrically connected to a power source 200. The power source 200 is, for example, a commercial power source. However, the power source 200 may also be a primary battery, a secondary battery, a fuel cell, a solar cell, or the like. In this disclosure, "electrically connected" means a connection in an electrically conductive state, and includes not only a direct connection but also an indirect connection via, for example, a conductor such as an electric wire, a breaker, or a relay (connection device). The robot 5 may also have a built-in power source 200.

[0024] The robot 5 includes an arm 52 , a mounting unit 53 , and a control unit 51 .

[0025] The arm 52 is configured to be able to freely move the power tool 4 within a predetermined area. The arm 52 is configured to be rotatable, for example, around a rotation axis along the up-down direction. The arm 52 also has multiple joints configured to be rotatable around a direction perpendicular to the up-down direction. The arm 52 operates under the control of the control unit 51.

[0026] The attachment portion 53 is provided at the tip of the arm 52. The attachment portion 53 is configured to be able to attach the power tool 4. More specifically, the attachment portion 53 is connected to the connection portion 43 of the power tool 4. The connection between the attachment portion 53 and the connection portion 43 of the power tool 4 may be mechanical or magnetic. In addition, the attachment portion 53 of this embodiment is also electrically connected to the connection portion 43 of the power tool 4.

[0027] The control unit 51 can be realized by, for example, a computer system including one or more processors (microprocessors) and one or more memories. The one or more processors execute one or more programs stored in one or more memories to function as the control unit 51. Here, the programs are pre-recorded in the memory of the control unit 51, but they may also be provided via a telecommunications line such as the Internet or by being recorded on a non-transitory recording medium such as a memory card.

[0028] The control unit 51 controls the operation of the arm 52. The control unit 51 controls the operation of the arm 52 based on, for example, preset work information. The work information includes information such as information on the work sequence, information on the power tool 4 corresponding to each work object X1, and position information of each work object X1 (or work location). Furthermore, the control unit 51 of this embodiment controls the drive unit 42 of the power tool 4.

[0029] Based on the work information, the control unit 51 selects from the plurality of power tools 4 a power tool 4 corresponding to the work object X1 on which the next tightening operation is to be performed. Next, the control unit 51 moves the tip of the arm 52 to the vicinity of the holder 3 on which the selected power tool 4 is set, and connects the attachment portion 53 of the arm 52 with the connection portion 43 of the selected power tool 4. Next, the control unit 51 moves the tip of the arm 52 so as to set the power tool 4 on the work object X1. Next, the control unit 51 outputs a drive signal to the power tool 4 via the attachment portion 53 to drive the drive unit 42 and cause the drive unit 42 to perform the tightening operation. When the tightening operation by the drive unit 42 is completed, the control unit 51 moves the tip of the arm 52 to set the selected power tool 4 in the corresponding holder 3. In addition, if the power tool 4 corresponding to the next work object X1 is the same power tool 4, the control unit 51 may cause the power tool 4 attached to the attachment unit 53 to perform the tightening work of the next work object X1 without setting the power tool 4 in the holder 3.

[0030] (2.3) Configuration of Tool System As shown in FIG. 2 , the tool system 1 of this embodiment includes a holder master unit 2 , a plurality of holders 3 , and a plurality of power tools 4 .

[0031] (2.3.1) Configuration of Power Tools The multiple power tools 4 are power tools used by the robot 5. The multiple power tools 4 have different configurations. This enables the robot 5 to perform various tasks. In this disclosure, "different configurations" refers not only to different types of power tools 4 themselves, such as impact drivers and drill drivers, but also to different types of bits 45 (tool inserts) attached to the power tools 4, such as driver bits, socket bits, and drill bits. Furthermore, "different configurations" also refers to different sizes of bits 45 attached to the power tools 4. In other words, a power tool 4 that is an impact driver and a power tool 4 that is a drill driver have different configurations. Furthermore, a power tool 4 that is an impact driver with a driver bit attached and a power tool 4 that is an impact driver with a socket bit attached have different configurations. Furthermore, a power tool 4 that is an impact driver with a driver bit of a first size attached and a power tool 4 that is an impact driver with a driver bit of a second size attached have different configurations.

[0032] As shown in FIGS. 1 to 3, the power tool 4 includes a housing 40, a battery unit 41, a drive unit 42, a connection unit 43, a power receiving unit 44 (see FIG. 3), and a bit 45.

[0033] The housing 40 of this embodiment houses the battery unit 41 and the drive unit 42. However, it is sufficient that the housing 40 houses at least a portion of the drive unit 42. The housing 40 of this embodiment is formed in a rod-like box shape. As shown in FIG. 3 , the cross-sectional shape (or outer hull) of the housing 40 includes a straight portion. In other words, the side surface of the housing 40 includes a flat portion. The flat portion of the housing 40 faces the charging unit 32 of the holder 3 when the power tool 4 is set in the holder 3.

[0034] The battery unit 41 of this embodiment is built into the housing 40. The battery unit 41 supplies power to the drive unit 42. The battery unit 41 of this embodiment has a plurality of all-solid-state battery cells. That is, the battery unit 41 includes an all-solid-state battery. The plurality of all-solid-state battery cells of this embodiment are a plurality of laminate cells (pouch-type cells) stacked in a predetermined direction.

[0035] The battery unit 41 using an all-solid-state battery can be charged with a larger current than a battery unit using, for example, a lithium-ion battery. In other words, when an all-solid-state battery and a lithium-ion battery have the same electrical capacity, the all-solid-state battery can be charged faster than the lithium-ion battery. Furthermore, because the all-solid-state battery can be charged faster than the lithium-ion battery, it is easy to charge the same amount of power as consumed. Therefore, the all-solid-state battery is less likely to experience power shortages even with the minimum necessary electrical capacity, and can be set to a small electrical capacity, allowing for a reduction in the size and weight of the battery unit 41. Therefore, the tool system 1 of this embodiment has the advantage that the reduction in size and weight of the battery unit 41 allows for a reduction in size and weight of the power tool 4 and the robot 5.

[0036] The drive unit 42 has a motor. The drive unit 42 is configured to operate using power supplied to the motor from the battery unit 41, which serves as a power source. The drive unit 42 also has an output shaft that rotates in response to the operation of the motor. A bit 45 is detachably attached to the output shaft. For example, the bit 45 is attached to the output shaft so as to protrude along the longitudinal direction from one end (first end) of the housing 40 in the longitudinal direction of the housing 40. However, the output shaft and the bit 45 may be integrally configured. The drive unit 42 of this embodiment operates based on a drive signal output from the control unit 51 of the robot 5. When the drive unit 42 operates with the bit 45 set in the work object X1, the bit 45, which is, for example, a driver bit, rotates to tighten or loosen the work object X1.

[0037] The connection unit 43 is configured to be mechanically and electrically connected to the mounting unit 53 of the robot 5. For example, the connection unit 43 is provided at the other end (second end) of the housing 40 in the longitudinal direction of the housing 40.

[0038] 3, the connecting portion 43 of this embodiment is formed in a disk shape. When viewed in the longitudinal direction of the housing 40, the outer periphery of the connecting portion 43 is located outside the outer periphery of the housing 40. In this embodiment, when the power tool 4 is set in the holder 3, the connecting portion 43 is shaped to catch on the holder 3, thereby preventing the power tool 4 from falling off the holder 3.

[0039] The power receiving unit 44 is configured to receive power supplied from the charging unit 32 of the holder 3. As shown in FIG. 3 , the power receiving unit 44 of this embodiment is provided on a flat portion of the housing 40. The power receiving unit 44 has a power receiving terminal made of, for example, metal. The power receiving terminal has, for example, a high potential terminal and a low potential terminal. When the power tool 4 is set in the holder 3, the power receiving terminal of the power receiving unit 44 of the power tool 4 comes into contact with the power supply terminal of the charging unit 32 of the holder 3, thereby electrically connecting the power receiving unit 44 of the power tool 4 and the charging unit 32 of the holder 3. The power receiving unit 44 supplies the power supplied from the charging unit 32 of the holder 3 to the battery unit 41. Note that the power receiving unit 44 of the power tool 4 and the charging unit 32 of the holder 3 may be configured to be mechanically connected.

[0040] (2.3.2) Configuration of the Holder The multiple holders 3 are arranged in positions in the work area of ​​the robot 5 that the tip of the arm 52 of the robot 5 can reach. The multiple holders 3 are devices capable of charging the battery units 41 of the multiple power tools 4. In this embodiment, the multiple holders 3 correspond one-to-one to the multiple power tools 4. The multiple holders 3 are electrically connected to the holder master unit 2. Each of the multiple holders 3 in this embodiment charges the battery unit 41 of the power tool 4 with power supplied from the holder master unit 2. Each of the multiple holders 3 in this embodiment is configured to be able to communicate with the holder master unit 2. In this disclosure, "communicative" means that signals can be exchanged directly or indirectly via a network, a repeater, or the like, using an appropriate communication method such as wired or wireless communication. Each of the multiple holders 3 in this embodiment communicates with the holder master unit 2 via wired communication.

[0041] 1 and 3 , the holder 3 holds the power tool 4 that is not being used by the robot 5. When the robot 5 finishes or completes a task using the power tool 4, the power tool 4 is set in the holder 3, and the power tool 4 is fixed to the holder 3.

[0042] 3, the holder 3 has a rectangular frame shape with one side open in plan view. As described above, the holder 3 is configured so that the connecting portion 43 of the power tool 4 is hooked onto the holder 3. However, the shape of the holder 3 and the means for supporting or fixing the power tool 4 by the holder 3 may be designed as appropriate.

[0043] As shown in FIG. 2 , the holder 3 of this embodiment includes a detection unit 31 , a charging unit 32 , and a notification unit 33 .

[0044] The detection unit 31 detects that the power tool 4 has been set in the holder 3. For example, the detection unit 31 has a contact sensor provided at the power supply terminal of the charging unit 32. The contact sensor detects the mechanical connection between the power supply terminal of the charging unit 32 and the power receiving terminal of the power receiving unit 44 of the power tool 4. In other words, the detection unit 31 of this embodiment detects whether the charging unit 32 and the power receiving unit 44 of the power tool 4 are electrically connected. However, it is not essential that the detection unit 31 has a contact sensor; any sensor capable of detecting that the power tool 4 has been set in the holder 3 may be appropriately selected. The detection unit 31 of this embodiment transmits detection information indicating the detection result to the holder master unit 2.

[0045] The charging unit 32 charges the battery unit 41 of the power tool 4 set in the holder 3. The charging unit 32 is provided in a portion that faces the flat portion of the housing 40 of the power tool 4 when the power tool 4 is set in the holder 3. The charging unit 32 has, for example, a metal power supply terminal. The power supply terminal has, for example, a high potential terminal and a low potential terminal. The charging unit 32 supplies power to the power receiving unit 44 of the power tool 4 via the power supply terminal. The charging unit 32 may have a power supply circuit that converts the power (or voltage) supplied from the holder main unit 2 into power (or voltage) for charging the battery unit 41 of the power tool 4.

[0046] The charging unit 32 starts or ends charging of the battery unit 41 of the power tool 4 based on control by the charging control unit 21. The charging unit 32 of this embodiment starts or ends charging of the power tool 4 based on control by the charging control unit 21 of the holder main unit 2.

[0047] The notification unit 33 notifies the user of the charging status of the battery unit 41 by the charging unit 32. The notification unit 33 in this embodiment has a display unit. The display unit in this embodiment is configured, for example, with an LED (Light Emitting Diode). For example, the LED emits green light when the battery unit 41 is charging and turns off when the battery unit 41 is not charging. For example, the display unit is provided on the housing of the holder 3. For example, the display unit is provided in a part of the housing of the holder 3 that is easily visible to a person monitoring (or managing) the work area when the power tool 4 is set in the holder 3. The holder 3 having such a notification unit 33 makes it easier for a person monitoring (or managing) the work area to understand the charging status of the battery unit of the power tool 4.

[0048] 1 and 2, the holder master unit 2 is electrically connected to a plurality of holders 3. As described above, the holder master unit 2 of this embodiment supplies power to each of the plurality of holders 3.

[0049] The holder main unit 2 is electrically connected to a power source 201. The power source 201 is, for example, a commercial power source. However, the power source 201 may also be a primary battery, a secondary battery, a fuel cell, a solar cell, or the like.

[0050] As shown in FIG. 2 , the holder base unit 2 includes a charging control unit 21 .

[0051] The charging control unit 21 can be realized by, for example, a computer system including one or more processors (microprocessors) and one or more memories. The one or more processors execute one or more programs stored in one or more memories to function as the charging control unit 21. Here, the programs are pre-recorded in the memory of the charging control unit 21, but they may also be provided via a telecommunications line such as the Internet or by being recorded on a non-transitory recording medium such as a memory card.

[0052] The charge control unit 21 controls the operation of the charging unit 32 of the holder 3. When the detection unit 31 detects that the power tool 4 has been set in the holder 3, the charge control unit 21 controls the charging unit 32 to start charging the battery unit 41. In other words, the charging unit 32 of this embodiment starts charging the battery unit 41 when the detection unit 31 detects that the power tool 4 has been set in the holder 3. By providing the charge control unit 21 in the holder main unit 2, the holder 3 can be made smaller and lighter than when the holder 3 has the charge control unit 21.

[0053] In this embodiment, the charge control unit 21 determines whether the battery unit 41 is fully charged, and if it determines that the battery unit 41 is fully charged, controls the charging unit 32 to terminate charging of the battery unit 41. For example, the charge control unit 21 acquires information on the value of the current flowing from the holder main unit 2 to the holder 3 or the value of the current flowing from the holder 3 to the power tool 4, and determines whether the battery unit 41 is fully charged based on the information on the current value.

[0054] (3) Operation of Charging System Next, the operation of the tool system 1 will be described with reference to Fig. 4. Fig. 4 is a flowchart showing the operation of the tool system 1.

[0055] First, the tool system 1 determines whether or not the power tool 4 is set in the holder 3 (step S1). If the tool system 1 determines that the power tool 4 is not set in the holder 3 (step S1: No), the tool system 1 repeats the process of step S1. On the other hand, if the tool system 1 determines that the power tool 4 is set in the holder 3 (step S1: Yes), the tool system 1 starts charging the battery unit 41 (step S2).

[0056] Next, the tool system 1 determines whether the battery unit 41 is fully charged (step S3). If the tool system 1 determines that the battery unit 41 is not fully charged (step S3: No), the tool system 1 repeats the process of step S3. On the other hand, if the tool system 1 determines that the battery unit 41 is fully charged (step S3: Yes), the tool system 1 ends charging of the battery unit 41 (step S4), and ends the series of processes shown in FIG. 4.

[0057] (4) Modifications Modifications of the above embodiment are listed below.

[0058] Functions equivalent to those of the tool system 1 (or the robot system 100) according to the above embodiment may be embodied as a charging method, a (computer) program, a non-transitory recording medium having a program recorded thereon, or the like. A charging method according to one aspect is executed by one or more processors. The charging method is a method used in the tool system 1. The tool system 1 includes a power tool 4 and a holder 3. The power tool 4 is used by a robot 5. The power tool 4 not being used by the robot 5 is placed in the holder 3. The power tool 4 includes a battery unit 41 and a drive unit 42 driven by power supplied from the battery unit 41. The holder 3 includes a charging unit 32 that charges the battery unit 41 of the placed power tool 4. The charging method involves charging the battery unit 41 of the power tool 4 by the charging unit 32 when the power tool 4 is placed in the holder 3. A program according to one aspect is a program for causing one or more processors to execute the above charging method.

[0059] The execution entity of the tool system 1 (or the robot system 100) in the present disclosure includes a computer system. The computer system is primarily composed of a processor and a memory as hardware. The processor executes a program stored in the memory of the computer system to realize the functions of the execution entity of the tool system 1 in the present disclosure. The program may be pre-recorded in the memory of the computer system, provided via a telecommunications line, or provided in a non-transitory recording medium readable by the computer system, such as a memory card, an optical disk, or a hard disk drive. The processor of the computer system is composed of one or more electronic circuits including a semiconductor integrated circuit (IC) or a large-scale integrated circuit (LSI). The integrated circuits, such as ICs and LSIs, are referred to by different names depending on the degree of integration, and include integrated circuits called system LSIs, very large scale integrations (VLSIs), or ultra large scale integrations (ULSIs). Furthermore, field-programmable gate arrays (FPGAs), which are programmed after the LSI is manufactured, or logic devices capable of reconfiguring the connections within the LSI or the circuit partitions within the LSI, can also be used as processors. The electronic circuits may be integrated into one chip or distributed across multiple chips. The chips may be integrated into one device or distributed across multiple devices. The computer system referred to here includes a microcontroller having one or more processors and one or more memories. Therefore, the microcontroller is also composed of one or more electronic circuits including a semiconductor integrated circuit or a large-scale integrated circuit.

[0060] Furthermore, it is not essential for the tool system 1 that multiple functions of the tool system 1 are concentrated in one housing, and the components of the tool system 1 may be distributed across multiple housings. Furthermore, at least some of the functions of the tool system 1, for example, some of the functions of the holder 3 (for example, the function of the detection unit 31 or the function of the notification unit 33), may be realized by another device.

[0061] In the above embodiment, the case where the battery unit 41 has a plurality of battery cells has been exemplified, but the battery unit 41 may have only one battery cell. In other words, the battery unit 41 may have a configuration including only one all-solid-state battery cell as the battery cell.

[0062] In the above embodiment, the case where the all-solid-state battery cell is a laminate cell (pouch-type cell) has been exemplified, but the all-solid-state battery cell may be a cylindrical cell (including a button-type cell) or a prismatic cell.

[0063] In the above embodiment, the battery unit 41 is built into the housing 40, but the battery unit 41 may be configured to be detachable from the housing 40. This allows the battery unit 41 to be easily replaced, for example, when the battery unit 41 deteriorates over time.

[0064] In the above embodiment, the drive unit 42 of the power tool 4 operates based on a drive signal output from the control unit 51 of the robot 5. For example, the drive unit 42 of the power tool 4 may operate when the bit 45 is pressed against the work object X1. This eliminates the need for an electrical connection between the power tool 4 and the robot 5, thereby improving the design freedom of the power tool 4 and the robot 5.

[0065] In the above embodiment, when the power tool 4 is set in the holder 3, the power receiving terminal of the power receiving unit 44 of the power tool 4 comes into contact with the power supply terminal of the charging unit 32 of the holder 3, thereby electrically connecting the power receiving unit 44 of the power tool 4 and the charging unit 32 of the holder 3. However, it is not essential that the power receiving unit 44 of the power tool 4 has a power receiving terminal, and that the charging unit 32 of the holder 3 has a power supply terminal. The power receiving unit 44 of the power tool 4 and the charging unit 32 of the holder 3 may be electrically connected by a contactless power supply method using electromagnetic induction.

[0066] In the above embodiment, the case where the holders 3 correspond one-to-one to the power tools 4 has been exemplified. However, the correspondence between the holders 3 and the power tools 4 may be any relationship as long as a power tool 4 that is not being used by the robot 5 is set in one of the holders 3 and charged.

[0067] The display unit of the notification unit 33 is not limited to a light-emitting unit such as an LED, and may be realized by an image display device such as a liquid crystal display or an organic electroluminescence (EL) display. Furthermore, the holder 3 (or the tool system 1) may include an audio output unit instead of or in addition to a display unit as the notification unit 33 that notifies the user of the charging state of the battery unit 41. That is, the notification unit 33 may notify (present) the user by means other than a display, and may be configured as an audio output unit such as a speaker or buzzer that outputs audio. The output "audio" may be, for example, an electronic beep such as "beep beep" or a synthesized voice such as "Charging" or "Charging completed."

[0068] In the above embodiment, the holder 3 is provided with the notification unit 33 , but the holder master unit 2 may be provided with notification units 33 corresponding to each of the multiple holders 3 .

[0069] The use of the robot system 100 is not limited to an assembly line in a factory where workpieces are assembled, but may be for other purposes.

[0070] The power supply 200 and the power supply 201 may be a common power supply.

[0071] In the above embodiment, the case where the charge control unit 21 determines whether the battery unit 41 is fully charged or not, and if it determines that the battery unit 41 is fully charged, controls the charging unit 32 to terminate charging of the battery unit 41. However, the configuration may also be such that the charging unit 32 determines whether the battery unit 41 is fully charged or not, and terminates charging of the battery unit 41 if it determines that the battery unit 41 is fully charged.

[0072] In the above embodiment, the tool system 1 includes the holder main unit 2. However, the tool system 1 does not necessarily have to include the holder main unit 2. When the tool system 1 does not include the holder main unit 2, each of the multiple holders 3 is connected to a power source such as the power source 201. Note that each of the multiple holders 3 may have a built-in power source 201 such as a battery. Furthermore, when the tool system 1 does not include the holder main unit 2, each of the multiple holders 3 may include the charging control unit 21. This allows the holder main unit 2 to be smaller and lighter than when the holder main unit 2 includes the charging control unit 21.

[0073] In the above embodiment, an example was given of the tool system 1 including multiple holders 3 and multiple power tools 4, but the tool system 1 may include one or more holders 3 and one or more power tools 4.

[0074] (Summary) As is clear from the above-described embodiment and modified examples, the tool system (1) according to the first aspect includes a power tool (4) and a holder (3). The power tool (4) is used by a robot (5). The holder (3) holds the power tool (4) when it is not being used by the robot (5). The power tool (4) has a battery unit (41) and a drive unit (42). The drive unit (42) is driven by power supplied from the battery unit (41). The holder (3) has a charging unit (32). The charging unit (32) charges the battery unit (41) of the set power tool (4).

[0075] According to this aspect, it is possible to improve the degree of freedom in the layout of the work area.

[0076] In the tool system (1) according to the second aspect, the holder (3) of the first aspect further includes a detection unit (31). The detection unit (31) detects that the power tool (4) has been set. The charging unit (32) starts charging the battery unit (41) when the detection unit (31) detects that the power tool (4) has been set in the holder (3).

[0077] The tool system (1) according to the third aspect is the same as the tool system (1) according to the second aspect, and further includes a holder main unit (2). The holder main unit (2) supplies power to the holder (3). The holder main unit (2) has a charging control unit (21) that controls a charging unit (32). When the detection unit (31) detects that a power tool (4) has been set in the holder (3), the charging control unit (21) controls the charging unit (32) to start charging the battery unit (41).

[0078] According to this aspect, the holder (3) can be made smaller and lighter.

[0079] In the tool system (1) according to the fourth aspect, in the second aspect, the holder (3) further includes a charging control unit (21) that controls the charging unit (32). When the detection unit (31) detects that the power tool (4) is set in the holder (3), the charging control unit (21) controls the charging unit (32) to start charging the battery unit (41).

[0080] According to this aspect, the holder main unit (2) can be made smaller and lighter.

[0081] In the tool system (1) according to a fifth aspect, in any one of the first to fourth aspects, the power tool (4) further includes a housing (40) that houses at least a part of the drive unit (42). The battery unit (41) is configured to be detachable from the housing (40).

[0082] According to this aspect, the battery section (41) can be easily replaced.

[0083] In the tool system (1) according to a sixth aspect, in any one of the first to fifth aspects, the battery section (41) includes an all-solid-state battery.

[0084] According to this aspect, the battery section (41) can be made smaller and lighter.

[0085] In the tool system (1) according to the seventh aspect, in any one of the first to sixth aspects, there are a plurality of power tools (4) and a plurality of holders (3). The plurality of power tools (4) have different configurations.

[0086] According to this aspect, the robot (5) can perform a variety of tasks.

[0087] In the tool system (1) according to the eighth aspect, in any of the first to seventh aspects, the holder (3) further has a notification unit (33) that notifies the state of charging of the battery unit (41) by the charging unit (32).

[0088] According to this aspect, for example, a person monitoring a work site can easily grasp the charging state of the battery unit (41) of the power tool (4).

[0089] The configurations other than the first aspect are not essential for the tool system (1) and can be omitted as appropriate.

[0090] A power tool (4) according to a ninth aspect is used as part of the tool system (1) according to any one of the first to eighth aspects. The power tool (4) is used by a robot (5). The power tool (4) includes a battery unit (41) and a drive unit (42).

[0091] According to this aspect, it is possible to improve the degree of freedom in the layout of the work area.

[0092] A holder (3) according to a tenth aspect is used as part of the tool system (1) according to any one of the first to eighth aspects. A power tool (4) that is not being used by a robot (5) is set in the holder (3). The holder (3) includes a charging unit (32).

[0093] According to this aspect, it is possible to improve the degree of freedom in the layout of the work area.

[0094] A holder master unit (2) according to an eleventh aspect is used as part of the tool system (1) according to the third aspect. The holder master unit (2) supplies power to the holder (3). The holder master unit (2) includes a charging control unit (21).

[0095] According to this aspect, the holder (3) can be made smaller and lighter.

[0096] REFERENCE SIGNS LIST 1 Tool system 2 Holder master unit 21 Charging control unit 3 Holder 31 Detection unit 32 Charging unit 33 Notification unit 4 Power tool 40 Housing 41 Battery unit 42 Driving unit 5 Robot

Claims

1. A power tool used by a robot, and a holder for setting the power tool in a state where it is not used by the robot, the power tool having a battery unit and a drive unit driven by electric power supplied from the battery unit, and the holder having a charging unit for charging the battery unit of the set power tool, a tool system.

2. The holder further has a detection unit for detecting that the power tool is set, and the charging unit starts charging the battery unit when the detection unit detects that the power tool is set in the holder. The tool system according to claim 1.

3. The tool system according to claim 2, further comprising a holder master unit for supplying power to the holder, the holder master unit having a charging control unit for controlling the charging unit, and the charging control unit controlling the charging unit to start charging the battery unit when the detection unit detects that the power tool is set in the holder.

4. The tool system according to claim 2, wherein the holder further has a charging control unit for controlling the charging unit, and the charging control unit controls the charging unit to start charging the battery unit when the detection unit detects that the power tool is set in the holder.

5. The power tool further has a housing for accommodating at least a part of the drive unit, and the battery unit is configured to be detachable from the housing. The tool system according to any one of claims 1 to 4.

6. The tool system according to any one of claims 1 to 5, wherein the battery unit includes an all-solid-state battery.

7. There are a plurality of the power tools and the holders, and the plurality of power tools have different configurations. The tool system according to any one of claims 1 to 6.

8. The holder further has a notification unit for notifying the state of charging of the battery unit by the charging unit. The tool system according to any one of claims 1 to 7.

9. A power tool used by the robot and comprising the battery unit and the drive unit, which is used as a part of the tool system according to any one of claims 1 to 8.

10. A holder that is used as part of the tool system according to any one of claims 1 to 8, in which the power tool in a state not being used by the robot is set, and which includes the charging unit.

11. A master holder that is used as part of the tool system according to claim 3, supplies power to the holder, and includes the charge control unit.

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