CN100337796C

CN100337796C - Robot system

Info

Publication number: CN100337796C
Application number: CNB031037682A
Authority: CN
Inventors: 胜田高司
Original assignee: Nitta Corp
Current assignee: Nitta Corp
Priority date: 2003-01-18
Filing date: 2003-01-18
Publication date: 2007-09-19
Anticipated expiration: 2023-01-18
Also published as: CN1517187A

Abstract

In a robot system, the information interchange between a tool (3) and a control disk (4) arranged on the wrist of a robot (R) is realized by wireless communication. A plurality of batteries (1) serving as power supplies for tools (3) with information communication and chargers (2) for charging the batteries are respectively arranged in the robot system; an automatic switching device (1a) is arranged in each of the batteries; by the automatic switching device (1a), if necessary, the batteries move from the tools (3) towards the chargers (2) or move in the reverse direction; when the electricity quantity of the batteries (1) assembled on the tools are fewer, the batteries (1) move to the idle chargers (2) for charge, and other charged battery (1) are arranged on the tools (3). In the robot system, fewer action ranges of the robot are limited, which has little possibility of resulting in the stop of production and operation lines.

Description

Robot system

Technical field

The present invention relates to a kind of robot system.

Prior art

In the existing robots system, for the signal that carries out the sensor on the instrument that the industry robot wrist go up to install is confirmed and the power supply supply of actuator, the cable of the signal cable that will draw from robot control panel etc. etc. is arranged on the inside or the outside of robot.

Thereby in above-mentioned robot system, because the existence of cable has produced restriction to the action of robot, perhaps, difference according to circumstances produces the problem that produce line stops because of the disconnection of cable.

Thereby in the industrial quarters of introducing robot system, hope can be developed the actuating range less-restrictive of robot, is difficult for causing the robot system that stops of produce line.

Summary of the invention

Like this, the purpose of this invention is to provide a kind of actuating range less-restrictive of robot, be difficult for causing the robot system that stops of produce line.

In order to solve the above problems, robot system of the present invention is to finish robot system to instrument on the wrist that is installed in robot and the information exchange between the control panel by radio communication.Be provided with respectively several become the tool side that contains information communication as the battery of power supply and to the charger of its charging, on described battery, be provided with connecting the automatic switching control equipment that side switches on the charger or switches on the contrary from instrument.After the electric weight of the battery that tool side is assembled tails off, should return this charge in batteries on (moving on to) idle charger, simultaneously, other battery that instrument acceptance has been charged.

Robot system of the present invention, further, when battery was installed in tool side, battery became the status of electrically connecting with the tool side power supply wiring, and when battery was installed in charger one side, battery just became the status of electrically connecting with charger side charging distribution.

The above-mentioned formation according to the present invention can provide a kind of actuating range less-restrictive of robot, is difficult for causing the robot system that stops of produce line.

Brief description of drawings

Fig. 1 is the concept map of the robot system of first example of the present invention.

The sectional drawing that concerns between battery automatic switching control equipment when Fig. 2 uses for the expression battery and the tool retainer body.

Fig. 3 is inserted into the sectional drawing of the state the space of charger side keeper for expression from the left end side of described automatic switching control equipment.

Fig. 4 is illustrated in the sectional drawing of state that charger 2 sides are installed the automatic switching control equipment of battery.

The sectional drawing of the state that Fig. 5 separates with instrument from the state of Fig. 4 for expression.

Detailed description of the invention

Fig. 1 is the robot system concept map of first example of the present invention.

The basic comprising of this robot system is described.This robot system as shown in Figure 1, is installed in the instrument 3 at wrist place of the R of robot and the information exchange between the control panel 4 and is undertaken by radio communication.This robot system, two batteries 1 that become the instrument 3 one side power supplys that contain information communication are set respectively and, are provided with connecting the automatic switching control equipment 1a that side switches on the charger 2 or switches on the contrary from instrument 3 at described battery 1 to the charger 2 of its charging.After the electric weight of the battery 1 of instrument 3 sides assemblings tails off, this battery is recharged and returns on (moving on to) idle charger 2.Simultaneously, another battery 1 that has charged is installed to instrument 3 sides from charger 2.And, in this example, be that two chargers 2 and a battery 1 are installed on the charging board 5 during work, a battery 1 is installed in instrument 3 one sides.

Each major part of robot system be formed in following describing.

Battery 1 as shown in Figure 2, has and is used for the contact pin P1, the P1 that are electrically connected with power supply wiring, and the contact pin P2, the P2 that are electrically connected with the charging distribution.

And, in this battery 1, possess the above-mentioned automatic switching control equipment 1a that has as shown in Figure 2.This automatic switching control equipment 1a, as shown in the drawing, have: the body 10 that has space 10a at middle body; Make described body about 10 advance and retreat freely connect and be provided with the axis body 11 of all

ditch

11a, 11b at both ends; Be arranged on the middle body of described space 10a and be contained in the interior plate body 12 of space 10a; Described plate body 12 is applied to the left the spring 13 of power; Axis body 11 is applied to the left the spring 14 of power; Two ends and its tip that rotation is arranged on described body 10 freely are embedded in the interior engaging of described all

ditch

11a,

11b lobe plate

15,16.

Charger 2, as Fig. 1 or shown in Figure 2, have: the space 21 that is provided with the left end portion insertion of automatic switching control equipment 1a, also be provided with to become and engage engaging that

lobe plate

16,16 becomes the non-fastening state of engaging with the keeper body 20 of pin 22 with above-mentioned, in addition, also have contact pin P3, the P3 that is connected electrically on the charging distribution.

Do not put down in writing any application-specific especially for instrument 3, as Fig. 1 or shown in Figure 2, for example, this instrument 3 is provided with sensor 3a, actuator 3b, radio communication device 3c, in addition, also has the keeper body 30 that keeps described battery 1 and wherein set automatic switching control equipment 1a.

Keeper body 30 has the structure identical with above-mentioned keeper body 20, be provided with the space 31 that automatic switching control equipment 1a right-hand end is as shown in Figure 2 inserted, and also be provided with above-mentioned engage with

lobe plate

15,15 become the engaging of the non-fastening state of engaging with pin 32, in addition, also have contact pin P4, the P4 that is connected electrically on the charging distribution.

And the actuating signal of the affirmation signal of the sensor 3a and the actuator 3b that comes from control panel 4 etc. are undertaken by the exchange of the wireless signal of radio communication device 3c and robot control panel 4.

Charging board 5 as shown in Figure 2, possesses cylinder 50 is arranged, and by the turnover of output shaft 51, through automatic switching control equipment 1a, battery 1 is switched or switches on the contrary from instrument 3 side direction chargers 2 sides.

The state that battery 1 moves or moves on the contrary to charger side 2 from tool side 3 is described.Thus, at first, be connected the battery 1 of instrument 3 sides,, to charger 2 side shiftings, then, how the battery 1 that is assemblied in charger 2 sides moved to tool side carry out simple explanation from instrument 3 by automatic switching control equipment 1a.

At first, illustrate under the situation that battery 1 must charge that battery 1 moves from instrument 3 side direction chargers 2 sides.

1. battery 1 is connected the state (Fig. 2) of tool side

Under this state, axis body 11 moves to left end to greatest extent by the elastic force of

spring leaf

13,14, becomes with

lobe plate

15,15 with engaging of fastening of aforesaid axis body 11 and engages with

32,32 state that fastens.Thereby battery 1 is for being installed in the state on the instrument 3.

And by contacting of contact pin P1, P1 under this state and contact pin P4, P4, battery 1 and power supply wiring become status of electrically connecting, and battery 1 is the required power supply of work of actuator 3b or sensor 3a.

2. the state (Fig. 3) in space 21 is inserted in the left side of automatic switching control equipment 1a

This state is the SBR that battery 1 is connected to charger 2 sides, and engaging still is fastening state with

lobe plate

15,15 with engaging with pin 32,32.Thereby battery 1 still is assemblied on instrument 3 sides.

3. battery 1 is connected the state (Fig. 4) of charger 2 sides

Under this state, owing to be output the extruding of axle 51, axis body 11 carries out moving to greatest extent to the right, become non-fastening state with

lobe plate

15,15 with engaging with engaging of fastening of described axis body 11 with

32,32, meanwhile, engaging becomes fastening state with

lobe plate

16,16 with engaging with pin 22,22.Thereby battery 1 becomes the state that is assemblied in charger 2 sides.

4. instrument 3 is from the state (Fig. 5) of charger 2 sides separation

From above-mentioned state 3., instrument 3 is separated from charger 2 sides, and battery 1 comes from instrument 3 disengagings, stays on the charger 2.

And under this state, by contacting of contact pin P2, P2 and contact pin P3, P3, battery 1 becomes status of electrically connecting with power supply wiring, begins battery 1 charging.

Below, another battery 1 that explanation will be assemblied in another charger 2 sides is installed in the situation of tool side.

5. make the right-hand member side of automatic switching control equipment 1a of the state on another charger 2 that is installed in be inserted in the space 31 of keeper main body 30 of instrument 3 (with reference to figure 4, Fig. 5).

At this moment, the output shaft 50 of cylinder 5 retreats, elastic force by

spring leaf

13,14 moves axis body 11 to the left, consequently, engaging becomes and the state that engages with

32,32 engagings with

lobe plate

15,15, simultaneously, stop

lobe plate

16,16 and become non-fastening state (with reference to figure 3) with engaging with

22,22.

Thereby battery 1 becomes the state of the instrument of being assemblied in 3 sides.

Under this state, instrument 3 to be separated from charger 2 sides, battery 1 breaks away from from charger 2 and comes, and moves on the instrument 3 and stays.

6. in 1. above-mentioned～5. robot system, battery 1 can easily be changed at short notice.

This robot system is by above-mentioned formation, do not have from control panel 4 to instrument 3 cable, thereby, have the actuating range less-restrictive of robot, be difficult for causing the advantage that stops of produce line.

In the above-mentioned example, battery 1 and charger 2 are two, but are not limited thereto, and also can be more than two.In this case, can have the form of assembling two batteries 1 at instrument 3.

Claims

1, a kind of robot system, the instrument and the information exchange between the control panel that are installed on the robot wrist are undertaken by radio communication, it is characterized in that: several are set respectively as the battery of the power supply of the tool side that comprises information communication and to the charger of its charging, be provided with on the aforesaid battery connecting the automatic switching control equipment that side switches on the charger or switches on the contrary from tool side, when the accumulator electric-quantity that is assemblied in tool side tails off, should it be moved to idle charger to this charge in batteries gets on, simultaneously, instrument is installed other storage batteries again.

2, robot system as claimed in claim 1, it is characterized in that: when battery is installed in tool side, the power supply wiring of battery and tool side forms status of electrically connecting, and when battery was installed in the charger side, the charging distribution of battery and charger side formed status of electrically connecting.