JPH0746706A - Current feeding mechanism for movable substance - Google Patents
Current feeding mechanism for movable substanceInfo
- Publication number
- JPH0746706A JPH0746706A JP5203642A JP20364293A JPH0746706A JP H0746706 A JPH0746706 A JP H0746706A JP 5203642 A JP5203642 A JP 5203642A JP 20364293 A JP20364293 A JP 20364293A JP H0746706 A JPH0746706 A JP H0746706A
- Authority
- JP
- Japan
- Prior art keywords
- floor
- feeding mechanism
- electrode plate
- equilateral triangle
- floor surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 239000000126 substance Substances 0.000 title abstract 3
- 239000012212 insulator Substances 0.000 claims abstract description 13
- 230000036544 posture Effects 0.000 description 7
- 230000010365 information processing Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Current-Collector Devices For Electrically Propelled Vehicles (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、各種搬送システム、分
散ロボット、マイクロマシンなどにおいて、床面上の任
意の位置で任意の平面姿勢をとる複数の移動体を駆動、
制御する場合などに適用し、移動体に対して床面から直
流給電できるようにするための給電機構に関するもので
ある。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention drives a plurality of moving bodies having arbitrary plane postures at arbitrary positions on a floor surface in various transfer systems, distributed robots, micromachines, etc.
The present invention relates to a power feeding mechanism applied to control and the like so that direct current can be fed to a moving body from the floor.
【０００２】[0002]
【従来の技術】例えば、情報処理機能をもつ多数の同一
構造の機械要素を平面上において任意の方向に移動可能
とし、それらの機械要素を相互に結合し、あるいはその
結合状態を変更、解除して、各種機器等を構成させる場
合、それらの各機械要素において、移動、機械要素相互
間の結合力の発生、あるいは情報処理のための電力が必
要になる。また、このような機械要素に限らず、一般的
に、床面上を任意の方向に移動し、任意の位置において
任意の平面姿勢をとる移動体においても同様である。こ
れらの場合に、電池を搭載して電力の供給を行うのが困
難であれば、外部から何らかの手段により供給する必要
があるが、移動体が床面上を移動することが前提であれ
ば、床面から直接的に給電するのが最も経済的で、しか
も安定的である。2. Description of the Related Art For example, a large number of machine elements having the same information processing function and having the same structure can be moved in a desired direction on a plane, the machine elements can be connected to each other, or their connection states can be changed or released. When configuring various devices and the like, each of these mechanical elements requires movement, generation of a coupling force between the mechanical elements, or electric power for information processing. The same applies not only to such a mechanical element but also to a moving body that moves on the floor surface in an arbitrary direction and takes an arbitrary plane posture at an arbitrary position. In these cases, if it is difficult to mount the battery and supply the power, it is necessary to supply the power by some means from the outside, but if the moving body moves on the floor, Powering directly from the floor is the most economical and stable.
【０００３】しかしながら、多数の移動体が床面上の任
意の位置において任意の平面姿勢をとるとなると、その
移動体に対して常に安定的な給電を行うことには困難性
を伴い、通常は定められた給電域で移動体に一定の姿勢
をとらせるなど、一定の条件下でなければ給電を行うこ
とができない。However, when a large number of moving bodies assume arbitrary plane postures at arbitrary positions on the floor surface, it is difficult to always supply stable electric power to the moving bodies, and normally, it is difficult. Power can be supplied only under certain conditions, such as by allowing the moving body to take a certain posture in a predetermined power supply area.
【０００４】[0004]
【発明が解決しようとする課題】本発明の技術的課題
は、床面上の任意の位置で、任意の平面姿勢をとる複数
の移動体に対し、床面の電極から直接直流給電できるよ
うにした給電機構を提供することにある。SUMMARY OF THE INVENTION The technical problem of the present invention is to enable direct current power feeding from a floor surface electrode to a plurality of moving bodies having arbitrary plane postures at arbitrary positions on the floor surface. It is to provide the power supply mechanism.
【０００５】[0005]
【課題を解決するための手段】上記課題を解決するため
の本発明の給電機構は、床面上を移動する移動体に、床
面に接する接点を正三角形の各頂点及びその中心に位置
させた集電子を設け、床面上には、一定巾の電極板と一
定巾の絶縁体を交互に敷設して、一つ置きの電極板を直
流電源の一極に、残る電極板を直流電源の他極に接続
し、上記電極板の巾Ｈ及び絶縁体の巾ｈと、上記正三角
形の一辺の長さａとの間に、 Ｈ＋２ｈ＜ａ×√３／２， Ｈ＞ａ／√３ の関係をもたせることによって構成している。SUMMARY OF THE INVENTION In order to solve the above-mentioned problems, a power feeding mechanism of the present invention has a movable body moving on a floor surface, in which contact points contacting the floor surface are located at each vertex of an equilateral triangle and its center. A current collector is installed, and an electrode plate with a constant width and an insulator with a constant width are alternately laid on the floor surface.Each electrode plate is one pole of the DC power supply, and the remaining electrode plates are the DC power supply. To the other pole, and between the width H of the electrode plate and the width h of the insulator and the length a of one side of the equilateral triangle, H + 2h <a × √3 / 2, H> a / √3 It is composed by having the relationship of.
【０００６】[0006]
【作用】上述した給電機構によれば、いずれの極にも、
少なくとも１個ずつの集電子が接することになり、その
ため、移動体が床面上のどのような位置にあっても、ま
たどのような平面姿勢をとっていても、その移動体に対
して床面の電極板から直接直流給電される。また、移動
体の個数にも制限がない。According to the above-mentioned power feeding mechanism,
At least one current collector will come into contact with each other, so that no matter where the moving body is on the floor surface or in what plane attitude it takes, DC power is directly supplied from the surface electrode plate. Further, there is no limit to the number of moving bodies.
【０００７】[0007]
【実施例】図１及び図２は、本発明に係る給電機構の実
施例を示している。この給電機構における移動体１に
は、図示していないが、床面２上を任意の方向に移動す
るための移動機構を備え、さらに、図１に示すように、
移動体１の下面には、床面２に接する接点T1〜T4を正三
角形の各頂点及びその正三角形の中心に位置させた四つ
の集電子３を設けている。一方、床面２上には、一定巾
の電極板４と一定巾の絶縁体５を交互に敷設し、一つ置
きの電極板４を直流電源６の一極（＋Vcc ）に、残る電
極板４を直流電源６の他極（GND ）に接続している。1 and 2 show an embodiment of a power feeding mechanism according to the present invention. Although not shown, the moving body 1 in this power feeding mechanism is provided with a moving mechanism for moving on the floor surface 2 in an arbitrary direction, and further, as shown in FIG.
On the lower surface of the moving body 1, four current collectors 3 in which contacts T 1 to T 4 in contact with the floor 2 are located at the vertices of an equilateral triangle and the center of the equilateral triangle are provided. On the other hand, on the floor surface 2, an electrode plate 4 having a constant width and an insulator 5 having a constant width are alternately laid, and one electrode plate 4 is placed at one pole (+ Vcc) of the DC power source 6 and the remaining electrode plate is left. 4 is connected to the other pole (DC) of the DC power supply 6.
【０００８】図２は、移動体における四つの集電子３の
いずれかが常に隣接する電極板４の両者に接するように
するための、上記電極板４の巾Ｈ及び絶縁体５の巾ｈ
と、上記接点T1〜T4との位置的関係を説明するためのも
ので、集電子３を配設する正三角形の一辺の長さをａと
した場合に、上記巾Ｈ，ｈには、 Ｈ＋２ｈ＜ａ×√３／２ ・・・(1) Ｈ＞ａ／√３ ・・・(2) の関係をもたせることが必要になる。FIG. 2 shows a width H of the electrode plate 4 and a width h of the insulator 5 so that any one of the four current collectors 3 of the moving body is always in contact with both of the adjacent electrode plates 4.
For explaining the positional relationship between the contact points T 1 to T 4 and the length H of one side of an equilateral triangle on which the current collector 3 is arranged is a. , H + 2h <a × √3 / 2 (1) H> a / √3 (2).
【０００９】上記巾Ｈ，ｈをこのように設定すると、図
２中のＡのように集電子３の接点T1〜T4が位置するよう
な場合は勿論であるが、同図中のＢやＣで示す臨界的位
置に集電子３の接点T1〜T4がある場合においても、マー
ジンｂまたはｃをもって隣接する電極板４の両者にそれ
ぞれ少なくとも１個の集電子の接点を接触させることが
できる。When the widths H and h are set in this way, it goes without saying that the contacts T 1 to T 4 of the current collector 3 are positioned as shown by A in FIG. 2, but B in FIG. Even when the contacts T 1 to T 4 of the current collector 3 are located at the critical positions indicated by C and C, at least one current collector contact is brought into contact with both of the adjacent electrode plates 4 with a margin b or c. You can
【００１０】上記電極板４の巾Ｈと絶縁体５の巾ｈの関
係を、Ｈ−ｈパラメータ空間において表示すると、図３
のグラフに示すようになる。同図は、上記正三角形の一
辺の長さａを１として示しており、同図に示す直線(1)
及び(2) は、上記式(1) 及び(2) に対応するもので、そ
れらの直線に囲まれた斜線部分において巾Ｈ及びｈを設
定すればよい。なお、図２中の各正三角形は上記斜線部
分の中央のＰに該当している。When the relationship between the width H of the electrode plate 4 and the width h of the insulator 5 is displayed in the H-h parameter space, FIG.
As shown in the graph. In the figure, the length a of one side of the equilateral triangle is shown as 1, and the straight line (1) shown in the figure is used.
And (2) correspond to the above equations (1) and (2), and the widths H and h may be set in the shaded portion surrounded by the straight lines. Each equilateral triangle in FIG. 2 corresponds to the center P of the shaded portion.
【００１１】図４は、移動体１に備えるべき給電回路の
概要を示すもので、かかる給電回路を設けることによ
り、各接点T1〜T4がいずれの電極板４に接触していて
も、出力端７には常に同一極性の出力を得ることができ
る。FIG. 4 shows an outline of a power supply circuit to be provided in the moving body 1. By providing such a power supply circuit, whichever of the contact plates T 1 to T 4 is in contact with any of the electrode plates 4, An output of the same polarity can always be obtained at the output terminal 7.
【００１２】上述した給電機構によれば、移動体１にお
ける集電子３のいずれかが常に隣接する電極板４に接す
ることになり、そのため、移動体１が床面上のどのよう
な位置にあっても、またどのような平面姿勢をとってい
ても、その移動体１に対して床面の電極板４から直接直
流給電を行うことができる。According to the above-described power feeding mechanism, one of the current collectors 3 of the moving body 1 is always in contact with the adjacent electrode plate 4, so that the moving body 1 is located at any position on the floor. Moreover, regardless of the plane posture, DC power can be directly supplied to the moving body 1 from the electrode plate 4 on the floor.
【００１３】[0013]
【発明の効果】以上に詳述したように、本発明によれ
ば、床面上の任意の位置で、任意の平面姿勢をとる任意
個数の移動体に対し、床面の電極から直接直流給電でき
るようにした給電機構を得ることができる。As described above in detail, according to the present invention, DC power is directly supplied from the electrodes on the floor surface to any number of moving bodies having arbitrary plane postures at arbitrary positions on the floor surface. It is possible to obtain the power feeding mechanism that is made possible.
【図１】本発明に係る給電機構の実施例を示す斜視図で
ある。FIG. 1 is a perspective view showing an embodiment of a power feeding mechanism according to the present invention.
【図２】本発明における集電子の接点と電極板及び絶縁
体の巾との関係を説明するための平面状説明図である。FIG. 2 is a plan view for explaining the relationship between the current collector contacts and the widths of the electrode plate and the insulator in the present invention.
【図３】電極板の巾Ｈと絶縁体の巾ｈの関係を、Ｈ−ｈ
パラメータ空間において表示したグラフである。FIG. 3 shows the relationship between the width H of the electrode plate and the width h of the insulator as H-h
It is the graph displayed in the parameter space.
【図４】移動体に備えるべき給電回路の概要を示す回路
図である。FIG. 4 is a circuit diagram showing an outline of a power supply circuit to be provided in a mobile body.
１ 移動体、 ２ 床面、 ３ 集電子、 ４ 電極板、 ５ 絶縁体、 ６ 直流電源、 T1〜T4 接点、 Ｈ 電極板の巾、 ｈ 絶縁体の巾、 ａ 正三角形の一辺の長さ。1 mobile, two-bed surface, Vol electrons, fourth electrode plate, 5 an insulator, 6 DC power supply, T 1 through T 4 contacts, the width of the H electrode plate, the width of the h insulator, of one side of a regular triangle the length It is.
Claims (1)
接点を正三角形の各頂点及びその中心に位置させた集電
子を設け、 床面上には、一定巾の電極板と一定巾の絶縁体を交互に
敷設して、一つ置きの電極板を直流電源の一極に、残る
電極板を直流電源の他極に接続し、 上記電極板の巾Ｈ及び絶縁体の巾ｈと、上記正三角形の
一辺の長さａとの間に、 Ｈ＋２ｈ＜ａ×√３／２， Ｈ＞ａ／√３ の関係をもたせた、 ことを特徴とする移動体に対する給電機構。1. A moving body moving on a floor surface is provided with current collectors in which contact points in contact with the floor surface are located at respective vertices of an equilateral triangle and at the center thereof, and an electrode plate having a constant width is provided on the floor surface. By alternately laying insulators of a constant width, connecting every other electrode plate to one pole of the DC power source and connecting the remaining electrode plates to the other pole of the DC power source, the width H of the electrode plate and the width of the insulator. A power feeding mechanism for a moving body, characterized in that a relation of H + 2h <a × √3 / 2, H> a / √3 is provided between h and a length a of one side of the equilateral triangle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5203642A JPH0746706A (en) | 1993-07-26 | 1993-07-26 | Current feeding mechanism for movable substance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5203642A JPH0746706A (en) | 1993-07-26 | 1993-07-26 | Current feeding mechanism for movable substance |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0746706A true JPH0746706A (en) | 1995-02-14 |
Family
ID=16477430
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5203642A Pending JPH0746706A (en) | 1993-07-26 | 1993-07-26 | Current feeding mechanism for movable substance |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0746706A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007006586A (en) * | 2005-06-22 | 2007-01-11 | Takenaka Komuten Co Ltd | Cordless power supply panel |
| CN102556931A (en) * | 2011-12-19 | 2012-07-11 | 上海交通大学 | Microelectrode array with electrode point distance capable of exceeding micromaching precision and preparation method of microelectrode array |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5244512B2 (en) * | 1971-12-29 | 1977-11-08 |
-
1993
- 1993-07-26 JP JP5203642A patent/JPH0746706A/en active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5244512B2 (en) * | 1971-12-29 | 1977-11-08 |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007006586A (en) * | 2005-06-22 | 2007-01-11 | Takenaka Komuten Co Ltd | Cordless power supply panel |
| CN102556931A (en) * | 2011-12-19 | 2012-07-11 | 上海交通大学 | Microelectrode array with electrode point distance capable of exceeding micromaching precision and preparation method of microelectrode array |
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