HK1067090A1 - A robot system - Google Patents
A robot system Download PDFInfo
- Publication number
- HK1067090A1 HK1067090A1 HK04109956A HK04109956A HK1067090A1 HK 1067090 A1 HK1067090 A1 HK 1067090A1 HK 04109956 A HK04109956 A HK 04109956A HK 04109956 A HK04109956 A HK 04109956A HK 1067090 A1 HK1067090 A1 HK 1067090A1
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- HK
- Hong Kong
- Prior art keywords
- battery
- tool
- charger
- robot system
- state
- Prior art date
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- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Description
Technical Field
The present invention relates to a robot system.
Prior Art
In a conventional robot system, a cable such as a signal cable drawn from a robot control panel or the like is provided inside or outside the robot in order to confirm a signal of a sensor on a tool attached to a wrist of the industrial robot and supply power to an actuator.
Therefore, in the robot system described above, there is a problem that the operation of the robot is restricted by the presence of the cable, or the production line is stopped due to the disconnection of the cable depending on the situation.
Therefore, in the industry of introducing robot systems, it is desired to develop a robot system in which the operation range of the robot is less restricted and the production and work line is less likely to be stopped.
Summary of The Invention
In this way, the present invention aims to provide a robot system in which the limitation of the operation range of the robot is small and the production/work line is not easily stopped.
In order to solve the above-described problems, a robot system according to the present invention is a robot system that performs information exchange between a tool attached to a wrist of a robot and a control panel by wireless communication. A plurality of storage batteries as power supplies for a tool including information communication and chargers for charging the storage batteries are provided, and an automatic switching device for switching a connection side from the tool to the charger or vice versa is provided in each of the storage batteries. When the amount of electricity of the battery mounted on the tool side becomes small, the battery is returned (moved) to an idle charger in order to be charged, and the tool receives another charged battery.
In the robot system according to the present invention, when the battery is attached to the tool side, the battery is electrically connected to the tool side power supply wiring, and when the battery is attached to the charger side, the battery is electrically connected to the charger side charging wiring.
According to the above configuration of the present invention, it is possible to provide a robot system in which the operation range of the robot is less restricted and the production/work line is less likely to be stopped.
Brief description of the drawings
Fig. 1 is a conceptual diagram of a robot system according to a first embodiment of the present invention.
Fig. 2 is a sectional view showing a relationship between the automatic battery switching device and the tool holder body when the battery is used.
Fig. 3 is a sectional view showing a state of being inserted into a space of the charger side holder from a left end side of the automatic switching device.
Fig. 4 is a sectional view showing a state where the automatic switching device of the battery is attached to the charger 2 side.
Fig. 5 is a sectional view showing a state of being separated from the tool from the state of fig. 4.
Detailed description of the invention
Fig. 1 is a conceptual diagram of a robot system according to a first embodiment of the present invention.
The basic configuration of the robot system will be described. In this robot system, as shown in fig. 1, information exchange between a tool 3 attached to the wrist of a robot R and a control panel 4 is performed by wireless communication. In this robot system, two storage batteries 1 serving as a power source for a tool 3 including information communication and a charger 2 for charging the storage batteries are provided, and an automatic switching device 1a for switching the connection side from the tool 3 to the charger 2 or vice versa is provided in the storage battery 1. When the amount of electricity of the battery 1 attached to the tool 3 side becomes small, the battery is charged and returned (moved) to the empty charger 2. At the same time, another battery 1 charged is mounted from the charger 2 to the tool 3 side. In this embodiment, two chargers 2 and one battery 1 are attached to the charging tray 5 and one battery 1 is attached to the tool 3 side during operation.
The configuration of each main part of the robot system will be described below.
As shown in fig. 2, the battery 1 includes contact pins P1 and P1 for electrically connecting to a power supply wiring, and contact pins P2 and P2 for electrically connecting to a charging wiring.
The battery 1 is provided with the automatic switching device 1a shown in fig. 2. As shown in the figure, the automatic switching apparatus 1a includes: a body 10 having a space 10a at a central portion; a shaft body 11 which penetrates the body 10 to be movable forward and backward in the left and right direction and is provided with circumferential grooves 11a and 11b at both ends; a plate body 12 provided in the central portion of the space 10a and housed in the space 10 a; a spring 13 for applying a force to the left side of the plate body 12; a spring 14 for urging the shaft body 11 to the left; engaging cam plates 15, 16 rotatably provided at both ends of the body 10 and having tip portions fitted in the circumferential grooves 11a, 11 b.
As shown in fig. 1 or 2, the charger 2 includes: the space 21 into which the left end portion of the automatic switching device 1a is inserted is provided, the holder body 20 is provided with the engaging pin 22 which is engaged with and disengaged from the engaging cam plates 16 and 16, and the contact pins P3 and P3 are electrically connected to the charging wire.
The tool 3 is not particularly described in any particular application, and as shown in fig. 1 or fig. 2, for example, the tool 3 is provided with a sensor 3a, an actuator 3b, a wireless communication device 3c, and further has a holder body 30 that holds the battery 1 and the automatic switching device 1a provided therein.
The holder body 30 has the same configuration as the holder body 20 described above, and is provided with a space 31 into which the right end portion of the automatic switching device 1a shown in fig. 2 is inserted, an engaging pin 32 which is engaged with or disengaged from the engaging cam plates 15 and 15, and contact pins P4 and P4 which are electrically connected to the charging wire.
The confirmation signal of the sensor 3a and the operation signal from the actuator 3b of the control panel 4 are exchanged by the wireless communication device 3c and the robot control panel 4.
As shown in fig. 2, the charging tray 5 includes a cylinder 50, and switches the battery 1 from the tool 3 side to the charger 2 side or vice versa through the automatic switching device 1a by moving in and out of an output shaft 51.
A state in which the battery 1 moves from the tool side 3 to the charger side 2 or vice versa will be described. Accordingly, first, the battery 1 connected to the tool 3 side is moved from the tool 3 to the charger 2 side by the automatic switching device 1a, and then, it will be briefly described how the battery 1 mounted on the charger 2 side is moved to the tool side.
First, when the battery 1 needs to be charged, the battery 1 is moved from the tool 3 side to the charger 2 side.
[ MEANS FOR solving PROBLEMS ] A state in which a battery 1 is connected to a tool side (FIG. 2)
In this state, the shaft body 11 is moved to the left end to the maximum extent by the elastic force of the spring pieces 13 and 14, and the engaging cam plates 15 and 15 engaged with the shaft body 11 are brought into an engaged state with the engaging pins 32 and 32. Thus, the battery 1 is mounted on the tool 3.
In this state, the contact pins P1 and P1 and the contact pins P4 and P4 are in contact with each other, so that the battery 1 and the power supply wiring are electrically connected to each other, and the battery 1 is a power supply necessary for the operation of the actuator 3b or the sensor 3 a.
② the state of inserting the left side of the device 1a into the space 21 (FIG. 3)
This state is a ready state in which the battery 1 is connected to the charger 2 side, and the engagement cam plates 15, 15 and the engagement pins 32, 32 are still in the engaged state. Thus, the battery 1 is still mounted on the tool 3 side.
State of accumulator 1 connected to charger 2 side (fig. 4)
In this state, the shaft body 11 is pushed by the output shaft 51 to move to the right to the maximum extent, and the engaging cam plates 15, 15 engaged with the shaft body 11 and the engaging pins 32, 32 are in a non-engaged state, and at the same time, the engaging cam plates 16, 16 and the engaging pins 22, 22 are in an engaged state. Thus, the battery 1 is mounted on the charger 2 side.
(figure 5) state where tool 3 is separated from charger 2 side)
From the state of the third embodiment, the tool 3 is separated from the charger 2, and the battery 1 is separated from the tool 3 and left on the charger 2.
In this state, the contact pins P2 and P2 contact the contact pins P3 and P3, whereby the battery 1 and the power supply wiring are electrically connected to each other, and charging of the battery 1 is started.
Next, a case where another secondary battery 1 mounted on the other charger 2 side is mounted on the tool side is explained.
The right end side of the automatic switching device 1a in a state of being mounted on the other charger 2 is inserted into the space 31 of the holder main body 30 of the tool 3 (refer to fig. 4, 5).
At this time, the output shaft 50 of the cylinder 5 is retracted and the shaft body 11 is moved leftward by the spring force of the spring pieces 13 and 14, and as a result, the engaging cam plates 15 and 15 are brought into the engaged state with the engaging pins 32 and 32, and the stop cam plates 16 and 16 are brought into the disengaged state with the engaging pins 22 and 22 (see fig. 3).
Thus, the battery 1 is mounted on the tool 3 side.
In this state, the tool 3 is separated from the charger 2 side, and the battery 1 is separated from the charger 2, moved to the tool 3, and left.
Sixthly, in the robot system of the above-mentioned (i) - (v), the storage battery 1 can be easily replaced in a short time.
With the above-described configuration, the robot system has the advantage that no cable runs from the control panel 4 to the tool 3, and therefore the operation range of the robot is less restricted, and the production/work line is less likely to stop.
In the above-described embodiment, the number of the battery 1 and the charger 2 is two, but the present invention is not limited thereto, and two or more may be used. In this case, it may be in the form of two batteries 1 mounted on the tool 3.
Claims (2)
1. A robot system in which information exchange between a tool mounted on a robot wrist and a control board is performed by wireless communication, characterized in that: a plurality of storage batteries as a power source of a tool side including information communication and a charger for charging the storage batteries are respectively provided, and an automatic switching device for switching a connection side from the tool side to the charger or vice versa is provided on the storage batteries.
2. The robotic system as set forth in claim 1 wherein: when the battery is mounted on the tool side, the battery is electrically connected to the power supply wiring on the tool side, and when the battery is mounted on the charger side, the battery is electrically connected to the charging wiring on the charger side.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK04109956.9A HK1067090B (en) | 2004-12-15 | A robot system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| HK04109956.9A HK1067090B (en) | 2004-12-15 | A robot system |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| HK1067090A1 true HK1067090A1 (en) | 2005-04-01 |
| HK1067090B HK1067090B (en) | 2008-05-02 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PC | Patent ceased (i.e. patent has lapsed due to the failure to pay the renewal fee) |
Effective date: 20120118 |