JP2789972B2 - Micro robot storage case - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a micro robot storage case having a size of about 1 cubic centimeter.

[0002]

2. Description of the Related Art The present inventor has developed a micro robot which moves by sensing light.
No. 71696, Japanese Patent Application No. 4-71697, Japanese Patent Application No. 4-
No. 71698. This microrobot is about one cubic centimeter in size, very small and sophisticated, and must be handled with care.

[0003] Incidentally, plastic containers and the like are generally used for packaging small and precise articles, and it is customary that the main body, each part (when it can be disassembled for each part), accessories and the like are properly stored. is there. That is, only the storage sections for the parts and accessories are appropriately arranged.

[0004]

The microrobot developed by the inventor of the present invention is of a charging type and requires remote control devices for operating the robot. In addition, due to the nature of the micro robot, it is necessary to make the storage case small and compact and easy to take out and handle. In addition, simply storing necessary articles for the micro robot is inconvenient and troublesome in terms of operation of the robot.

[0005] In view of the specialty of such a micro robot, the present invention is not only a function of storing each article as described above, but also a pocket-sized compact having various functions so that it can be charged during the storage period. It is intended to provide a simple storage case.

[0006]

According to the present invention, a case body is provided with a robot storage section, a battery box for charging the robot, a substrate on which a charging circuit is formed, and a storage section for a robot operation tool. This is a microrobot storage case configured to charge the internal power supply of the robot when is stored in the storage section. That is, the configuration of the present invention is characterized in that the micro robot has a storage section for storing a micro robot, a battery box for storing a battery for charging a power supply of the micro robot, and a charging circuit connected to the battery box. And an energy supply means for the micro-robot, and a storage portion for the operating device of the micro robot. Here, the energy supply means includes a non-contact energy supply means using an excitation coil, a photovoltaic element, or the like, in addition to a means for mechanically connecting a terminal of the robot and an electrode provided on the substrate.

[0007] The layout of each article and each part should satisfy at least one of the following positional relationships with respect to the case body. That is, the robot storage section is on the right side, the battery box is on the left side, the substrate is below the robot storage section, and the robot operation tool is on the front side.

Further, at least two robot housings can be provided so that electrodes are provided in parallel on the substrate and robots are installed in parallel between the two electrodes. When the tactile part and the tail are used as the connection terminals of the robot, the capsule to which the magnet is further attached is put on the robot in order to make the respective lead terminals adhere to the electrodes. The lead terminal is interposed and fixed to the electrode by the attraction force of the magnet. Note that the capsule may be configured to mechanically detachably engage with the robot storage unit.

The case main body has a signal transmission means for transmitting and receiving signals to and from a control device built in the robot for controlling the operation of the robot, and has an operation circuit for instructing at least the robot control device. be able to. The operation circuit includes a charging circuit and a reset circuit for resetting the robot controller, and the reset circuit is built in the robot. Furthermore, the charging circuit is linked with a switch for battery check and the switch,
A reset switch for short-circuiting a power supply circuit of the micro robot.

[0010]

When the micro robot is stored in the robot storage section, the storage case is connected to the internal battery power supply of the robot via the substrate energy supply means, so that the robot can be charged during the storage period. .
Since the robot is very small and sophisticated, it is necessary to replace the battery as little as possible, eliminate the cause of the failure, and make the robot easy to use. At the same time as the charging of the robot is started, a reset is performed by a power-on reset circuit built in the robot to prevent runaway of the robot controller.

In addition, the robot housing is disposed on the right side, the battery box is disposed on the left side, the substrate is disposed below the robot housing, and the robot operating tool is disposed on the front side with respect to the case main body. Possible, easy to take out and handle, and compact.

The capsule is placed on the robot in the housed state, and the capsule is fixed on the electrode of the substrate with a magnet or a mechanical engaging means, so that the lead terminals of the robot can be sandwiched between the electrodes. Can be easily connected.

The storage case has a charging function for the robot as described above and various other functions. For example, an operation command can be input to the robot by the command means. Information such as the contents of the program and the internal power supply voltage can also be displayed by being attached to the command means.

[0014]

FIG. 1 is a plan view of a storage case according to an embodiment of the present invention. FIGS. 2 to 8 correspond to A-
It is sectional drawing of the A-GG line. This storage case 10
Is composed of a case main body 11 and a lid 12 which is openably and closably connected to the case main body 11 by a hinge 13.
Although the material is arbitrary, a conductive material is used to protect the micro robot from static electricity.

The microrobot 1 shown in the embodiment is of a type which moves by sensing light, and has a size of about 1 cubic centimeter. This robot 1 is schematically shown in FIG.
11 are configured as shown in FIG. 9 is a side view of the micro robot, FIG. 10 is a top view thereof, and FIG. 11 is a bottom view thereof. That is, the robot 1 has optical sensors 2L and 2R in contact with the eyes, and the tactile part and the tail constitute the lead terminals 3 and 4 which also serve as a balancer for charging the internal battery. Also independently driven wheels 5
L, 5R and drive units 6L, 6R with reduction gears for each wheel
And a battery power supply 7 and a microcomputer control device 8 provided at the center of the inside.

Here, the operation of the robot 1 will be briefly described. Each of the optical sensors 2L and 2R has a field of view A1 and A2 as a detection area, and the fields of view A1 and A2 have a field of view A3 partially overlapping at the center. To have. Therefore,
For example, when the light sensor 2L detects light from the light source in the left visual field A1 except the visual field A3, the light is converted into an electric pulse signal, only the left driving device 6L operates, and the right driving device 6R is in a stopped state. Therefore, only the left wheel 5L rotates and the right wheel 5R remains stopped, so that the robot 1 turns left (turns right) in the traveling direction. By the same principle, the right visual field A except the visual field A3
When the optical sensor 2R detects the light in 2, the robot 1 turns to the right (turns to the left), and the two sensors 2L, 2L,
When the 2R senses the light, the robot 1 goes straight.

The case main body 11 is provided with two storage sections 14 for the robot 1. A battery box 16 for storing the battery 15 is provided, and the battery box 16 is connected to a substrate 17 on which a charging circuit is formed. The substrate 17 is arranged below the robot storage unit 14 to reduce the size of the storage case 10. In order to charge the battery power source 7 of the robot 1, electrodes 18 and 19 are provided in parallel on the substrate 17, one of the electrodes 18 is a lead terminal 3 corresponding to a tactile part, and the other electrode 19 is a lead terminal 4 corresponding to a tail. Are connected by capsules described later. A switch 2 having a lamp 21 for battery check
0 is provided on the substrate 17. Further, a storage section 23 for the robot operation tool 22 such as a light and a storage section 25 for the battery 24 are provided in the case body 11.

With respect to the layout of each element, the robot housing 14 is located on the right side, the battery box 16 is located on the left side, the board 17 is located below the robot housing 14, the switch 20 is located on the front right side of the case body 11. Operation device 2
2 are arranged on the front side for ease of taking out and handling, and compactness. The storage section 25 of the battery 24 is arranged obliquely below and parallel to the robot operation tool 22. Hereinafter, the configuration of each unit will be described in more detail.

(1) Robot storage section Two robot storage sections 14 are provided on the right side of the case main body 11 side by side, and each has a recess 26 adapted to the external shape of the bottom of the robot 1 and a wheel at the center thereof. 5
It has a rectangular recess 27 into which L and 5R are inserted. The robot 1 is supported on the bottom surface of the concave portion 26, and the wheels 5L and 5R escape by the rectangular concave portion 27 (in a state where the robot 1 does not float).
The configuration is as follows. Circular rib 2 around recess 26
The grooves 29, 30 are formed in the circular ribs 28, and the grooves 29, 30 into which the lead terminals 3, 4 are inserted are provided. Reference numeral 31 denotes a capsule positioning key to be described later.

(2) Battery Box Since the power consumption of the robot 1 is extremely small, two AAA batteries can be used for a sufficiently long time. Therefore, a battery box 16 for containing two AAA batteries is disposed on the left side of the case body 11. The battery 15 is inserted from the back side of the case body 11, and the back cover is attached by a known means.

(3) Substrate The substrate 17 is held by claws 33 protruding below the support table 32 of the robot storage unit 14. In addition, a recess 34 is provided on the front side of the battery check switch 20 so that the switch can be easily operated. This substrate 17
FIG. 12 shows an example of the charging circuit 40 and the power-on reset circuit 41 connected thereto. The reset circuit 41 is built in the robot main body, but can be provided on the substrate side if a connection terminal is provided. In FIG. 12, reference numeral 42 denotes a reset switch interlocked with the battery check switch 20;
When 0 is switched to the lamp 21, the reset switch 42 disconnects the charging circuit 40 at the same time.
The power supply circuit 43 of the robot 1 is short-circuited. 44 is a capacitor, 45 is an inverter, 46 is a resistor, 47 is an AND circuit, and 48 is an internal resistor. The lamp 21 uses a light emitting diode (LED).

When the robot 1 is being stored in the storage section 14, the switch 20 and the reset switch 42 are located at the contacts a and c shown in FIG. 12 respectively, and charge the battery power supply 7 of the robot 1 through the power supply circuit 43. Start.
At the same time as the start of charging, the connection upper end of the resistor 46 has a positive potential and the connection lower end has a zero potential.
5, the logical product of the AND circuit 47 becomes 1, and the CPU core 8 of the robot 1 is reset. That is, the power-on reset circuit 4
When the charging of the robot 1 is started, the CPU core 8 is always used.
, The runaway of the CPU core 8 can be prevented. And the capacitor 44
Is charged, both connection terminals of the resistor 46 have the same positive potential, and one connection terminal of the AND circuit 46 has a negative potential by the inverter 45, so that the AND circuit 46
Is zero, the reset of the CPU core 8 is released.

Further, for example, when the operation of the robot 1 is abnormal, whether the operation is caused by a decrease in the power supply voltage or whether the operation is performed by a program of the robot, the robot 1 is temporarily stored in the storage unit 14. Then, when the capacitor 7 is empty, charging is started as described above, and the CPU core 8 is reset, so that it is possible to determine which cause is based on the subsequent operation of the robot 1.

Next, when the battery check of the battery 15 is performed, the remaining capacity of the battery 15 can be confirmed by the lighting condition of the lamp 21 by switching the switch 20 to the contact b side. At the same time as the switch 20 is switched to the contact b, the reset switch 42 is switched to the contact d. At this time, the power supply circuit 43 is short-circuited, but the discharge output of the battery power supply 7 is consumed by the internal resistor 48. Each time the switch 20 is returned to its original state, a reset is performed by the reset circuit 41.

(4) Capsule FIGS. 13 to 17 show the configuration of the capsule 35. FIG. The capsule 35 is formed in a dome shape, and can be put on the robot 1 in a housed state. In addition, each side has a knob portion 37 to which a magnet 36 is attached.
Therefore, the electrodes 18 and 19 provided on the substrate 17 are made of a magnetic material. The lead terminals 3 and 5 of the robot 1 are also made of a wire having a spring property so as to maintain a predetermined shape. The key 3 for positioning on the bottom surface of the capsule 35
1 is provided with a key groove 38 to be fitted. Although the shape of the capsule 35 is not limited to the present embodiment, it is more convenient to use a transparent plastic material. The robot 1 is placed in the storage unit 14 with its orientation aligned, the lead terminals 3 and 4 are placed on the respective electrodes 18 and 19, and then the capsule 35 is put on the robot 1. Since the capsule 35 is attracted and fixed to the magnetic electrodes 18 and 19 with the lead terminals 3 and 4 sandwiched by the magnet 36, the lead terminals 3 and 4 and the respective electrodes 18 and 19 can be easily connected. Electrode 1
The magnets 8 and 19 may be magnets, and a magnetic body may be mounted on the capsule 35 side.

FIG. 18 shows another fixing means of the capsule 35. This is detachable fixing means by mechanical engagement. A plurality of resilient claws 51 are provided around the robot accommodating portion 14, and a groove 52 for engaging the claws 51 is provided on the outer periphery of the capsule 35. Things. This capsule 35
Is put on the robot 1 in the housed state, the claw 51 is engaged with the groove 52, so that the capsule 35 is fixed to the robot housing part 14. Of course, at this time, the lead terminals 3 and 4 are sandwiched between the electrodes 18 and 19 at the lower end surface of the capsule 35 and connected. The capsule 35 is pulled out by holding a knob (not shown) by hand.

(5) Storage section for robot operation tool and its battery The robot operation tool 22 is stored on the front side (hinge side) of the case body 11 in parallel with the longitudinal direction. The battery 24 is housed in a battery housing 25 provided diagonally below the operating instrument housing 23. A relatively weak light source for operating the robot 1 is sufficient, so that the robot operation tool 26 can be configured with a fairly small light. In addition, if it is possible to adjust the light condensing and the light scattering, one robot can be controlled from a distant place, and a plurality of robots can be simultaneously controlled from a nearby place.

Since the storage case 10 of the embodiment is configured as described above, during the storage period of the robot 1, the electricity of the battery 15 in the battery box 16 is transferred to the charging circuit 32 of the substrate 17.
It flows to the battery power source 7 of the robot 1 via the lead terminals 3 and 4 connected to the electrodes 18 and 19 and the electrodes 18 and 19, respectively, and the power source 7 is constantly charged. Therefore, the robot 1 can be operated immediately without the need to take out the robot 1 from the storage section 14 and separately charge the robot. The robot 1 with the capsule 37 stored therein
Lead terminals 3 and 4 and electrodes 18 and 1
9 can be connected respectively. At the start of charging, the reset circuit 41 resets the CPU core 8 of the robot 1, so that runaway of the CPU core 8 can be prevented. Further, the robot 1 and articles necessary for the operation thereof, that is, the operation tool 22 serving as a light source,
Since the batteries 15, 24, the board 17, the battery check switch 20, and the like are rationally arranged and stored as described above, the storage case 10 is easy to take out and handle, and the storage case 10 is small enough to be a pocket size. And can be made compact.

Next, the storage case 10 can have the following functions in addition to the charging function. FIG. 19 shows a command means 60 for the robot 1 as an example.
FIG. In this embodiment, the keyboard 61 is mounted on the battery box of the case body 11.
And a monitor panel 62 is provided on the lid 12. The monitor panel 62 displays the program contents of the robot 1 and information such as the internal power supply voltage by a command operation of the keyboard 61. The light 22 is not always necessary, and the robot 1 may not be operated according to a program. The connection terminal 70 is a terminal for transmitting and receiving signals to and from an external personal computer, an external storage device, or the like. The connection terminal 70 can perform programming with a personal computer or call a program from the external storage device.

As a method of transmitting signals to the robot and transmitting and receiving information for collecting information from the robot, a method using a dedicated connector or a power line as shown in FIG.
There are a method of superimposing with a C signal, a method of using a photocoupler, a magnetic sensor, and the like as shown in FIG. Here, the latter two cases will be mainly described.

FIG. 20 is a block diagram showing a method of superimposing an AC signal on a power supply line. This operation circuit 63
The command means 60 on the storage case 10 side and the charging circuit 40 are DC
The charging circuit 40 is connected via a capacitor 64 as a cutting means, and the charging circuit 40 and the memory means 66 in the CPU core of the robot body are connected via a capacitor 65 which is also a DC cutting means. Note that FIG.
The power-on reset circuit 41 is omitted. Therefore, according to this configuration, information can be bidirectionally transmitted and received by mounting the information signal on the AC signal of the power supply line.

FIG. 21 shows a method using a photocoupler, a magnetic sensor, and the like, and FIG. 22 is a circuit diagram thereof. The robot main body is provided with an optical element 72L (or 72R, whichever may be used) that also serves as a photosensor and an LED, and an optical element 71 that also serves as a photosensor and an LED is provided opposite the element.
It is installed on the wall. According to this configuration, the command means 60
, The element 71 emits light intermittently in response to the command signal, and this information is received by the element 72L (or 72R) incorporated in the eyes of the robot 1 so that the information is transmitted to the CPU core 8. Can be entered.
When the stored information is output from the robot 1 to the outside, the internal information can be similarly extracted by switching the switch 73 to the sensing side. Therefore, when information is being exchanged, the eyes of the robot 1 glow intermittently.

In the present invention, the electrical connection between the robot 1 and the substrate electrodes 18 and 19 is not limited to the one in which the lead terminals 3 and 4 are sandwiched between the electrodes 18 and 19 by the magnet 36 of the capsule 35 as described above. Instead, the configuration may be such that the wheels and other connection terminals of the robot 1 are used to make frictional contact with the electrodes. In short, it is sufficient if the robot 1 can be easily connected to the electrodes when the robot 1 is stored. The means for supplying energy to the robot may be a contact type or a non-contact type. Also, a spring for holding the head of the robot 1 can be provided in the capsule.

Although the robot 1 has been described as moving by sensing light, the same operation can be performed by infrared rays, ultrasonic waves, or the like. Naturally, the operation tool is also adapted to this. Further, a digital display unit for indicating the remaining battery capacity or the like may be provided at an appropriate place on the substrate 17, and tools and switches may be stored using the lid 12 of the storage case.

[0035]

As described above, the storage case of the present invention has the following effects. (1) The internal power supply can be charged during the storage period of the micro robot. Therefore, the trouble of charging can be saved, and the cause of failure can be reduced because the battery does not need to be replaced. (2) Since it is about the size of a pocket, it is convenient to carry. (3) Since the robot and each article necessary for its operation are rationally arranged and stored, it is easy to take out and handle. (4) The connection with the charging circuit can be easily made by simply putting the capsule on the robot in the housed state. Also, the storage state of the robot can be stabilized by the capsule. (5) The runaway of the robot control device during charging can be prevented by the reset circuit. (6) The robot program contents and power supply voltage can be checked when the robot is stored.

[Brief description of the drawings]

FIG. 1 is a plan view of a storage case showing one embodiment of the present invention.

FIG. 2 is a sectional view taken along line AA of FIG.

FIG. 3 is a sectional view taken along line BB of FIG. 1;

FIG. 4 is a sectional view taken along line CC of FIG. 1;

FIG. 5 is a sectional view taken along line DD of FIG. 1;

FIG. 6 is a sectional view taken along line EE of FIG. 1;

FIG. 7 is a sectional view taken along line FF of FIG. 1;

FIG. 8 is a sectional view taken along line GG of FIG. 1;

FIG. 9 is a side view of the micro robot.

FIG. 10 is a top view of the micro robot.

FIG. 11 is a bottom view of the micro robot.

FIG. 12 is a circuit diagram of a charging circuit.

FIG. 13 is a plan view of a capsule.

FIG. 14 is a front view of the capsule.

FIG. 15 is a side view of the capsule.

FIG. 16 is a bottom view of the capsule.

FIG. 17 is a sectional view taken along line HH of FIG. 13;

FIG. 18 is a sectional view showing another method of fixing the capsule.

FIG. 19 is a perspective view of a storage case showing another embodiment of the present invention.

FIG. 20 is a circuit diagram showing a method of transmitting and receiving information between the command means and the robot.

FIG. 21 is an explanatory diagram showing another example of a method of transmitting and receiving information between the command means and the robot.

FIG. 22 is a circuit diagram in the another example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Micro robot 2L, 2R Optical sensor 3, 4 Lead terminal 5L, 5R Wheel 6L, 6R Drive with reduction gear 7 Battery power supply 8 Microcomputer controller (CPU core) 10 Storage case 11 Case body 12 Lid 14 Robot storage 15 Battery 16 Battery Box 17 Substrate 18, 19 Electrode 20 Battery Check Switch 22 Robot Operating Device 23 Operating Device Storage Unit 24 Battery 25 Battery Storage Unit 35 Capsule 36 Magnet 40 Charging Circuit 41 Power-On Reset Circuit 42 Reset Switch 43 Power Circuit 51 Nail 52 Groove 60 Command means 61 Keyboard 62 Monitor panel 63 Operation circuit 70 Connection terminal 71 Optical element 72L, 72R Optical element

Claims (10)

(57) [Claims] 1. A storage section for a micro robot, a battery box for storing a battery for charging a power supply of the micro robot, a charging circuit connected to the battery box, and an energy supply means for the micro robot. And a substrate attached to the case body, and a storage case for the micro robot comprising: 2. The storage of the operating device of the micro robot.
The storage case for a micro robot according to claim 1, further comprising a part . 3. A relationship in which at least the robot housing portion is on the right side, the battery box is on the left side, the board is below the robot housing portion, and the operating tool housing portion is on the front side with respect to the case main body. Claim 1 or
A storage case for a micro robot according to claim 2 . 4. The storage case for a micro robot according to claim 3 , wherein a plurality of the robot storage portions are provided between electrodes for connection to the micro robot provided on the substrate. 5. The storage case for a micro robot according to claim 1, further comprising a capsule which is detachable and presses a part of the micro robot to fix the micro robot to the robot storage portion. 6. The storage case for a micro robot according to claim 5, wherein the capsule has a magnet that is attracted to an electrode of the substrate, and the lead terminal of the micro robot is sandwiched between the electrodes by the attraction force of the magnet. . 7. The case main body includes signal transmission means for transmitting and receiving a signal to and from a control device built in the microrobot and controlling the operation of the microrobot, and instructing at least the control device of the microrobot. The storage case for a micro robot according to claim 1, further comprising an operation circuit for performing the operation. 8. The storage case for a micro robot according to claim 7 , wherein the operation circuit includes the charging circuit and a reset circuit for resetting a control device of the micro robot. 9. The storage case for a micro robot according to claim 8, wherein the reset circuit is built in the micro robot. 10. The storage case for a micro robot according to claim 1 , wherein the charging circuit includes a switch for checking a battery, and a reset switch that works with the switch to short-circuit a power circuit of the micro robot. .