Power transfer circuit

• US 4,223,313 A
• Filed: 10/10/1978
• Issued: 09/16/1980
• Est. Priority Date: 10/19/1977
• Status: Expired due to Term

• Current Assignee: Regie Nationale Des Usines Renault
• Original Assignee: Regie Nationale Des Usines Renault
• Inventors: Chabrol, Jean
• Primary Examiner(s): Hix, L. T.
• Assistant Examiner(s): Dwyer, James L.
• Application Number:
  US05/950,024
• Time in Patent Office: 707 Days
• Field of Search: 339/5 R, 339/6 R, 339/7 R, 339/8 R, 336/123, 340/207 R, 340/183, 340/186, 340/200, 340/189 M, 343/225
• US Class Current: 340/870.07
• CPC Class Codes: B25J 17/02 Wrist joints
• CPC Class Codes: B25J 17/0241 One-dimensional joints
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: B25J 9/12 electric

Abstract

In a robot, the transmission of electrical power and signals is effected without contact at a joint position, either by using a magnetic coupling provided by means of a transformer formed by windings housed in ferrite cores, or by capacitive coupling obtained by means of two capacitors formed by annular surfaces facing each other, the two cores or the two plates being at a predetermined spacing so that one part of the robot is able to turn by more than 360° around an axis relative to another part without any limit on rotation.

Claims

1. A control circuit for a manipulator robot of the type having a power source and a device which controls the functioning of the robot, said robot having a plurality of connection joints between the power source and a free end having an end axis and an actuator, said control circuit transmitting electrical power along the members of the robot to carry remote control instructions from the control device to the free end of the robot, said robot comprising:

generator means for generating alternating-current electrical power at a predetermined frequency,

a power-transmission circuit for conducting said power from said generator means to said actuator,

said circuit including rotary means connecting successive portions of said circuit without continuous contact, and, at least at one of the robot'"'"'s joints, enabling rotation of one member of the robot and of said transmission circuit with respect to another member of the robot, each said rotary means comprising

a first transformer with its primary and secondary windings each housed in a separate ferrite core, the cores being rotatable relative to each other in parallel planes around a common axis, and

control transmitting means to carry remote control instructions comprising

a remote control transmitter which modulates the frequency of the power generated by the power generator at one end of the robot,

at the opposite end of the robot, a second, end transformer supplying electrical power to said free end and having a primary winding, a main secondary winding across which is a rectifier across which is placed the load of the actuator and a supplementary secondary winding, a frequency modulation receiver connected to said supplementary secondary winding,

a telemetering transmitter connected to the free end of the robot provided with the actuator for transmitting along said power-transmission circuit at a frequency F greater than a transmission frequency f of the power generator, and

a telemetering receiver tuned to the frequency F connected at the opposite end of the power-transmission circuit

said telemetering receiver being connected to said power-transmission circuit F in parallel with said generator means and via a filter L-C circuit which conducts at frequency F at an impedance approaching zero and presents to frequency f an impedance approaching infinity,

said power generator being connected to said power transmission circuit via a filter L-C circuit which conducts the frequency f at an impedance approaching zero and presents to the frequency F an impedance approaching infinity.

2. A control circuit for a manipulator robot of the type having a power source and a device which controls the functioning of the robot, said robot having a plurality of connection joints between the power source and a free end having an actuator, said control circuit transmitting electrical power along the members of the robot to carry remote control instructions from the control device to the free end of the robot, said robot comprising:

generator means for generating alternating-current electrical power at a predetermined frequency,

a power-transmission circuit for conducting said power from said generator means to said actuator and having rotary means for enabling the electrical power to pass across at least one of the robot'"'"'s joints without continuous contact, and thereby for enabling rotation at the joints,

a telemetering transmitter at the free end of the robot provided with the actuator and connected to said power-transmission circuit, for transmitting along said power-transmission circuit at a frequency F greater than a transmission frequency f of the power generator, and

a telemetering receiver tuned to the frequency F connected to the opposite end of the power-transmission circuit,

said telemetering receiver being connected to said power-transmission circuit F in parallel with said generator means and via a filter L-C circuit which conducts at frequency F at an impedance approaching zero and presents to frequency f an impedance approaching infinity,

said power generator being connected to said power transmission circuit via a filter L-C circuit which conducts the frequency f at an impedance approaching zero and presents to the frequency F or impedance approaching infinity.

3. The control circuit of claim 2 having means to carry remote control instructions, comprising:

a remote control transmitter which modulates the frequency of the power generated by the power generator, and

an end transformer at the opposite end of the robot supplying electrical power to said free end and having a primary winding, a main secondary winding across which is a rectifier across which is placed a main load of the actuator, and a supplementary secondary winding, and

a frequency modulation receiver connected to said supplementary secondary winding.

4. A control circuit for a manipulator robot of the type having a power source and a device which controls the functioning of the robot, said robot having a plurality of connection joints between the power source and a free end having an end axis and an actuator, said control circuit transmitting electrical power along the members of the robot to carry remote control instructions from the control device to the free end of the robot, said robot comprising:

generator means for generating alternating-current electrical power at a predetermined frequency,

a power-transmission circuit for conducting said power from said generator to said actuator,

said circuit including rotary means connecting successive portions of said circuit without continuous contact, at least at one of the robot'"'"'s joints, enabling rotation of one member of the robot and of said transmission circuit with respect to another member of the robot, each said rotary means comprising

a pair of concentric annular coupling condensers, having their plates in two parallel planes that are rotatable around a common axis, and

control transmission means to carry remote control instructions comprising

a remote control transmitter which modulates the frequency of the power generated by the power generator at one end of the robot,

at the opposite end of the robot, an end transformer supplying electrical power to said free end and having a primary winding, a main secondary winding across which is a rectifier across which is placed the load, the actuator, and a supplementary secondary winding,

a frequency modulation receiver connected to said supplementary secondary winding,

a telemetering transmitter connected to the free end of the robot provided with the actuator for transmitting along said power-transmission circuit at a frequency F greater than a transmission frequency f of the power generator, and

a telemetering receiver tuned to the frequency F connected at the opposite end of the power-transmission circuit,

said telemetering receiver being connected to said power-transmission circuit F in parallel with said generator means and via a filter L-C circuit which conducts at frequency F at an impedance approaching zero and presents to frequency f an impedance approaching infinity,

said power generator being connected to said power transmission circuit via a filter L-C circuit which conducts the frequency f at an impedance approaching zero and presents to the frequency F an impedance approaching infinity.