Module for automatic tool exchange device

• US 8,986,181 B2
• Filed: 07/23/2009
• Issued: 03/24/2015
• Est. Priority Date: 08/01/2008
• Status: Expired due to Fees

• Current Assignee: Honda Motor Co., Ltd. (Honda Motor Company), Mie Electronics Co., Ltd.
• Original Assignee: Honda Motor Co., Ltd. (Honda Motor Company), Mie Electronics Co., Ltd.
• Inventors: Takazakura, Shuhei, Deguchi, Atsushi, Sasaki, Shinya, Mukai, Toshikazu, Yamashita, Tomimasa, Yahiro, Shinji, Miyabe, Atsushi, Ayabe, Keisuke, Fujimura, Takashi
• Primary Examiner(s): Barnie, Rexford
• Assistant Examiner(s): Kessie, Daniel
• Application Number:
  US13/054,724
• Publication Number:
  US 20110256995A1
• Time in Patent Office: 2,070 Days
• Field of Search: 307/104
• US Class Current: 483/37
• CPC Class Codes: B25J 15/04 with provision for the remote detachment or exchange of the head or parts thereof
• CPC Class Codes: B25J 19/0029 arranged within the different robot elements
• CPC Class Codes: G08C 17/04 using magnetically coupled devices
• CPC Class Codes: Y10T 483/13 with control means energized in response to activator stimulated by condition sensor
• CPC Class Codes: Y10T 483/175 Plural matrices

Abstract

Provided is a module for automatic tool exchange device of novel structure wherein electric signals can be transmitted with high reliability while preventing transmission efficiency from deteriorating between a first coupling member and a second coupling member. An electromagnetic shielding member is arranged on an outer circumference of a core member except for a transmission surface, a gap member having electromagnetic shielding effect lower than that of the electromagnetic shielding member is interposed between the core member and the electromagnetic shielding member, and a first module and a second module are provided, respectively, with coil units equipped with coil heads which are constituted to include a coil member, the core member and the gap member.

Claims

1. A module for an automatic tool exchange device, the automatic tool exchange device having a first coupling member configured to attach to one of a robot main unit side and a tool side and a second coupling member configured to attach to the other one of the robot main unit side and the tool side, the first and second coupling members configured for detachable coupling to each other, the module comprising:

a first module detachably attached to the first coupling member; and

a second module detachably attached to the second coupling member, for transmitting electrical signals between the first coupling member and the second coupling member by permitting transmission of electrical signals between the first module and the second module,

wherein the first and second modules each have a coil unit including at least one coil head and an electromagnetic shielding member, wherein the coil heads comprise a core member in combination with a coil member, a transmission surface including a magnetic path open surface being formed by the core member, the electromagnetic shielding member arranged on an outer circumference of the core member exclusive of the transmission surface, the coil head further including a gap member being interposed between the core member and the electromagnetic shielding member, the gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, wherein the transmission surfaces of the core members face opposite each other to define an opposite facing type interface for performing transmission of electrical signals using an electromagnetic induction effect, and one of the coil units on the opposite facing type interface is attached to the first module and another one of the coil units is attached to the second module such that the first module and the second module are configured to permit transmission of electrical signals therebetween.

2. The module for an automatic tool exchange device according to claim 1, wherein the core member has a round cylinder shape having a circumference groove that opens in one axis direction, and wherein the coil member is arranged inside the circumference groove such that the transmission surface includes an open side end surface of the circumference groove.

3. The module for an automatic tool exchange device according to claim 1, wherein the transmission surfaces for the coil units are in contact with each other when the first coupling member and the second coupling member are in a coupled state.

4. The module for an automatic tool exchange device according to claim 1, wherein one of the coil units is fixed to one of the first module and the second module, and the other one of the coil units is coupled, via an elastic support member to be able to be displaced along a specified range, in an opposite facing direction of the coil units in relation, to the other one of the first module and the second module.

5. The module for an automatic tool exchange device according to claim 4, wherein the elastic support member comprises an energizing member energizing the coil unit and provided on one of the first module and the second module in a state projecting toward the other one of the first module and the second module.

6. The module for an automatic tool exchange device according to claim 5, wherein a maximum projecting volume of the coil unit made to project by the energizing member is larger than a maximum separation volume of the first module and the second module in the opposite facing direction of the coil units.

7. The module for an automatic tool exchange device according to claim 5, wherein the energizing member comprises a coil spring that applies energizing force to the coil unit, and a locking part that locks the coil unit and blocks detachment of the coil unit from the first module or the second module.

8. The module for an automatic tool exchange device according to claim 7, wherein the module further comprises a holder that holds the coil unit, the energizing member for applying energizing force to the coil unit using a restoration force of the coil spring by pushing through the coil spring inside the holder from an opening part opened to a side opposite the transmission surface of the coil unit at the holder, and by compression deforming the coil spring between a lid member that plugs the opening part and the coil unit.

9. The module for an automatic tool exchange device according to claim 1, wherein one of the transmission surfaces of the coil units is larger than another one of the transmission surfaces in a direction orthogonal to the direction facing opposite the other one of the transmission surfaces.

10. The module for an automatic tool exchange device according to claim 9, wherein one of the transmission surfaces of the coil units is larger than a maximum displacement volume between the first module and the second module in the direction orthogonal to the opposite facing direction of the coil units.

11. The module for an automatic tool exchange device according to claim 1, wherein the coil unit of each of the first module and second module comprises a plurality of coil heads.

12. The module for an automatic tool exchange device according to claim 1, wherein the respective first module and second module comprise additional coil units, such that the at least one coil head comprises a plurality of coil heads.

13. The module for an automatic tool exchange device according to claim 11, wherein the module is configured to transmit power in addition to the electrical signals, and the plurality of coil heads include a coil head for transmitting power and a coil head for transmitting signals.

14. The module for an automatic tool exchange device according to claim 13, wherein the transmission surface of the coil head for transmitting power is larger than the transmission surface of the coil head for transmitting signals.

15. The module for an automatic tool exchange device according to claim 1, wherein the module is configured to transmit power in addition to electrical signals.

16. The module for an automatic tool exchange device according to claim 1, wherein the electrical signals comprise at least one of a sensor signal, an encoder signal, and a serial signal.

17. The module for an automatic tool exchange device according to claim 1, wherein the electromagnetic shielding member is formed from at least one of aluminum, copper, iron, nickel, magnetite, gadolinium, cobalt, a ferrimagnetic body, a conductive powder material, and a conductive coating material.

18. The module for an automatic tool exchange device according to claim 1, wherein the gap member is formed from at least one of polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth, a nonconductive coating material, reinforced plastic, glass, natural resin, and synthetic resin.

19. An automatic tool exchange device having a first coupling member configured to attach to one of a robot main body side and a tool side and a second coupling member configured to attach to the other one of the robot main body side and the tool side, the first and second coupling members configured for detachable coupling to each other, the device having a module comprising:

a first module detachably attached to the first coupling member; and

a second module detachably attached to the second coupling member, for transmitting electrical signals between the first coupling member and the second coupling member by permitting transmission of electrical signals between the first module and the second module,

wherein the first and second modules each have a coil unit including a coil head and an electromagnetic shielding member, wherein the coil heads comprise a core member in combination with a coil member, a transmission surface including a magnetic path open surface being formed by the core member, the electromagnetic shielding member arranged on an outer circumference of the core member exclusive of the transmission surface, the coil head further including a gap member being interposed between the core member and the electromagnetic shielding member, the gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, wherein the transmission surfaces of the core members face opposite each other to define an opposite facing type interface for performing transmission of electrical signals using an electromagnetic induction effect, and one of the coil units on the opposite facing type interface is attached to the first module and another one of the coil units is attached to the second module such that the first module and the second module are configured to permit transmission of electrical signals therebetween.

20. A robot with an automatic tool exchange device, the automatic tool exchange device having a first coupling member configured to attach to one of a robot main body side and a tool side and a second coupling member configured to attach to the other one of the robot main body side and the tool side, the first and second coupling members configured for detachable coupling to each other, the device having a module comprising:

a first module detachably attached to the first coupling member; and

a second module detachably attached to the second coupling member, for transmitting electrical signals between the first coupling member and the second coupling member by permitting transmission of electrical signals between the first module and the second module,

wherein the first and second modules each have a coil unit including a coil head and an electromagnetic shielding member, wherein the coil heads comprise a core member in combination with a coil member, a transmission surface including a magnetic path open surface being formed by the core member, the electromagnetic shielding member arranged on an outer circumference of the core member exclusive of the transmission surface, the coil head further including a gap member being interposed between the core member and the electromagnetic shielding member, the gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, wherein the transmission surfaces of the core members face opposite each other to define an opposite facing type interface for performing transmission of electrical signals using an electromagnetic induction effect, and one of the coil units on the opposite facing type interface is attached to the first module and another one of the coil units is attached to the second module such that the first module and the second module are configured to permit transmission of electrical signals therebetween.

21. The robot according to claim 20, further comprising:

a first member and a second member coupled by a rotation axis and configured to rotate relative to each other around the rotation axis; and

a harnessless device including at least one first coil unit attached to the first member and at least one second coil unit attached to the second member, wherein;

the first coil unit includes a first core member including a plurality of partial core members being arranged mutually separated on a circumference, and at least one first coil head including a first coil member extending on the circumference on which the plurality of partial core members are arranged and being attached to the first core member, wherein a first transmission surface including a magnetic path open surface being formed by the partial core member at the first coil head, the first coil head being supported on the first support member such that the first coil unit having the plurality of the partial core members is arranged in a circular form on a first support member;

the second coil unit includes a second core member having a circumference direction length greater than a maximum value of a circumference direction separation distance of the partial core members adjacent in the circumference direction at the first core member, and at least one second coil head including a second coil member attached to the second core member, wherein a second transmission surface including a magnetic path open surface being formed by the second core member at the second coil head, the second coil unit being having the second coil head supported by a second support member, wherein

the first coil unit is attached to the first member with the first core member positioned coaxially with a rotation center axis of the rotation axis, and the second coil unit is attached to the second member, such that the second transmission surface at the second core member is positioned facing opposite the first transmission surface at the first core member such that the first and second members are configured to rotate relative to each other around the rotation center axis with a defined distance between the first and second members, the second core member, at any position on the circumference, being arranged so as to be in an opposite facing state in relation to at least one of the plurality of partial core members such that electrical signal transmission is provided using the electromagnetic induction between the first coil head and the second coil head.

22. The robot according to claim 21, wherein the second core member is shaped to extend partially in the circumference direction of the first core member.

23. The robot according to claim 21, wherein a circumference direction length of the plurality of partial core members are equal to each other, and the first core member includes the plurality of partial core members being arranged separated by an equal distance in the circumference direction on a concentric circle.

24. The robot according to claim 21, wherein the plurality of partial core members are in an arc shape having mutually equal curvatures, and the second core member is shaped to extend in the circumference direction having an equal curvature to the partial core member.

25. The robot according to claim 21, wherein a dimension of the first coil head in a direction facing opposite the second core member is equal to a thickness dimension of the first support member in the direction facing opposite the second core member, and at the first support member, the first coil head is attached in an inserted state inside a through hole penetrating in the direction facing opposite the second core member.

26. The robot according to claim 21, wherein a dimension of the second coil head in a direction facing opposite the first core member is equal to a thickness dimension of the second support member in the direction facing opposite the first core member, and at the second support member, the second coil head is attached in an inserted state inside a through hole penetrating in the direction facing opposite the first core member.

27. The robot according to claim 21, wherein the first support member comprises a plurality of partial support members extending partially in the circumference direction, and the first coil member includes lead wires on each of the partial support members, the partial support members being connected to each other.

28. The robot according to claim 27, wherein the first support member includes a pair of the partial support members having a semicircle shape, and at the respective partial support members, coil forming parts extending in the circumference direction of the partial support member are formed at the lead wires, and the partial core member is combined with the coil forming part, and the lead wire bent back at one end part of the circumference direction of the partial support member to connect the lead wire on one of the partial support members to the lead wire on another of the partial support members at another end part, the first coil member including each of the coil forming parts with the partial support members in a combined state.

29. The robot according to claim 21, wherein the first transmission surface at the first core member and the second transmission surface at the second core member are positioned facing opposite in an axis direction of the rotation center axis.

30. The robot according to claim 21, wherein the first transmission surface at the first core member and the second transmission surface at the second core member are positioned facing opposite in a direction orthogonal to an axis direction of the rotation center axis.

31. The robot according to claim 21, further comprising a high shielding effect member having a high electromagnetic shielding effect, wherein the high shielding effect member is arranged at an outer circumference of at least at one of the first core member and the second core member, exclusive of the first transmission surface or the second transmission surface.

32. The robot according to claim 31, wherein at least one of the first support member and the second support member is the high shielding effect member.

33. The robot according to claim 21, wherein the first coil unit and the second coil unit are covered by a high shielding effect member having a high electromagnetic shielding effect.

34. The robot according to claim 31, wherein the high shielding effect member is formed from at least one of aluminum, copper, iron, nickel, magnetite, gadolinium, cobalt, a ferrimagnetic body, a conductive powder material, and a conductive coating material.

35. The robot according to claim 21, further comprising a low shielding effect member having a low electromagnetic shielding effect, wherein the low shielding effect member is arranged at an outer circumference of at least at one of the first core member and the second core member exclusive of the first transmission surface or the second transmission surface.

36. The robot according to claim 35, further comprising a high shielding effect member having a high electromagnetic shielding effect, wherein the high shielding effect member is arranged at the outer circumference at least at one of the first core member and the second core member, exclusive of the first transmission surface or the second transmission surface, and the low shielding effect member is arranged between the outer circumference of the core member and the high shielding effect member.

37. The robot according to claim 35, wherein the low shielding effect member is formed from at least one of polytetrafluoroethylene, epoxy resin, plastic, wood, paper, cloth, a nonconductive coating material, reinforced plastic, glass, natural resin, and synthetic resin.

38. The robot according to claim 21, wherein a plurality of sets comprise the first coil unit and the second coil unit.

39. The robot according to claim 38, wherein the at least one first coil head comprises a plurality of first coil heads, and the at least one first coil unit comprises a plurality of first coil units that form a single unit by providing the plurality of first coil heads in concentric form on the first support member.

40. The robot according to claim 39, wherein a pair of the first coil heads have mutually equal diameter dimensions and are respectively arranged on both end parts of an axis direction of the rotation center axis at the first support member attached to the first member, and the at least one second coil head comprises a pair of second coil heads corresponding to the first coil heads and are arranged at sides facing opposite each other, sandwiching the first support member in the axis direction of the rotation center axis, and the first transmission surface at the first coil head and the second transmission surface at the second coil head are positioned facing opposite with a defined distance separated from each other in the axis direction of the rotation center axis.

41. The robot according to claim 21, wherein the robot is configured to transmit power in addition to the electrical signals using the harnessless device.