MODULE FOR AUTOMATIC TOOL EXCHANGE DEVICE

• US 20110256995A1
• Filed: 07/23/2009
• Published: 10/20/2011
• Est. Priority Date: 08/01/2008
• Status: Active Grant

• 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: Sasaki, Shinya, Mukai, Toshikazu, Deguchi, Atsushi, Fujimura, Takashi, Takazakura, Shuhei, Yamashita, Tomimasa, Miyabe, Atsushi, Ayabe, Keisuke, Yahiro, Shinji
• Granted Patent: US 8,986,181 B2
• Time in Patent Office: Days
• US Class Current: 483/7
• 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 member and the gap member.

Claims

1. A module for an automatic tool exchange device used for an automatic tool exchange device for which a first coupling member attached to one of either a robot main unit side and a tool side and a second coupling member attached to another are coupled to each other with an ability to be separated, comprising:

a first module provided detachably on the first coupling member; and

a second module provided detachably on 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 this first module and second module,

wherein a core member is combined with a coil member and a transmission surface including a magnetic path open surface formed by the core member is provided, and an electromagnetic shielding member is arranged on an outer circumference of the core member except for the transmission surface, and also, interposed between the core member and the electromagnetic shielding member is a gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, constituting at least one coil head including the coil member, core member, and gap member, and meanwhile, using a pair of coil units constituted containing the coil head and the electromagnetic shielding member, by positioning the core member transmission surfaces facing opposite each other, constituted is 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 is attached to the second module by which it is possible to transmit electrical signals between the first module and the second module.

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

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

4. The module for an automatic tool exchange device according to claim 1, wherein the one of the pair of coil units is provided fixed to one of either the first module and the second module, and the other of the pair of coil units is provided via an elastic support member to be able to be displaced along a specified range in an opposite facing direction of the pair of coil units in relation to another 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 is constituted by an energizing member energizing the coil unit provided on the one of either the first module and the second module in a state projecting toward the other 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 is constituted including a coil spring that applies energizing force to the coil unit, and a locking part that locks the coil unit and blocks detachment 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 restoration force of the coil spring is constituted 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 pair of coil units is made to be larger than another of the transmission surfaces in a direction orthogonal to the direction facing opposite the other of the transmission surfaces.

10. The module for an automatic tool exchange device according to claim 9, wherein compared to the other of the transmission surfaces, the one of the transmission surfaces of the pair of 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 includes the at least one coil head comprising 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 include other coil units so as to have the at least one coil head comprising a plurality of coil heads.

13. The module for an automatic tool exchange device according to claim 11, wherein the module is able to transmit power in addition to the electrical signals, and the plurality of coil heads are constituted including a coil head for power for transmitting power and a coil head for signals 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 power is larger than the transmission surface of the coil head for signals.

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

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

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 for which a first coupling member attached to one of either a robot main body side and a tool side and a second coupling member attached to another are coupled to each other with an ability to be separated, the device being equipped with a module for an automatic tool exchange device comprising:

a first module provided detachably on the first coupling member; and

a second module provided detachably on 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 this first module and second module, wherein a core member is combined with a coil member and a transmission surface including a magnetic path open surface formed by the core member is provided, and an electromagnetic shielding member is arranged on an outer circumference of the core member except for the transmission surface, and also, interposed between the core member and the electromagnetic shield member is a gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, constituting at least one coil head including the coil member, core member, and gap member, and meanwhile, using a pair of coil units constituted containing the coil head and the electromagnetic shielding member, by positioning the core member transmission surfaces facing opposite each other, constituted is 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 is attached to the second module by which it is possible to transmit electrical signals between the first module and the second module.

20. A robot being equipped with an automatic tool exchange device for which a first coupling member attached to one of either a robot main body side and a tool side and a second coupling member attached to another are coupled to each other with an ability to be separated, the device being equipped with a module for an automatic tool exchange device comprising:

a first module provided detachably on the first coupling member; and

a second module provided detachably on the second coupling member, for transmitting electrical signals between the first coupling member and the second coil member by permitting transmission of electrical signals between this first module and second module, wherein a core member is combined with a coil member and a transmission surface including a magnetic path open surface formed by the core member is provided, and an electromagnetic shielding member is arranged on an outer circumference of the core member except for the transmission surface, and also, interposed between the core member and the electromagnetic shielding member is a gap member having a lower electromagnetic shielding effect than the electromagnetic shielding member, constituting at least one coil head including the coil member, core member, and gap member, and meanwhile, using a pair of coil units constituted containing the coil head and the electromagnetic shielding member, by positioning the core member transmission surfaces facing opposite each other, constituted is 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 is attached to the second module by which it is possible to transmit electrical signals between the first module and the second module.

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

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

a harnessless device being constituted 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 being constituted by a plurality of partial core members being arranged mutually separated on a circumference, and also, at least one first coil head being constituted by a first coil member extending on the circumference on which the plurality of partial core members are arranged being attached to the first core member, and a first transmission surface consisting of a magnetic path open surface being formed by the partial core member at the first coil head, the first coil unit being constituted by the plurality of the partial core members being arranged in a circular form on a first support member by the first coil head being supported on the first support member;

the second coil unit includes a second core member being constituted with 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 also, at least one second coil head being constituted by a second coil member being attached to the second core member, and a second transmission surface consisting of a magnetic path open surface being formed by the second core member at the second coil head, the second coil unit being constituted by having the second coil head supported by a second support member; and

by attaching the first coil unit to the first member being a state with the first core member placed coaxially with a rotation center axis of the rotation axis, and also, by attaching the second coil unit to the second member, the second transmission surface at the second core member is positioned facing opposite and able to rotate relative to each other around the rotation center axis with a specified distance separated in relation to the first transmission surface at the first core member, while 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 so that electrical signal transmission is possible 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 in a shape extended 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 is constituted by 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 also, the second core member is in a shape extending 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 placed 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 placed penetrating in the direction facing opposite the first core member.

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

28. The robot according to claim 27, wherein the first support member is constituted by 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 meanwhile, by bending back the lead wire at one end part of the circumference direction of the partial support member, and making it possible to connect the lead wire provided on one of the partial support members to the lead wire provided on another of the partial support members at another end part, the first coil member is constituted by each of the coil forming parts with these 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, wherein at least at one of the first core member and the second core member, a high shielding effect member having a high electromagnetic shielding effect is arranged at an outer circumference except for 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, wherein at least at one of the first core member and the second core member, a low shielding effect member having a low electromagnetic shielding effect is arranged at an outer circumference except for the first transmission surface or the second transmission surface.

36. The robot according to claim 35, wherein at least at one of the first core member and the second core member, a high shielding effect member having a high electromagnetic shielding effect is arranged at the outer circumference except for the first transmission surface or the second transmission surface, and also, 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 are equipped of the first coil unit and the second coil unit set.

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 are constituted as 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 having mutually equal diameter dimensions 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 also, the at least one second coil head comprises a pair of second coil heads corresponding to these 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 specified 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 able to transmit power in addition to the electrical signals using the harnessless device.