モジュール分割型軌道上を移動する加工ロボットへの流体・電力の連続供給手法

抄録

Our research group is developing a modularized production system. The proposed system can change the size and shape of work space size and shape by combining multiple modularized rails. This study aims to develop a fluid and electric power method for machining robots that move on the rail modules. Fluid and power supply paths are installed in the rail module, and the machining unit receives these supply from the nearest rail module surface. The fluid supply path is constructed at the same time as the rail modules are connected. The pipe switching mechanism is developed in the machining robot to connect to the nearest supply port automatically depending on the position of the machining unit. Trolleys and collectors installed in the rail module and the machining unit respectively realize constant supply power. In the fluid supply experiment using the developed prototypes, a continuous fluid supply to the machining robot was achieved and time of supply intteruption is less than four seconds. Continuous electric power supply is also achieved without large voltage fluctuation.