Patent Description:
Robotic systems include, for example, end effectors that grip workpieces. The end effectors are provided with mechanisms for handling workpieces. In <CIT>, for example, an end effector is provided with a nozzle (lance) used to pressure-wash workpieces. The lance performs pressure-washing on the basis of opening and closing a valve (solenoid valve).

Although not disclosed in <CIT>, in a case of a robotic system configured to handle specific tasks (for example, to transfer workpieces) by operating a plurality of mechanisms corresponding to a plurality of solenoid valves, the end effector is provided with a valve manifold to operate the plurality of solenoid valves. For example, the valve manifold causes mechanism portions to operate (for example, grip workpieces) by switching between supplying and discharging of pressurized fluid on the basis of energization and de-energization of the solenoid valves.

<CIT> discloses a robotic arm with multiple degrees of freedom, which is provided with a robotic hand at the tip of the robotic arm. The robotic hand comprises a hand body with a plurality of solenoid valves, a hand tip, and gripping units, wherein the gripping units are controlled by the solenoid valves.

<CIT> discloses a handling device with a manipulator that is suspended on a station. The manipulator comprises gripping means and is driven by a drive that is supplied with power by an electrical energy storage means. An interface is provided within the movement space or on the edge of the movement space for the contactless transmission of electrical energy to the electrical energy storage means.

<CIT> discloses a pneumatic system with a wireless manifold located on a mobile unit.

A robotic system of this type includes harnesses installed along robotic arms in order to continuously supply electric power to a valve manifold on an end effector. However, the installed harnesses limit the movable range of the robot and may cause disadvantages such as getting tangled in members constituting the robot. In a case where the valve manifold includes a large number of valves and the end effector is equipped with a battery, the size, and thus the weight, of the battery increase since the valve manifold consumes considerable power.

The present invention has been devised taking into consideration the aforementioned circumstances, and has the object of providing a wireless valve manifold enabling stable movement of a movable unit and continuous operation of the manifold, by wireless power transfer to the wireless valve manifold.

This problem is solved by the wireless valve manifold according to claim <NUM>. Preferred embodiments of the invention are evident from the dependent claims.

To achieve the above-described object, according to an aspect of the present invention, there is provided a wireless valve manifold including a plurality of solenoid valves and being configured to perform wireless communication, wherein the wireless valve manifold is configured to be moved by a movable unit, the wireless valve manifold including a battery configured to store electric power and to supply the electric power to the plurality of solenoid valves and a power receiving part connected to the battery and configured to charge the battery by wireless power transfer from a feeding station for the wireless valve manifold.

According to the present invention, the wireless valve manifold includes the battery and the power receiving part, and thus the battery can be charged by wireless power transfer at appropriate timings such as temporary halts of the wireless valve manifold. This eliminates the need to provide the movable unit with harnesses for supplying electric power to the wireless valve manifold through the movable unit. In addition, the capacity of the battery can be reduced, leading to a reduction in the weight and size of the battery. As a result, stable movement of the movable unit and continuous operation of the wireless valve manifold can be achieved. In particular, the wireless valve manifold is often used in environments where dust, oil mist, and the like are scattered inside factories. Application of the battery and the power receiving part reduces exposure of the internal structure to such environments and consequently improves the dust and water resistance significantly. Furthermore, the battery can be replaced when the performance degrades.

A preferred embodiment according to the present invention will now be described with reference to the accompanying drawings.

As illustrated in <FIG>, for example, a robotic system <NUM> according to an embodiment of the present invention is installed in a factory and disposed adjacent to a conveyor <NUM> that transfers a workpiece W. The robotic system <NUM> grips and moves the workpiece W to place the workpiece W on the conveyor <NUM> or takes out the workpiece W on the conveyor <NUM> to move the workpiece W to another location. The robotic system <NUM> is not limited to systems that transfer the workpiece W but can be applied to various structures configured to be movable to handle (transfer, machine, assemble, inspect, sort, pack, and the like) the workpiece W.

The robotic system <NUM> includes an articulated robot <NUM> (hereinafter also simply referred to as "robot <NUM>") that moves the workpiece W and a control unit <NUM> (see <FIG>) that controls the movement of the robot <NUM>. The robot <NUM> corresponds to a movable unit <NUM> of the present invention. The robot <NUM> includes a base <NUM> for fixing, a plurality of arms <NUM> mounted on the base <NUM>, a plurality of joint portions <NUM> each connecting the base <NUM> or one of the arms <NUM> to another arm <NUM> such that the angle therebetween can be changed, and an end effector <NUM> directly gripping the workpiece W. The whole robot <NUM> may be configured to be movable.

Specifically, the plurality of arms <NUM> includes a first arm <NUM> and a second arm <NUM>. The first arm <NUM> has a predetermined length and includes a first end part 30a connected to an upper part of the base <NUM>. The second arm <NUM> includes a first end part 32a connected to the first arm <NUM> and a second end part 32b connected to the end effector <NUM>. While the extension length of the first arm <NUM> is unchangeable, the second arm <NUM> is extensible in the direction of extension. For example, the second arm <NUM> is of a telescopic type including a plurality of tubular bodies that are telescopically combined together, and includes an arm extension cylinder <NUM> on a side surface. The arm extension cylinder <NUM> is connected to the proximal end of a tubular body disposed at the first end part 32a and to the distal end of a tubular body disposed at the second end part 32b. The arm extension cylinder <NUM> moves a cylinder shaft back and forth under the control of the control unit <NUM>, thereby causing the tubular body at the second end part 32b to move back and forth with respect to the tubular body at the first end part 32a. As a result, the second arm <NUM> extends and retracts.

On the other hand, the plurality of joint portions <NUM> include a first joint portion <NUM> disposed between the base <NUM> and the first arm <NUM>, a second joint portion <NUM> disposed between the first arm <NUM> and the second arm <NUM>, and a third joint portion <NUM> disposed between the second arm <NUM> and the end effector <NUM>.

The first joint portion <NUM> includes a horizontal rotation part 36a that can rotate the first arm <NUM><NUM>° horizontally (along the horizontal plane) on the upper surface of the base <NUM> and a vertical rotation part 36b that can rotate the first arm <NUM> vertically above the horizontal rotation part 36a. The horizontal rotation part 36a and the vertical rotation part 36b each include a servomotor and the like (not illustrated) inside the rotation parts. The servomotors are supplied with electric power under the control of the control unit <NUM> to thereby rotate, in order to change the horizontal orientation of the first arm <NUM> with respect to the base <NUM> and the inclination angle with respect to the horizontal direction.

The second joint portion <NUM> includes a bearing mechanism part 38a that rotatably connects a second end part 30b of the first arm <NUM> and the first end part 32a of the second arm <NUM>, and an arm rotation cylinder 38b connected to the control unit <NUM> to be moved back and forth under the control of the control unit <NUM>. The arm rotation cylinder 38b includes a cylinder tube attached to the first arm <NUM> and a cylinder shaft attached to the second arm <NUM>. The cylinder shaft moves back and forth relative to the cylinder tube. That is, the second arm <NUM> rotates around the bearing mechanism part 38a according to the extension and retraction of the cylinder shaft, so that the angle of the second arm <NUM> relative to the first arm <NUM> is adjusted.

The third joint portion <NUM> includes a rotatably supporting mechanism part 40a that allows the end effector <NUM> to hang down vertically at the second end part 32b of the second arm <NUM> and an end-effector moving cylinder 40b that is secured to the rotatably supporting mechanism part 40a and that extends and retracts vertically. The rotatably supporting mechanism part 40a supports the end-effector moving cylinder 40b such that the end-effector moving cylinder 40b is oriented in the vertical direction regardless of the angle of the second arm <NUM>. The end-effector moving cylinder 40b is connected to the control unit <NUM> and moves back and forth under the control of the control unit <NUM> in conjunction with the movement of the end effector <NUM> gripping the workpiece W or letting go the gripping.

The end effector <NUM> includes a frame <NUM> connected to the second arm <NUM> (third joint portion <NUM>) and a plurality of gripping mechanisms <NUM> secured to the frame <NUM>. The frame <NUM> includes an outer frame 42a having a rectangular shape when viewed in plan and a middle frame 42b extending in a lateral direction between the middles of the longitudinal parts of the outer frame 42a. The outer frame 42a is designed to have plan dimensions corresponding to the shape of the workpiece W to be transferred. A cylinder shaft of the end-effector moving cylinder 40b is secured to the center portion of the middle frame 42b (center-of-gravity position on the horizontal plane of the end effector <NUM>).

The plurality of gripping mechanisms <NUM> are secured at positions adjacent to both ends of the longitudinal parts of the outer frame 42a and at center positions of the lateral parts of the outer frame 42a. That is, the end effector <NUM> of this embodiment includes six gripping mechanisms <NUM>. The gripping mechanisms <NUM> each include a fluid pressure cylinder <NUM> that operates on the basis of supplying and discharging of pressurized fluid (such as air), a supporting portion <NUM> that directly supports the workpiece W, and a movement transmitting portion <NUM> that converts the moving force of the fluid pressure cylinder <NUM> to operate the supporting portion <NUM>. The gripping mechanisms <NUM> are secured to the outer sides of the outer frame 42a by, for example, screwing the movement transmitting portions <NUM> onto side surfaces of the outer frame 42a.

Each of the fluid pressure cylinders <NUM> includes, for example, a piston and a piston rod (both not illustrated) inside the cylinder hole and is connected to tubes <NUM> through which pressurized fluid is supplied and discharged. The fluid pressure cylinder <NUM> advances the piston and the piston rod using pressurized fluid supplied into a chamber of the cylinder hole that lies on the proximal end side of the piston and retracts the piston and the piston rod using pressurized fluid supplied into another chamber thereof that lies on the distal end side of the piston. The fluid pressure cylinder <NUM> may be a mechanism or the like that rotates a shaft on the basis of supplying and discharging of pressurized fluid.

Each of the supporting portions <NUM> is configured as a scraper that can change its position between a retract position where the supporting portion <NUM> retracts from the workpiece W and a gripping position where the supporting portion <NUM> gets under the workpiece W, i.e., into its lower side in the direction of gravity. Each of the movement transmitting portions <NUM> converts the moving force of the piston rod of the corresponding fluid pressure cylinder <NUM> generated at the back and forth movement into the movement of the corresponding scraper (movement between the retract position and the gripping position).

The end effector <NUM> according to this embodiment includes a plurality of valve units <NUM> that switch between supplying pressurized fluid to the fluid pressure cylinders <NUM> and discharging pressurized fluid from the fluid pressure cylinders <NUM>. Each of the valve units <NUM> includes a solenoid valve <NUM> disposed therein. For example, the number of valve units <NUM> corresponds to the number (six) of gripping mechanisms <NUM> (fluid pressure cylinders <NUM>). The valve units <NUM> have an identical shape, and are arranged (lined up) and mounted on a connector connecting base <NUM> that enables the valve units <NUM> to be installed together. That is, a wireless valve manifold <NUM> according to this embodiment includes the plurality of valve units <NUM> and the connector connecting base <NUM>. The wireless valve manifold <NUM> is disposed on the outer side (side portion) of the outer frame 42a.

Specifically, the valve units <NUM> each include a casing <NUM> that accommodates the corresponding solenoid valve <NUM>, flow paths (not illustrated) for pressurized fluid formed inside the casing <NUM>, and a path switching portion (not illustrated) disposed inside the casing <NUM> to switch the flow paths under the operation of the solenoid valve <NUM>. The casings <NUM> have a cassette shape that is long in the vertical direction and short in the width direction. Each of the casings <NUM> is mounted on a mounting surface of the connector connecting base <NUM>, and the mounting surface has plurality of openings (not illustrated) communicating with a plurality of ports formed in the connector connecting base <NUM>.

The valve units <NUM> are supplied with electric power from the connector connecting base <NUM>, and the valve units operate the respective solenoid valves <NUM> on the basis of the power supply. For example, pilot solenoid valves are applied to the solenoid valves <NUM>. The pilot solenoid valves change the positions of movable valve portions (not illustrated) to thereby move spools of the path switching portions, by power supply to solenoids (not illustrated). The path switching portions switch between outflows (or inflows) of pressurized fluid from predetermined openings, on the basis of the movement of the spools.

As illustrated in <FIG>, the connector connecting base <NUM> includes a manifold base <NUM> on which the plurality of valve units <NUM> can be arranged and a serial interface unit <NUM> (hereinafter referred to as "SI unit <NUM>") disposed lateral to the manifold base <NUM>. Moreover, the connector connecting base <NUM> (SI unit <NUM>) is connected to a wireless module <NUM> that can perform wireless communication with the control unit <NUM> of the robotic system <NUM>.

The manifold base <NUM> has a rail shape that enables the plurality of valve units <NUM> to be mounted so as to be lined up in the width direction. The manifold base <NUM> has ports <NUM> respectively for the valve units <NUM>. Pressurized fluid that has flowed through the valve units <NUM> flows out through the ports <NUM> or pressurized fluid flows in the valve units <NUM> through the ports <NUM>. The manifold base <NUM> contains therein communication paths (not illustrated) connecting the openings in the plurality of valve units <NUM> and the ports <NUM>. The ports <NUM> are connected to the tubes <NUM> through which pressurized fluid flows, the tubes <NUM> being connected to the fluid pressure cylinders <NUM>.

The SI unit <NUM> functions as a slave that receives control signals from the control unit <NUM> (master) of the robotic system <NUM> through the wireless module <NUM>, and performs an appropriate process on the basis of the control signals. Moreover, the SI unit <NUM> is connected to, for example, sensors (not illustrated) that detect the movement of the end effector <NUM>, and sends detection signals from the sensors to the control unit <NUM>. The structure attached to the manifold base <NUM> is not limited to the SI unit <NUM>. A connector unit of an appropriate wiring type may be applied to the connector connecting base <NUM>.

The SI unit <NUM> includes a box-shaped housing <NUM>. The housing <NUM> is provided with a plurality of connectors and a display unit (not illustrated) on its outer surfaces. The plurality of connectors include, for example, a communication connector connected to the wireless module <NUM>, a ground connector connected to the ground, output connectors connected to the valve units <NUM>, and input connectors connected to the sensors or the like. In addition, the housing <NUM> contains therein a manifold controller <NUM> (hereinafter simply referred to as "controller <NUM>") that controls operation of the wireless valve manifold <NUM>.

The controller <NUM> receives an operational command (control signal) for each of the valve units <NUM> from the control unit <NUM> via the wireless module <NUM> and then supplies electric power to the valve units <NUM> corresponding to the operational commands at appropriate timings. The plurality of valve units <NUM> energize the coils of the solenoid valves <NUM> when power is supplied from the controller <NUM> and deenergize the coils of the solenoid valves <NUM> when power is not supplied from the controller <NUM>.

Moreover, the housing <NUM> of the SI unit <NUM> contains therein a battery <NUM> that supplies electric power to the valve units <NUM>, a power reception control part <NUM> (power receiving part) that charges the battery <NUM> by wireless power transfer, and a power stabilization circuit <NUM> disposed between the power reception control part <NUM> and the battery <NUM>.

The battery <NUM> may be selected as appropriate in consideration of the capacity, size, weight, and the like. The controller <NUM> is a computer including a processor, memory, and an input/output interface, and operates on the basis of the power supply from the battery <NUM> to perform appropriate processing. For example, the controller <NUM> supplies power of the battery <NUM> to predetermined solenoid valves <NUM> on the basis of the operational commands from the control unit <NUM>. Moreover, the controller <NUM> may have the function of monitoring the state of charge (SOC) of the battery <NUM> and sending information about the SOC to the control unit <NUM>.

The power reception control part <NUM> receives electric power from outside the wireless valve manifold <NUM> (a feeding part <NUM> of a feeding station <NUM> described below) to thereby charge the battery <NUM>. The method of the wireless power transfer is not limited in particular and may include magnetic field coupling, electric field coupling, evanescent wave method, laser power transfer, microwave power transfer, and ultrasonic power transfer. The power reception control part <NUM> may have any structure according to the method. For example, in a case of magnetic field coupling (magnetic resonance method), the power reception control part <NUM> is configured as a power receiving coil with a predetermined shape, and supplies the battery <NUM> with electromotive force generated by electromagnetic induction via the power stabilization circuit <NUM>. The power stabilization circuit <NUM> may have the function of switching between discharging electricity (power supply) from the battery <NUM> to the solenoid valves <NUM> and charging the battery <NUM> from the power reception control part <NUM>.

Inside the housing <NUM>, the power reception control part <NUM> is disposed adjacent to a side surface of the housing opposite to a side surface thereof where the plurality of valve units <NUM> are arranged. The power reception control part <NUM> is disposed sufficiently close to the side surface of the housing <NUM> so that the distance from the feeding part <NUM> becomes as short as possible during wireless power transfer.

In addition, the robotic system <NUM> includes the feeding station <NUM> that wirelessly transfers electric power to the above-described wireless valve manifold <NUM>. The feeding station <NUM> includes a base portion <NUM> having an upper surface 84a at a predetermined height, and a protruding portion <NUM> disposed in a predetermined position on the upper surface 84a. The feeding station <NUM> also includes, inside the protruding portion <NUM>, the feeding part <NUM> that wirelessly transfers electric power to the power reception control part <NUM>, and also includes a station controller <NUM> that controls the feeding part <NUM>. The station controller <NUM> is connected to the control unit <NUM>.

The feeding station <NUM> is disposed in the origin position of the end effector <NUM> of the robot <NUM>. For example, the feeding station <NUM> is disposed in a position across the robot <NUM> from the conveyor <NUM>. When having returned (moved) the end effector <NUM> to the origin position, the robotic system <NUM> may place the end effector <NUM> on the upper surface 84a of the base portion <NUM>, or may hold the end effector <NUM> above the upper surface 84a at a distance therefrom. Moreover, the robotic system <NUM> may place the end effector <NUM> that has returned to the origin position, into a temporarily fixed (set) state, or may keep the end effector <NUM> in a free state in the origin position.

The protruding portion <NUM> is disposed in a position at which the power reception control part <NUM> in the wireless valve manifold <NUM> lies face-to-face with the feeding part <NUM> at a time when the end effector <NUM> has returned (moved) to the origin position. The feeding part <NUM> may have any structure as appropriate according to the method of wireless power transfer (i.e., a structure corresponding to the power reception control part <NUM>). For example, in the case of magnetic field coupling (magnetic resonance method), the feeding part <NUM> is configured as a power transmitting coil.

The feeding station <NUM> is connected to an external AC (alternate current) power source <NUM>, and an AC-to-DC converter <NUM> and the like is disposed between the AC power source <NUM> and the feeding part <NUM>. Moreover, in a case where the feeding part <NUM> of the feeding station <NUM> is configured as a transmitting coil, a high-frequency oscillator, a resistor, a resonant capacitor, and the like (not illustrated) are disposed upstream of the feeding part <NUM>.

Returning to <FIG>, the control unit <NUM> of the robotic system <NUM> is configured as a computer including a processor, memory, an input/output interface, and a wireless module (not illustrated). The control unit <NUM> controls both the movement of the robot <NUM> and the movement of the end effector <NUM> to thereby transfer the workpiece W. To control the end effector <NUM>, the control unit <NUM> sends operational commands to the wireless valve manifold <NUM> through wireless communication via the wireless module, to thereby operate the solenoid valves <NUM>. The plurality of gripping mechanisms <NUM> operate on the basis of operation of the connected valve units <NUM> (solenoid valves <NUM>).

Moreover, the control unit <NUM> controls the movement of the robot <NUM> to thereby move the end effector <NUM> (wireless valve manifold <NUM>) between a handling position of the workpiece W and the origin position. The handling position of the workpiece W includes, for example, a position where the end effector <NUM> grips the workpiece W at a location where the workpiece W is stacked (a pickup position of the workpiece W; not illustrated) and a position to which the gripped workpiece W is moved and at which the workpiece W is released from the gripping (a placement position of the workpiece W). In this embodiment, the placement position is located on the conveyor <NUM>. That is, the handling position of the workpiece W corresponds to an area in which the robot <NUM> transfers the workpiece W.

On the other hand, the origin position corresponds to a position where the feeding station <NUM> is installed. When the end effector <NUM> (wireless valve manifold <NUM>) moves to the origin position, the robotic system <NUM> wirelessly transfers electric power from the feeding part <NUM> disposed in the origin position to the power reception control part <NUM> of the wireless valve manifold <NUM>.

The wireless valve manifold <NUM> according to this embodiment is basically configured as above. Next, the operations thereof will be described.

The robotic system <NUM> operates the robot <NUM> on the basis of the control of the control unit <NUM> to thereby grip the workpiece W using the end effector <NUM> and to move the gripped workpiece W. The workpiece W is transferred from the pickup position to the conveyor <NUM> (placement position) in <FIG>.

To transfer the workpiece W, the control unit <NUM> issues operational commands to the wireless valve manifold <NUM> held by the end effector <NUM>, at appropriate timings. The wireless valve manifold <NUM> supplies electric power of the battery <NUM> to the plurality of (predetermined) valve units <NUM> on the basis of the operational commands. At this time, the gripping mechanisms <NUM> place the respective supporting portions <NUM> in the retract positions in a state where the solenoid valves <NUM> of the valve units <NUM> are not energized. When the solenoid valves <NUM> are energized, the gripping mechanisms <NUM> move the respective supporting portions <NUM> to the gripping positions, and then grip the workpiece W. In a state where the workpiece W is gripped, the wireless valve manifold <NUM> moves the supporting portions <NUM> from the gripping positions to the retract positions, and then releases the gripping on the workpiece W by cutting off the power supply to the valve units <NUM>.

The robotic system <NUM> regularly charges the battery <NUM> of the wireless valve manifold <NUM> under the control of the control unit <NUM>. For example, when transferring of the workpiece W is temporarily halted (or every time the workpiece W is transferred), the control unit <NUM> operates the robot <NUM> to move the end effector <NUM> to the feeding station <NUM> (origin position).

The control unit <NUM> monitors the coordinate position of the end effector <NUM> (wireless valve manifold <NUM>), and calculates the travel route of the end effector <NUM> using the monitored coordinate position and the origin position given in advance, when the end effector <NUM> moves to the origin position. The robot <NUM> is operated along the travel route, whereby the power reception control part <NUM> is moved closer to the feeding part <NUM> and then becomes face-to-face with the feeding part <NUM>.

When the power reception control part <NUM> faces the feeding part <NUM> as a result of the end effector <NUM> returning to the origin position as illustrated in <FIG>, the robotic system <NUM> wirelessly transfers electric power from the feeding part <NUM> to the power reception control part <NUM>. For example, the station controller <NUM> or the control unit <NUM> determines whether the power reception control part <NUM> lies face-to-face with the feeding part <NUM>, based on detection of the magnetic field at the feeding part <NUM>. The battery <NUM> in the wireless valve manifold <NUM>, which has become at a low level due to the electric discharge to the solenoid valves <NUM>, is charged in this manner.

The robotic system <NUM> may be configured to, for example, wirelessly send the SOC of the battery <NUM> from the wireless valve manifold <NUM> to the control unit <NUM> on a constant basis. This enables the control unit <NUM> to stop supplying power from the feeding part <NUM> to the battery <NUM> when the battery <NUM> is almost fully charged (i.e., higher than or equal to a stop threshold). Moreover, the control unit <NUM> may be configured to interrupt the process and then move the end effector <NUM> to the origin position when the SOC is low (i.e., lower than or equal to a charge request threshold).

The present invention is not limited in particular to the embodiment described above, and various modifications can be made thereto without departing from the scope of the present invention. For example, the attachment position of the wireless valve manifold <NUM> with respect to the end effector <NUM> is not limited in particular. For example, the wireless valve manifold <NUM> may be disposed in a central part of the frame <NUM>, and the power reception control part <NUM> may be disposed on the lower surface side of the housing <NUM>. In this case, in the robotic system <NUM>, the feeding part <NUM> may be disposed inside the upper surface 84a of the feeding station <NUM>, so that wireless power transfer may be performed in a state that the power reception control part <NUM> faces the feeding part <NUM> vertically.

Moreover, the wireless valve manifold <NUM> may be configured to include, as an extended part, an input-signal processing part <NUM> configured to receive input from sensors (not illustrated) that detect the positions of fluid actuators such as the fluid pressure cylinders <NUM> (or including other fluid actuators). The input-signal processing part <NUM> includes therein a plurality of connectors 100a connectable to the sensors and a circuit that processes the input from the sensors. The controller <NUM> can recognize the states of the fluid pressure cylinders <NUM>, based on the input from the sensors suitably.

Moreover, objects to which the wireless valve manifold <NUM> is attached are not limited to the robot <NUM>. For example, a robotic system 10A according to a first modification illustrated in <FIG> includes, as the movable unit <NUM>, a disk <NUM> that can be rotated by a driving source (not illustrated) in the circumferential direction. The disk <NUM> includes, at a predetermined position thereof, a mechanism portion 94a that handles (for example, transfers) the workpiece W. On the other hand, the wireless valve manifold <NUM> is attached to the lower surface (or the upper surface) of the disk <NUM> at a predetermined circumferential position, and moves in an integrated manner with the disk <NUM> as the disk <NUM> rotates.

Moreover, the wireless valve manifold <NUM> includes the power reception control part <NUM> on a surface (lower surface in <FIG>) thereof opposite an attachment surface of the wireless valve manifold <NUM> which is attached to the disk <NUM>. The power reception control part <NUM> is configured to face the feeding part <NUM> of the feeding station <NUM> when the disk <NUM> is at a predetermined angular position (origin position). With this structure, the battery <NUM> in the wireless valve manifold <NUM> is charged by wireless power transfer at the origin position.

Moreover, for example, a robotic system 10B according to a second modification illustrated in <FIG> includes, as the movable unit <NUM>, a rail <NUM> and a slider <NUM> that can be reciprocated linearly by a driving source (not illustrated). The slider <NUM> includes a mechanism portion 98a that handles (for example, transfers) the workpiece W. Also in this case, the wireless valve manifold <NUM> is attached to the lower surface or the like of the slider <NUM> and moves in an integrated manner with the slider <NUM>. When the slider <NUM> returns to the origin position, the wireless valve manifold <NUM> faces the feeding part <NUM> of the feeding station <NUM>, and thereby the battery <NUM> is charged.

The technical scope and effects that can be understood from the above-described embodiment will be described below.

The wireless valve manifold <NUM> includes the battery <NUM> and the power reception control part <NUM>, and thus the battery <NUM> can be charged by wireless power transfer at appropriate timings such as temporary halts of the wireless valve manifold <NUM>. This eliminates the need to provide the movable unit <NUM> with harnesses for supplying electric power to the wireless valve manifold <NUM> through the movable unit <NUM>. In addition, the capacity of the battery <NUM> can be reduced, leading to a reduction in the weight and size of the battery <NUM>. As a result, stable movement of the movable unit <NUM> and continuous operation of the wireless valve manifold <NUM> can be achieved. In particular, the wireless valve manifold <NUM> is often used in environments where dust, oil mist, and the like are scattered inside factories. Application of the battery <NUM> and the power reception control part <NUM> reduces exposure of the internal structure to such environments and consequently improves the dust and water resistance significantly. Furthermore, the battery <NUM> can be replaced when the performance degrades.

The movable unit <NUM> is the robot <NUM> including the end effector <NUM>, and the wireless valve manifold <NUM> is attached to the side portion of the end effector <NUM>. Thus, the wireless valve manifold <NUM> is less affected by the end effector <NUM> when the end effector <NUM> is moved for wireless power transfer from the external feeding part <NUM> to the power reception control part <NUM>. For example, the power reception control part <NUM> can be disposed sufficiently close to the feeding part <NUM> to thereby increase the charging efficiency.

The control unit <NUM> is provided that controls the movement of the movable unit <NUM> (robot <NUM>) to move the wireless valve manifold <NUM> at least between the origin position and the handling position of the workpiece W. When the wireless valve manifold <NUM> is moved to the origin position, the wireless power transfer from the feeding part <NUM> disposed in the origin position to the power reception control part <NUM> is performed. In this manner, the movement of the wireless valve manifold <NUM> to the origin position triggers wireless power transfer from the feeding part <NUM> to the power reception control part <NUM>, thereby facilitating charging of the battery <NUM>.

The power reception control part <NUM> is accommodated inside the housing <NUM> disposed at an end of a row of the plurality of solenoid valves <NUM>, and is disposed at a position adjacent to a side surface of the housing opposite to a side surface thereof where the solenoid valves <NUM> are arranged. In this manner, the power reception control part <NUM> is disposed inside the housing <NUM> in the position adjacent to the side surface opposite to the location where the solenoid valves <NUM> are arranged. This enables the wireless valve manifold <NUM> to be disposed sufficiently close to the feeding part <NUM> during wireless power transfer.

Claim 1:
A wireless valve manifold (<NUM>) including a plurality of solenoid valves (<NUM>) and being configured to perform wireless communication,
wherein the wireless valve manifold is configured to be moved by a movable unit (<NUM>),
the wireless valve manifold comprising:
a battery (<NUM>) configured to store electric power,
characterized in that
the battery (<NUM>) is configured to supply the electric power to the plurality of solenoid valves;
a power receiving part (<NUM>) connected to the battery and configured to charge the battery by wireless power transfer from a feeding station (<NUM>) for the wireless valve manifold; and
the power receiving part is accommodated inside a housing (<NUM>) disposed at an end of a row of the plurality of solenoid valves, and is disposed at a position adjacent to a side surface of the housing opposite to a side surface thereof where the solenoid valves are arranged.