JP6896320B2 - Non-contact power transmission device, electromagnetic wave irradiation / reception device, power transmission / information communication device and autonomous movable robot system - Google Patents

Description

The present disclosure relates to a power transmission technique between a plurality of mechanical units involving rotational operation and tilting operation.

Power transmission may be performed between a plurality of mechanical units that involve rotation and tilting operations. Since the conventional contact-type power transmission device includes one set of rotatable contact-type electrodes for each of the rotating shaft and the tilting shaft, poor continuity and maintenance work due to electrode wear, mechanical vibration, and bending fatigue occur. On the other hand, the conventional non-contact power transmission device is provided with one set of rotatable magnetic field coupling coils for each of the rotating shaft and the tilting shaft, so that conduction failure and maintenance work due to electrode wear, mechanical vibration and bending fatigue do not occur ( See Patent Document 1 and the like.).

Japanese Unexamined Patent Publication No. 2015-22801

However, since the conventional non-contact power transmission device includes "one set" of rotatable facing coils for each of the rotating shaft and the tilting shaft, it is not possible to reduce the size of the device. Therefore, it is conceivable to reduce the size by providing "one set" of rotatable facing coils for the rotating shaft and the tilting shaft. However, if the distance between the facing coils is too narrow, the magnetic field coupling between the facing coils becomes strong, but mechanical interference between the facing coils is likely to occur due to the tilting operation of the other coil with respect to one coil. On the other hand, if the distance between the facing coils is too wide, mechanical interference between the facing coils due to the tilting operation of the other coil with respect to one coil is unlikely to occur, but the magnetic field coupling between the facing coils becomes weak.

Therefore, in order to solve the above-mentioned problems, the present disclosure aims at miniaturization of a non-contact type power transmission device between a plurality of mechanical units accompanied by a rotational operation and a tilting operation, and a movable range of the tilting operation. The purpose is to widen and strengthen the magnetic field coupling between the coils.

In order to solve the above-mentioned problems, it was decided to provide a first coil and a second coil which are rotatably arranged in parallel in "a set" for the rotation axis and the tilt axis.

Specifically, the present disclosure includes a first coil and a second coil arranged in parallel with each other, and a tilt variable member for varying the tilt between the central axes of the first coil and the second coil. With the central axis of any of the first coil and the first coil and the second coil tilting as the rotation axis when there is no inclination between the first coil and the second coil, the first coil and It is a non-contact type power transmission device including a coil rotating member for rotating any one of the second coils.

According to this configuration, since the first coil and the second coil that are rotatably arranged in parallel for "a set" of the rotation axis and the tilt axis are provided, the size of the device can be reduced. Then, if the rotation axis and the tilt axis are appropriately set, the movable range of the tilt operation can be expanded even if the first coil and the second coil are brought close to each other. Further, if the first coil and the second coil are brought close to each other, the magnetic field coupling between the coils can be strengthened.

Further, the present disclosure is a non-contact type, wherein the plurality of the second coils are arranged point-symmetrically with respect to the first coil, and the coil rotating member rotates the plurality of the second coils. It is a power transmission device.

According to this configuration, the balance of rotation of the plurality of second coils can be improved, and the coupling coefficient between the first coil and the second coil can be adjusted in a wide range.

Further, the present disclosure is a non-contact type power transmission device further comprising a first coil holding member for holding the first coil and a second coil holding member for holding the second coil. ..

According to this configuration, the non-contact type power transmission device can be connected to the power transmission / reception side mechanism unit.

Further, in the present disclosure, the second coil holding member has a first coil accommodating space for accommodating the first coil, and the first coil accommodating space has an oval shape perpendicular to the central axis of the second coil. The long axis of the Oval-shaped cross section of the first coil accommodating space having a cross section is arranged so as to be perpendicular to the tilt axis of the tilt variable member and the central axis of the second coil. It is a non-contact type power transmission device characterized by.

According to this configuration, since the cross-sectional size of the first coil accommodating space is sufficiently larger than the cross-sectional size of the first coil, the movable range of the tilting operation can be further expanded.

Further, in the present disclosure, the first magnetic material member arranged between the first coil and the first coil holding member, and the second coil arranged between the second coil and the second coil holding member. It is a non-contact type power transmission device characterized by further comprising two magnetic members.

According to this configuration, even when the first coil holding member and the second coil holding member are made of metal, it is possible to prevent the eddy current loss in the first coil holding member and the second coil holding member.

Further, the present disclosure is an electromagnetic wave irradiation / reception device including the non-contact type power transmission device described above, wherein the directivity direction of electromagnetic wave irradiation and / or reception is variable.

According to this configuration, the non-contact power transmission device can be applied to electromagnetic wave irradiation / reception.

Further, the present disclosure includes the non-contact type power transmission device described above, the first coil holding member holds the first coil from the inside, and the second coil holding member holds the second coil. A first wireless communication device that is held from the outside and has a first coil accommodating space that enables the relative movement of the first coil with respect to the second coil and is arranged at the tip of the first coil holding member, and the above. Location of the second coil holding member facing the tip of the first coil holding member via the first coil accommodating space when there is no inclination between the central axes of the first coil and the second coil. It is a power transmission / information communication device further comprising a second wireless communication device arranged in.

According to this configuration, it is possible to integrate power transmission and information communication by using a non-contact power transmission device. Here, the tip of the first coil holding member and the above-mentioned location of the second coil holding member are connected by the first and second wireless communication devices. Therefore, the movable range of the rotation operation and the tilt operation of the non-contact type power transmission device is not limited by the problem of twisting, bending, and disconnection of the wired cable. The first and second wireless communication devices are arranged on the central axis of the non-contact power transmission device. Therefore, the movable range of the rotation operation and the tilt operation of the non-contact type power transmission device is less likely to be limited by the problem of the directivity of the first and second wireless communication devices. Further, the first and second radio communication devices communicate via the first coil accommodating space in the second coil holding member. Therefore, the wireless communication between the first and second wireless communication devices is not interrupted by inclusions, and is less likely to be interrupted even in a medium in which electromagnetic waves are greatly attenuated (for example, underwater in which a large amount of suspended matter is present).

Further, in the present disclosure, the tilt variable member includes a hook member arranged at the tip of the first coil holding member, and a detachable shaft member arranged in the first coil accommodating space and to which the hook member can be attached and detached. The hook member and the detachable shaft member secure a wireless communication path space that enables wireless communication between the first wireless communication device and the second wireless communication device. / Information communication device.

According to this configuration, even if water is hooked on the detachable shaft member of the second coil holding member to which the second coil and the second wireless communication device are attached, the hook member to which the first coil and the first wireless communication device are attached is hooked. Above all, power transmission and information communication can be easily started.

Further, in the present disclosure, the power transmission / information communication device described above, an autonomous movable robot device equipped with the power transmission / information communication device, and the first coil holding member are arranged along the first coil holding member. A first power transmission line connected to one coil and transmitting power from the outside to the information communication device, arranged along the first coil holding member, and connected to the first wireless communication device. It is connected to the first information communication line that performs information communication between the outside and the power transmission / information communication device and the second coil that magnetically couples with the first coil, and is autonomous from the power transmission / information communication device. The second power transmission line that transmits power to the movable robot device and the second wireless communication device that wirelessly communicates with the first wireless communication device are connected to the power transmission / information communication device and the autonomous movable type. It is an autonomously movable robot system characterized by including a second information communication line for performing information communication with a robot device.

According to this configuration, the autonomous movable robot device can be operated by using the power transmission / information communication device. Here, the outside and the power transmission / information communication device are connected by a first power transmission line arranged along the first coil holding member, and the first coil holding member is relative to the second coil holding member. Rotational operation and tilting operation are performed. Therefore, even when high power transmission to the autonomous movable robot device and continuous battery-less operation for a long time are required, the movable range of the autonomous movable robot device is due to the problem of twisting, bending, and disconnection of the first power transmission line. Less restricted. Then, the outside and the power transmission / information communication device are connected by a first information communication line arranged along the first coil holding member, and the first coil holding member is relative to the second coil holding member. The rotation operation and the tilt operation are performed. Therefore, even when large-capacity communication and real-time communication with the autonomously movable robot device are required, the movable range of the autonomously movable robot device may be limited by the problem of twisting, bending, and disconnection of the first information communication line. Less.

As described above, in the present disclosure, in a non-contact type power transmission device between a plurality of mechanical units accompanied by a rotational operation and a tilt operation, the device can be miniaturized, the movable range of the tilt operation can be widened, and the coil. The magnetic field coupling between them can be strengthened.

It is a figure which shows the structure of the non-contact type power transmission apparatus of 1st Embodiment. It is a figure which shows the structure of the non-contact type power transmission apparatus of 2nd Embodiment. It is a figure which shows the structure of the non-contact type power transmission apparatus of 3rd Embodiment. It is a figure which shows the structure of the non-contact type power transmission apparatus of 4th Embodiment. It is a figure which shows the structure of the non-contact type power transmission apparatus of 5th Embodiment. It is a figure which shows the structure of the non-contact type power transmission apparatus of 6th Embodiment. It is a figure which shows the structure of the electromagnetic wave irradiation / receiving apparatus of 7th Embodiment. It is a figure which shows the structure of the electric power transmission / information communication apparatus of 8th Embodiment. It is a figure which shows the structure of the electric power transmission / information communication apparatus of 9th Embodiment. It is a figure which shows the structure of the electric power transmission / information communication apparatus of the modification of 9th Embodiment. It is a figure which shows the structure of the autonomous movable robot system of the tenth embodiment.

Embodiments of the present disclosure will be described with reference to the accompanying drawings. The embodiments described below are examples of the embodiments of the present disclosure, and the present disclosure is not limited to the following embodiments.

(Non-contact power transmission device of the first embodiment)
The configuration of the non-contact power transmission device of the first embodiment is shown in FIG. The non-contact type power transmission device P1 includes a first coil 11-1, a second coil 11-2, an inclined shaft 12, a bearing 13, a rotary column 14, a rotary column 15, a frame 16, a first support member 17-1, and a first. 2 It is composed of a support member 17-2, a first inner magnetic body 18-1 and a second inner magnetic body 18-2.

The upper left column of FIG. 1 shows a front view when there is no inclination. The lower left column of FIG. 1 shows a plan view. The upper middle column of FIG. 1 shows a right side view of the bearing 13 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 1 shows a right side view of the bearing 13 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 1 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 1, the plan view of the lower left column of FIG. 1, and the front view of the upper right column of FIG. 1, the cross-sectional shape is shown for the frame 16, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 1 and the front view of the upper right column of FIG. 1, the second coil 11-2 and the second inner magnetic body 18-2 show a perspective shape via the frame 16.

The first coil 11-1 and the second coil 11-2 are arranged in parallel with each other. Here, the first coil 11-1 and the second coil 11-2 may have the same dimensions as shown in FIG. 1, or may have different dimensions as a modification. The first coil 11-1 and the second coil 11-2 may be a cylindrical coil as shown in FIG. 1, or may be a square pillar coil or the like as a modification.

The frame 16 holds the second coil 11-2 from the outside. Here, the frame 16 has a structure made of a material (for example, resin or the like) so as not to interfere with the magnetic field coupling between the first coil 11-1 and the second coil 11-2. The first support member 17-1 holds the first coil 11-1 from the inside. The second support member 17-2 holds the second coil 11-2 from the inside. Here, the first support member 17-1 and the second support member 17-2 are shaft members or pipes made of metal or the like. Then, the second support member 17-2 is held by the frame 16.

The tilt axis 12 makes the tilt between the central axes of the first coil 11-1 and the second coil 11-2 variable. Specifically, the tilt axis 12 makes the tilt of the central axis of the second coil 11-2 variable with respect to the central axis of the first coil 11-1 (see the front view in the upper right column of FIG. 1). Here, the tilt shaft 12 does not necessarily have to pass through the central portion of the first coil 11-1 and the second coil 11-2.

The bearing 13, the rotary column 14, and the rotary column 15 rotate the second coil 11-2 with the central axis of the first coil 11-1 as the rotation axis. Specifically, the inner ring of the bearing 13 is fixed to the first support member 17-1, and the outer ring of the bearing 13 is connected to the rotary column 14. The rotary column 14 is connected to the rotary column 15 at a right angle. The rotary column 15 is fixed to the frame 16. When the outer ring of the bearing 13 rotates with respect to the inner ring of the bearing 13, the rotary column 14 and the rotary column 15 rotate with respect to the first support member 17-1, and the frame 16 and the second coil 11-2 are the second. One coil 11-1 rotates about the central axis as a rotation axis (see the plan view in the lower left column of FIG. 1).

The frame 16 has a first coil accommodating space 19 accommodating the first coil 11-1. The first coil accommodating space 19 has an Oval-shaped cross section perpendicular to the central axis of the second coil 11-2. Here, the Oval shape is a plane figure having at least one axis of symmetry, and is an oval shape, an ellipse shape, a circle shape, or the like. The long axis of the oval-shaped cross section of the first coil accommodating space 19 is arranged so as to be perpendicular to the tilt axis 12 and the central axis of the second coil 11-2 (upper middle of FIG. 1). See the right side view in the columns and the lower middle column.)

The first inner magnetic body 18-1 is arranged between the first coil 11-1 and the first support member 17-1. The second inner magnetic body 18-2 is arranged between the second coil 11-2 and the second support member 17-2. Here, the first inner magnetic body 18-1 and the second inner magnetic body 18-2 may be a magnetic material fired into a cylindrical shape, or may be small pieces of a plurality of magnetic materials arranged in a substantially cylindrical shape (Fig.). Refer to the right side view of the middle upper column and the middle lower column of 1.). In the latter case, the manufacturing process of the first inner magnetic body 18-1 and the second inner magnetic body 18-2 is easier than the former, and cracks in the first inner magnetic body 18-1 and the second inner magnetic body 18-2 are formed. It is unlikely to occur.

As described above, since the first coil 11-1 and the second coil 11-2, which are rotatably arranged in parallel in "one set" for the rotation axis and the tilt axis, are provided, the non-contact type power transmission device P1 is compact. Can be achieved. Then, if the first coil 11-1 and the second coil 11-2 are brought close to each other, the magnetic field coupling between the coils can be strengthened. Further, the first inner magnetic body 18-1 and the second inner magnetic body 18-2 are combined with the first coil 11-1 and the second coil 11-2 and the first support member 17-1 and the second support member 17-2. Since the first support member 17-1 and the second support member 17-2 are made of metal, the eddy current loss in the first support member 17-1 and the second support member 17-2 is caused. It can be prevented.

Then, if the rotation axis and the tilt axis are appropriately set as shown in FIG. 1, even if the first coil 11-1 and the second coil 11-2 are brought close to each other, the second coil 11 with respect to the first coil 11-1 The movable range of the tilting motion of -2 can be expanded. Further, in order to make the cross-sectional size of the first coil accommodating space 19 sufficiently larger than the cross-sectional size of the first coil 11-1, the movable range of the tilting operation of the second coil 11-2 with respect to the first coil 11-1 is widened. Can be done.

Here, if the inclination angle of the second coil 11-2 with respect to the first coil 11-1 is too large, the magnetic field coupling between the first coil 11-1 and the second coil 11-2 becomes weak. Therefore, by intentionally limiting the cross-sectional size of the first coil accommodating space 19, the movable range of the tilting operation of the second coil 11-2 with respect to the first coil 11-1 can be intentionally limited. However, by arranging a stopper or the like other than the first coil accommodating space 19 (not shown) in FIG. 1, the movable range of the tilting operation of the second coil 11-2 with respect to the first coil 11-1 is intentionally limited. be able to.

(Non-contact power transmission device of the second embodiment)
The configuration of the non-contact power transmission device of the second embodiment is shown in FIG. The non-contact power transmission device P2 includes a first coil 21-1, a second coil 21-2, an inclined shaft 22, an inclined column 23, an inclined column 24, a fixing member 25, a bearing 26, a frame 27, and a first support member 28. -1, 2nd support member 28-2, 1st inner magnetic body 29-1 and 2nd inner magnetic body 29-2.

The upper left column of FIG. 2 shows a front view when there is no inclination. The lower left column of FIG. 2 shows a plan view. The upper middle column of FIG. 2 shows a right side view of the fixing member 25 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 2 shows a right side view of the fixing member 25 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 2 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 2, the plan view of the lower left column of FIG. 2, and the front view of the upper right column of FIG. 2, the bearing 26 and the frame 27 show the cross-sectional shape, but the other members are flat. Shows the projected shape. Then, in the front view of the upper left column of FIG. 2 and the front view of the upper right column of FIG. 2, the second coil 21-2 and the second inner magnetic body 29-2 show a perspective shape via the frame 27.

The first coil 21-1 and the second coil 21-2 are arranged in parallel with each other. Here, the first coil 21-1 and the second coil 21-2 may have the same dimensions as shown in FIG. 2, or may have different dimensions as a modification. The first coil 21-1 and the second coil 21-2 may be a cylindrical coil as shown in FIG. 2, or may be a square pillar coil or the like as a modification.

The frame 27 holds the second coil 21-2 from the outside. Here, the frame 27 has a structure made of a material (for example, resin or the like) so as not to interfere with the magnetic field coupling between the first coil 21-1 and the second coil 21-2. The first support member 28-1 holds the first coil 21-1 from the inside. The second support member 28-2 holds the second coil 21-2 from the inside. Here, the first support member 28-1 and the second support member 28-2 are shaft members or pipes made of metal or the like. Then, the second support member 28-2 is held by the frame 27.

The tilt axis 22 makes the tilt between the central axes of the first coil 21-1 and the second coil 21-2 variable. Specifically, the tilt axis 22 makes the tilt of the central axis of the first coil 21-1 variable with respect to the central axis of the second coil 21-2 (see the front view in the upper right column of FIG. 2). Here, the tilt shaft 22 does not necessarily have to pass through the central portion of the first coil 21-1 and the second coil 21-2.

The tilting column 23, the tilting column 24, the fixing member 25, and the bearing 26 are the centers of the first coil 21-1 when there is no inclination between the central axes of the first coil 21-1 and the second coil 21-2. The first coil 21-1 is rotated with the shaft as the rotation axis. Specifically, the inner ring of the bearing 26 is fixed to the frame 27, and the outer ring of the bearing 26 is connected to the tilting column 23. The tilting column 23 is connected to the tilting column 24 at a right angle. The tilting column 24 is fixed to the fixing member 25. The fixing member 25 is fixed to the first support member 28-1. When the outer ring of the bearing 26 rotates with respect to the inner ring of the bearing 26, the tilting column 23 and the tilting column 24 rotate with respect to the frame 27, and the fixing member 25, the first support member 28-1, and the first coil 21- 1 rotates with the central axis of the first coil 21-1 as the rotation axis when there is no inclination between the central axes of the first coil 21-1 and the second coil 21-2 (lower left column of FIG. 2). See the plan view of.).

The frame 27 has a first coil accommodating space 30 accommodating the first coil 21-1. The first coil accommodating space 30 has an Oval-shaped cross section perpendicular to the central axis of the second coil 21-2. Here, the Oval shape is a plane figure having at least one axis of symmetry, and is an oval shape, an ellipse shape, a circle shape, or the like. The long axis of the oval-shaped cross section of the first coil accommodating space 30 is arranged so as to be perpendicular to the tilt axis 22 and the central axis of the second coil 21-2 (upper middle of FIG. 2). See the right side view in the columns and the lower middle column.)

The first inner magnetic body 29-1 is arranged between the first coil 21-1 and the first support member 28-1. The second inner magnetic body 29-2 is arranged between the second coil 21-2 and the second support member 28-2. Here, the first inner magnetic body 29-1 and the second inner magnetic body 29-2 may be a magnetic material fired into a cylindrical shape, or may be small pieces of a plurality of magnetic materials arranged in a substantially cylindrical shape (Fig.). Refer to the right side view of the middle upper column and the middle lower column of 2.). In the latter case, the manufacturing process of the first inner magnetic body 29-1 and the second inner magnetic body 29-2 is easier than the former, and cracks in the first inner magnetic body 29-1 and the second inner magnetic body 29-2 are formed. It is unlikely to occur.

As described above, since the first coil 21-1 and the second coil 21-2, which are rotatably arranged in parallel in "one set" for the rotation axis and the tilt axis, are provided, the non-contact type power transmission device P2 is compact. Can be achieved. Then, if the first coil 21-1 and the second coil 21-2 are brought close to each other, the magnetic field coupling between the coils can be strengthened. Further, the first inner magnetic body 29-1 and the second inner magnetic body 29-2 are combined with the first coil 21-1 and the second coil 21-2 and the first support member 28-1 and the second support member 28-2. Since the first support member 28-1 and the second support member 28-2 are made of metal, the eddy current loss in the first support member 28-1 and the second support member 28-2 is caused. It can be prevented.

Then, even if the rotation axis and the tilt axis are appropriately set as shown in FIG. 2, if the first coil 11-1 and the second coil 11-2 are separated from each other to some extent, the first coil 21-2 is the first. The movable range of the tilting operation of the coil 21-1 can be widened. Further, in order to make the cross-sectional size of the first coil accommodating space 30 sufficiently larger than the cross-sectional size of the first coil 21-1, the movable range of the tilting operation of the first coil 21-1 with respect to the second coil 21-2 is widened. Can be done.

Here, if the inclination angle of the first coil 21-1 with respect to the second coil 21-2 is too large, the magnetic field coupling between the first coil 21-1 and the second coil 21-2 becomes weak. Therefore, by intentionally limiting the cross-sectional size of the first coil accommodating space 30, the movable range of the tilting operation of the first coil 21-1 with respect to the second coil 21-2 can be intentionally limited. However, by arranging a stopper or the like other than the first coil accommodating space 30 (not shown) in FIG. 2, the movable range of the tilting operation of the first coil 21-1 with respect to the second coil 21-2 is intentionally limited. be able to.

(Non-contact power transmission device of the third embodiment)
The configuration of the non-contact power transmission device of the third embodiment is shown in FIG. The non-contact type power transmission device P3 includes a first coil 31-1, two second coils 31-2, an inclined shaft 32, a bearing 33, a rotary column 34, a rotary column 35, a frame 36, and a first support member 37-. It is composed of one or two second support members 37-2, a first inner magnetic body 38-1, and two second inner magnetic bodies 38-2. The frame 36 has a first coil accommodating space 39.

The upper left column of FIG. 3 shows a front view when there is no inclination. The lower left column of FIG. 3 shows a plan view. The upper middle column of FIG. 3 shows a right side view of the bearing 33 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 3 shows a right side view of the bearing 33 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 3 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 3, the plan view of the lower left column of FIG. 3, and the front view of the upper right column of FIG. 3, the cross-sectional shape is shown for the frame 36, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 3 and the front view of the upper right column of FIG. 3, one second coil 31-2 and one second inner magnetic body 38-2 are interposed through the frame 36. Shows a perspective shape.

1st coil 31-1, 1st 2nd coil 31-2, tilt shaft 32, bearing 33, rotary support 34, rotary support 35, frame 36, 1st support member 37-1, 1st 2nd support member 37- 2. The first inner magnetic body 38-1 and the first second inner magnetic body 38-2 are the first coil 11-1, the second coil 11-2, the tilt shaft 12, the bearing 13, the rotary column 14, respectively. This is the same as the rotary column 15, the frame 16, the first support member 17-1, the second support member 17-2, the first inner magnetic body 18-1, and the second inner magnetic body 18-2.

The other second coil 31-2, the other second support member 37-2, and the other second inner magnetic body 38-2 added in the third embodiment will be described. The two second coils 31-2 are arranged point-symmetrically with respect to the first coil 31-1. Each second support member 37-2 holds each second coil 31-2 from the inside. Each second inner magnetic body 38-2 is arranged between each second coil 31-2 and each second support member 37-2. The bearing 33, the rotary support column 34, and the rotary support column 35 rotate the two second coils 31-2 with the central axis of the first coil 31-1 as the rotation axis (see the plan view in the lower left column of FIG. 3). ).

In this way, the balance of rotation of the two second coils 31-2 can be improved, and the coupling coefficient between the first coil 31-1 and the second coil 31-2 can be adjusted in a wide range.

(Non-contact power transmission device of the fourth embodiment)
The configuration of the non-contact power transmission device of the fourth embodiment is shown in FIG. The non-contact power transmission device P4 includes a first coil 41-1, a second coil 41-2, an inclined shaft 42, a bearing 43, a frame 44, a first support member 45-1, a second support member 45-2, and a first. It is composed of one inner magnetic body 46-1 and a second inner magnetic body 46-2. The frame 44 has a first coil accommodating space 47.

The upper left column of FIG. 4 shows a front view when there is no inclination. The lower left column of FIG. 4 shows a plan view. The upper middle column of FIG. 4 shows a right side view of the first inner magnetic body 46-1 and the second inner magnetic body 46-2 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 4 shows a right side view of the first inner magnetic body 46-1 and the second inner magnetic body 46-2 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 4 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 4, the plan view of the lower left column of FIG. 4, and the front view of the upper right column of FIG. 4, the cross-sectional shape is shown for the frame 44, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 4 and the front view of the upper right column of FIG. 4, the second coil 41-2 and the second inner magnetic body 46-2 show a perspective shape via the frame 44.

1st coil 41-1, 2nd coil 41-2, frame 44, 1st support member 45-1, 2nd support member 45-2, 1st inner magnetic body 46-1 and 2nd inner magnetic body 46-2 1st coil 11-1, 2nd coil 11-2, frame 16, 1st support member 17-1, 2nd support member 17-2, 1st inner magnetic body 18-1, and 2nd inner magnetism, respectively. Similar to body 18-2. The points that the tilt shaft 42 and the bearing 43 are different from the tilt shaft 12 and the bearing 13, respectively, will be described.

The tilt axis 42 makes the tilt between the central axes of the first coil 41-1 and the second coil 41-2 variable. Specifically, the tilt axis 42 is fixed inside the frame 44, and the tilt of the central axis of the second coil 41-2 with respect to the central axis of the first coil 41-1 is variable (in the upper right column of FIG. 4). See front view).

The bearing 43 rotates the first coil 41-1 with the central axis of the first coil 41-1 as the rotation axis. Specifically, the bearing 43 is fixed to the arm of the tilt shaft 42, and manually or electrically rotates the first coil 41-1 with the central axis of the first coil 41-1 as the rotation axis.

Since the tilt shaft 42 and the bearing 43 are arranged inside the frame 44 in this way, the non-contact power transmission device P4 can be further miniaturized.

(Non-contact power transmission device of the fifth embodiment)
The configuration of the non-contact power transmission device of the fifth embodiment is shown in FIG. The non-contact power transmission device P5 includes a first coil 51-1, a second coil 51-2, an inclined shaft 52, a hook 53, a bearing 54, a frame 55, a first support member 56-1, and a second support member 56-. 2. It is composed of a first inner magnetic body 57-1 and a second inner magnetic body 57-2. The frame 55 has a first coil accommodating space 58.

The upper left column of FIG. 5 shows a front view when there is no inclination. The lower left column of FIG. 5 shows a plan view. The upper middle column of FIG. 5 shows a right side view of the first inner magnetic body 57-1 and the second inner magnetic body 57-2 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 5 shows a right side view of the first inner magnetic body 57-1 and the second inner magnetic body 57-2 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 5 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 5, the plan view of the lower left column of FIG. 5, and the front view of the upper right column of FIG. 5, the cross-sectional shape is shown for the frame 55, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 5 and the front view of the upper right column of FIG. 5, the second coil 51-2 and the second inner magnetic body 57-2 show a perspective shape via the frame 55.

1st coil 51-1, 2nd coil 51-2, frame 55, 1st support member 56-1, 2nd support member 56-2, 1st inner magnetic body 57-1 and 2nd inner magnetic body 57.2 1st coil 11-1, 2nd coil 11-2, frame 16, 1st support member 17-1, 2nd support member 17-2, 1st inner magnetic body 18-1, and 2nd inner magnetism, respectively. Similar to body 18-2. The points that the tilt shaft 52, the hook 53, and the bearing 54 are different from the tilt shaft 12 and the bearing 13, respectively, will be described.

The tilt shaft 52 and the hook 53 make the tilt between the central axes of the first coil 51-1 and the second coil 51-2 variable. Specifically, the tilt shaft 52 is fixed inside the frame 55, the hook 53 can be attached to and detached from the tilt shaft 52, and the tilt shaft 52 and the hook 53 are the first coil with respect to the central axis of the second coil 51-2. The inclination of the central axis of 51-1 is variable (see the front view in the upper right column of FIG. 5).

The bearing 54 rotates the first coil 51-1 with the central axis of the first coil 51-1 as the rotation axis. Specifically, the bearing 54 is fixed to the arm of the hook 53 and manually or electrically rotates the first coil 51-1 with the central axis of the first coil 51-1 as the rotation axis.

Since the tilt shaft 52 and the bearing 54 are arranged inside the frame 55 in this way, the non-contact power transmission device P5 can be further miniaturized. Then, since the hook 53 is attached to and detached from the tilt shaft 52, the first coil 51-1 can be coupled / uncoupled to the second coil 51-2.

(Non-contact power transmission device of the sixth embodiment)
The configuration of the non-contact power transmission device of the sixth embodiment is shown in FIG. The non-contact power transmission device P6 includes a first coil 61-1, a second coil 61-2, a spherical shaft 62, a frame 63, a first support member 64-1, a second support member 64-2, and a first inner magnetism. It is composed of a body 65-1 and a second inner magnetic body 65-2. The frame 63 has a first coil accommodating space 66.

The upper left column of FIG. 6 shows a front view when there is no inclination. The lower left column of FIG. 6 shows a plan view. The upper middle column of FIG. 6 shows a right side view of the first inner magnetic body 65-1 and the second inner magnetic body 65-2 as viewed from the right side with respect to the front view of the upper left column of FIG. The lower middle column of FIG. 6 shows a right side view of the first inner magnetic body 65-1 and the second inner magnetic body 65-2 as viewed from the right side with respect to the plan view of the lower left column of FIG. The upper right column of FIG. 6 shows a front view when there is an inclination. Here, in the front view of the upper left column of FIG. 6, the plan view of the lower left column of FIG. 6, and the front view of the upper right column of FIG. 6, the cross-sectional shape is shown for the frame 63, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 6 and the front view of the upper right column of FIG. 6, the second coil 61-2 and the second inner magnetic body 65-2 show a perspective shape via the frame 63.

1st coil 61-1, 2nd coil 61-2, frame 63, 1st support member 64-1, 2nd support member 64-2, 1st inner magnetic body 65-1 and 2nd inner magnetic body 65-2 1st coil 11-1, 2nd coil 11-2, frame 16, 1st support member 17-1, 2nd support member 17-2, 1st inner magnetic body 18-1, and 2nd inner magnetism, respectively. Similar to body 18-2. The difference between the spherical shaft 62 and the tilt shaft 12 and the bearing 13 will be described.

The spherical shaft 62 has a variable inclination between the central axes of the first coil 61-1 and the second coil 61-2. Specifically, the spherical shaft 62 is fixed inside the frame 63, and the inclination of the central axis of the second coil 61-2 with respect to the central axis of the first coil 61-1 is variable (in the upper right column of FIG. 6). See front view).

The spherical shaft 62 rotates the first coil 61-1 with the central axis of the first coil 61-1 as the rotation axis. Specifically, the spherical shaft 62 is fixed inside the frame 63, and the first coil 61-1 is rotated manually or electrically with the central axis of the first coil 61-1 as the rotation axis.

Since the spherical shaft 62 is arranged inside the frame 63 in this way, the non-contact power transmission device P6 can be further miniaturized. Then, when the spherical shaft 62 is arranged, the inclination axis and the rotation axis can be simplified as compared with the case where the inclination shaft 42 and the bearing 43 are arranged.

(Electromagnetic wave irradiation / receiving device of the seventh embodiment)
The configuration of the electromagnetic wave irradiation / receiving device of the seventh embodiment is shown in FIG. The electromagnetic wave irradiation / reception device A includes a non-contact power transmission device P1, a power transmission side control device 71, a power transmission side power supply 72, a fixing member 73, a power reception side control device 74, a power reception side power supply 75, an irradiation / reception device 76, and an irradiation / reception device. It is composed of a receiving member 77, a tilt shaft motor 78, a rotary shaft motor 79, a rotary shaft gear 80, and a rotary shaft ring 81.

The upper left column of FIG. 7 shows a front view when there is no inclination. The lower left column of FIG. 7 shows a plan view. The upper right column of FIG. 7 shows a front view when there is an inclination. The lower right column of FIG. 7 shows a right side view of the fixing member 73 as viewed from the left side with respect to the plan view of the lower left column of FIG. 7. Here, in the front view of the upper left column of FIG. 7, the plan view of the lower left column of FIG. 7, and the front view of the upper right column of FIG. 7, the cross-sectional shape is shown for the frame 16, but the plan projection shape is shown for the other members. Shown. Then, in the front view of the upper left column of FIG. 7 and the front view of the upper right column of FIG. 7, the second coil 11-2 and the second inner magnetic body 18-2 show a perspective shape via the frame 16.

The power transmission side control device 71 controls the power transmission side power supply 72, and mounts a wireless device for operation control and data transmission. The power transmission side power supply 72 transmits electric power to the first coil 11-1. The fixing member 73 fixes the first support member 17-1, and mounts the power transmission side control device 71 and the power transmission side power supply 72.

The power receiving side control device 74 controls the power receiving side power supply 75, and mounts a wireless device for operation control and data transmission. The power receiving side power supply 75 is fixed to the frame 16 and receives power from the second coil 11-2. The irradiation / receiving device 76 is fixed to the frame 16 and controls the irradiation / receiving member 77. The irradiation / receiving member 77 irradiates and / or receives electromagnetic waves.

Here, the electromagnetic wave irradiation / receiving device A is a lighting device, a camera device, an infrared sensor device, an X-ray analysis device, a radar device, and the like. The irradiation / receiving member 77 is a light source, a lens, an infrared sensor, an X-ray light source / sensor, a transmission / reception antenna, and the like.

The tilt shaft motor 78 is mounted on the tilt shaft 12 and rotates the tilt shaft 12. When the tilt shaft motor 78 rotates, the tilt shaft 12 rotates, the frame 16 and the second coil 11-2 tilt, and the power receiving side control device 74, the power receiving side power supply 75, the irradiation / receiving device 76, and the irradiation / receiving member 77 move. Tilt.

The rotary shaft motor 79 is fixed to the fixing member 73 and rotates the rotary shaft gear 80. The rotary shaft gear 80 is connected to the rotary shaft motor 79, and the rotary shaft ring 81 is rotated by the rotation of the rotary shaft gear 80 itself. The rotary shaft ring 81 is fixed to the rotary support column 15, and the rotation of the rotary shaft ring 81 itself rotates the frame 16 and the second coil 11-2. The receiving device 76 and the irradiation / receiving member 77 are rotated.

Here, the tilt shaft motor 78 is supplied with power from the power receiving side power supply 75 and is controlled by the power receiving side control device 74. Then, the rotary shaft motor 79 is supplied with power from the power transmission side power source 72 and is controlled by the power transmission side control device 71. Therefore, it is possible to realize the operation of the power receiving side device independent of the power transmitting side device wirelessly, which is the mission of the non-contact power transmission device P1.

In the seventh embodiment, the electromagnetic wave irradiation / receiving device A includes a non-contact power transmission device P1. However, as another modification, the electromagnetic wave irradiation / receiving device A may include non-contact power transmission devices P2, P3, P4, P5, and P6.

(Power transmission / information communication device of the eighth embodiment)
The power transmission / information communication device of the eighth embodiment is shown in FIG. The power transmission / information communication device P8 shown in FIG. 8 includes a first wireless communication device 20-1 and a second wireless communication device 20-2 in addition to the non-contact type power transmission device P1 shown in FIG.

The first support member 17-1 holds the first coil 11-1 from the inside as the first coil holding member. The frame 16 provides a first coil accommodating space 19 that holds the second coil 11-2 from the outside as a second coil holding member and enables the relative movement of the first coil 11-1 with respect to the second coil 11-2. Have.

The first wireless communication device 20-1 is arranged at the tip of the first support member 17-1. The second wireless communication device 20-2 is a first support member via the first coil accommodating space 19 when there is no inclination between the central axes of the first coil 11-1 and the second coil 11-2. It is arranged at the location of the frame 16 facing the tip of 17-1.

The first wireless communication device 20-1 and the second wireless communication device 20-2 may be (1) an antenna that performs wireless communication by radio waves, and (2) an LED or LD that performs wireless communication by infrared rays or visible light. And PD (furthermore, lens members around them).

As described above, by using the non-contact type power transmission device P1 shown in FIG. 1, the power transmission / information communication device P8 shown in FIG. 8 can be integrated with the power transmission and the information communication.

Here, the tip of the first support member 17-1 and the above-mentioned location of the frame 16 are connected by the first and second wireless communication devices 20-1 and 20-2. Therefore, the movable range of the rotation operation and the tilt operation of the power transmission / information communication device P8 is not limited by the problem of twisting, bending, and disconnection of the wired cable.

The first and second wireless communication devices 20-1 and 20-2 are arranged on the central axis of the power transmission / information communication device P8. Therefore, the movable range of the rotation operation and the tilt operation of the power transmission / information communication device P8 is less likely to be limited by the problem of the directivity of the first and second wireless communication devices 20-1 and 20-2.

Further, the first and second radio communication devices 20-1 and 20-2 communicate with each other via the first coil accommodating space 19 in the frame 16. Therefore, the wireless communication between the first and second wireless communication devices 20-1 and 20-2 is not interrupted by inclusions, and even in a medium in which electromagnetic waves are greatly attenuated (for example, underwater in which a large amount of suspended matter is present). It is less likely to be interrupted.

In the eighth embodiment, the power transmission / information communication device P8 includes the non-contact power transmission device P1 shown in FIG. However, as another modification, the power transmission / information communication device P8 may include the non-contact power transmission devices P2 and P3 shown in FIGS. 2 and 3.

(Power transmission / information communication device of the ninth embodiment)
The power transmission / information communication device of the ninth embodiment is shown in FIG. The power transmission / information communication device P9 shown in FIG. 9 includes a first wireless communication device 59-1 and a second wireless communication device 59-2 in addition to the non-contact type power transmission device P5 shown in FIG.

The first support member 56-1 holds the first coil 51-1 from the inside as the first coil holding member. The frame 55 provides a first coil accommodating space 58 that holds the second coil 51-2 from the outside as a second coil holding member and enables the relative movement of the first coil 51-1 with respect to the second coil 51-2. Have.

The first wireless communication device 59-1 is arranged at the tip of the first support member 56-1. The second wireless communication device 59-2 is a first support member via the first coil accommodating space 58 when there is no inclination between the central axes of the first coil 51-1 and the second coil 51-2. It is arranged at the location of the frame 55 facing the tip of the 56-1.

The hook 53 is arranged at the tip of the first support member 56-1 as a component of the tiltable member. The tilt shaft 52 is arranged in the first coil accommodating space 58 as a component of the tilt variable member, and the hook 53 can be attached and detached. The hook 53 and the tilt shaft 52 secure a wireless communication path space that enables wireless communication between the first wireless communication device 59-1 and the second wireless communication device 59-2.

Specifically, the arm portion of the hook 53 is a hollow cylinder, and the hook portion of the hook 53 is bifurcated. The tilt shaft 52 is divided into two, and each hook portion of the bifurcated hook 53 is hooked on each of the two tilt shafts 52. Then, radio waves, infrared rays, or visible light pass through the hollow cylinder of the arm portion of the hook 53, the gap of each hook portion of the bifurcated hook 53, and the gap of each of the two inclined shafts 52. Then, it propagates between the first radio communication device 59-1 and the second radio communication device 59-2.

In this way, the hook 53 to which the first coil 51-1 and the first wireless communication device 59-1 are attached to the tilt axis 52 of the frame 55 to which the second coil 51-2 and the second wireless communication device 59-2 are attached. Power transmission and information communication can be easily started even underwater by simply hooking.

In the ninth embodiment, the power transmission / information communication device P9 is an improvement of the non-contact power transmission device P5 shown in FIG. However, as another modification, the power transmission / information communication device P9 may be an improvement of the non-contact power transmission devices P4 and P6 shown in FIGS. 4 and 6.

For example, in the power transmission / information communication device P10 shown in FIG. 10, the tilt axes 42 divided into two systems are arranged in parallel with the first radio communication device 48-1 and the second radio communication device 48-2. Radio waves, infrared rays, or visible light may propagate between the two systems of the tilt shaft 42. Then, in the non-contact type power transmission device P6 shown in FIG. 6, spaces are arranged inside the sphere portion of the sphere shaft 62 and inside the support base, and space is arranged between the first radio communication device and the second radio communication device. Radio waves, infrared rays, or visible light may propagate in the space inside the sphere portion of the sphere shaft 62 and the inside of the support base.

(Autonomous movable robot system of the tenth embodiment)
The configuration of the autonomous movable robot system of the tenth embodiment is shown in FIG. The autonomous movable robot system S shown in FIG. 11 includes a power transmission / information communication device P8, an autonomous movable robot device R, a power transmission side power supply 82, a first power transmission line 83, and a second power transmission line shown in FIG. It includes 84, an information processing terminal 86, a power transmission side control device 87, and a first information communication line 88. The autonomously movable robot device R includes a power receiving side power supply 85, a second information communication line 89, and a power receiving side control device 90.

The autonomously movable robot device R is equipped with a power transmission / information communication device P8. For example, examples of the autonomous movable robot device R include an autonomous walking robot device, an article transporting robot device, a drone device, and an underwater exploration robot device.

The first power transmission line 83 is arranged along the first support member 17-1 and is connected to the first coil 11-1 to perform power transmission from the power transmission side power supply 82 to the power transmission / information communication device P8. For example, as the first power transmission line 83, a cable having a large diameter for high power may be mentioned.

The first information communication line 88 is arranged along the first support member 17-1 and is connected to the first wireless communication device 20-1, the information processing terminal 86, the transmission side control device 87, and the power transmission / information communication device. Information communication with P8 is performed. For example, as the first information communication line 88, a coaxial cable for a large capacity, an optical fiber cable, and the like can be mentioned.

The second power transmission line 84 is connected to the second coil 11-2, which is magnetically coupled to the first coil 11-1, and power is transmitted from the power transmission / information communication device P8 to the power receiving side power supply 85 of the autonomous movable robot device R. Perform transmission. Here, the second power transmission line 84 does not cause twisting or bending due to the rotational operation and the tilting operation of the power transmission / information communication device P8.

The second information communication line 89 is connected to the second wireless communication device 20-2 that performs wireless communication with the first wireless communication device 20-1, and is connected to the power transmission / information communication device P8 and the power receiving side of the autonomous movable robot device R. Information communication with the control device 90 is performed. Here, the second information communication line 89 does not cause twisting or bending due to the rotational operation and the tilting operation of the power transmission / information communication device P8.

In this way, the power transmission / information communication device P8 shown in FIG. 8 can be used to operate the autonomous movable robot device R in the autonomous movable robot system S shown in FIG.

Here, the power transmission side power supply 82 and the power transmission / information communication device P8 are connected by a first power transmission line 83 arranged along the first support member 17-1, and the first support member 17-1 is connected to the first support member 17-1. The rotation operation and the tilt operation are performed relative to the frame 16. Therefore, even when high power transmission to the autonomous movable robot device R and continuous battery-less operation for a long time are required, the movable range of the autonomous movable robot device R is twisted, bent, and broken in the first power transmission line 83. It is less limited by the problem of.

The information processing terminal 86, the power transmission side control device 87, and the power transmission / information communication device P8 are connected by a first information communication line 88 arranged along the first support member 17-1, and the first support member. 17-1 performs a rotation operation and a tilt operation relative to the frame 16. Therefore, even when large-capacity communication and real-time communication with the autonomously movable robot device R are required, the movable range of the autonomously movable robot device R is limited by the problem of twisting, bending, and disconnection of the first information communication line 88. Is less likely to occur.

In the tenth embodiment, the autonomous movable robot system S includes the power transmission / information communication device P8 shown in FIG. However, as another modification, the autonomous movable robot system S may include the power transmission / information communication devices P9 and P10 shown in FIGS. 9 and 10.

Further, in the tenth embodiment, the power transmission side power supply 82, the information processing terminal 86, and the power transmission side control device 87 are fixed to the fixing members F such as the ceiling, the wall, the floor, and other devices. However, as another modification, the power plug and the information processing terminal 86 are arranged on the fixing member F such as the ceiling, the wall, the floor, and other devices, while the first support member 17- of the power transmission / information communication device P8. The power transmission side power supply 82 and the power transmission side control device 87 may be fixed to one or another member fixed to the first support member 17-1.

The non-contact power transmission device of the present disclosure can be applied to connectors, robots, optical instruments, radars, and the like. The electromagnetic wave irradiation / receiving device of the present disclosure can be applied to optical equipment, radar, and the like. The power transmission / information communication device of the present disclosure can be applied to robots, optical instruments, radars, and the like. The autonomously movable robot system of the present disclosure can be applied to various types of robots.

P1, P2, P3, P4, P5, P6: Non-contact power transmission device P8, P9, P10: Power transmission / information communication device A: Electromagnetic wave irradiation / reception device S: Autonomous movable robot system R: Autonomous movable robot Device F: Fixing members 11-1, 21-1, 31-1, 41-1, 51-1, 61-1: First coil 11-2, 21-2, 31-2, 41-2, 51- 2, 61-2: 2nd coil 12, 22, 32, 42, 52: Tilt axis 13, 26, 33, 43, 54: Bearing 14, 34: Rotating column 15, 35: Rotating column 16, 27, 36, 44, 55, 63: Frames 17-1, 28-1, 37-1, 45-1, 56-1, 64-1: First support members 17-2, 28-2, 37-2, 45-2 , 56-2, 64-2: Second support members 18-1, 29-1, 38-1, 46-1, 57-1, 65-1: First inner magnetic material 18-2, 29-2, 38-2, 46-2, 57-2, 65-2: Second inner magnetic material 19, 30, 39, 47, 58, 66: First coil accommodation space 20-1, 48-1, 59-1: 1st wireless communication device 20-2, 48-2, 59-2: 2nd wireless communication device 23: Tilt support column 24: Tilt support column 25: Fixing member 53: Hook 62: Sphere shaft 71: Transmission side control device 72: Transmission Side power supply 73: Fixed member 74: Power receiving side control device 75: Power receiving side power supply 76: Irradiation / receiving device 77: Irradiation / receiving member 78: Tilt shaft motor 79: Rotating shaft motor 80: Rotating shaft gear 81: Rotating shaft ring 82 : Transmission side power supply 83: First power transmission line 84: Second power transmission line 85: Power receiving side power supply 86: Information processing terminal 87: Transmission side control device 88: First information communication line 89: Second information communication line 90: Power receiving side control device

Claims (9)

The first coil and the second coil arranged in parallel with each other,
A tilt-variable member that changes the tilt between the central axes of the first coil and the second coil, and
The first coil and the first coil and the first coil have the central axis of any of the first coils when there is no inclination between the central axes of the first coil and the first coil and the second coil as a rotation axis. A coil rotating member that rotates one of the second coils,
A non-contact power transmission device characterized by comprising. The plurality of the second coils are arranged point-symmetrically with respect to the first coil.
The non-contact power transmission device according to claim 1, wherein the coil rotating member rotates a plurality of the second coils. A first coil holding member that holds the first coil and
A second coil holding member for holding the second coil and
The non-contact power transmission device according to claim 1 or 2, further comprising. The second coil holding member has a first coil accommodating space for accommodating the first coil.
The first coil accommodating space has an Oval-shaped cross section perpendicular to the central axis of the second coil.
The long axis of the Oval-shaped cross section of the first coil accommodating space is arranged so as to be perpendicular to the inclination axis of the inclination variable member and the central axis of the second coil. The non-contact power transmission device according to claim 3. A first magnetic material member arranged between the first coil and the first coil holding member,
A second magnetic material member arranged between the second coil and the second coil holding member,
The non-contact power transmission device according to claim 3 or 4, further comprising. An electromagnetic wave irradiation / reception device comprising the non-contact type power transmission device according to any one of claims 1 to 5, wherein the directivity direction of electromagnetic wave irradiation and / or reception is variable. The non-contact power transmission device according to any one of claims 3 to 5 is provided.
The first coil holding member holds the first coil from the inside and
The second coil holding member has a first coil accommodating space that holds the second coil from the outside and enables the relative movement of the first coil with respect to the second coil.
A first wireless communication device arranged at the tip of the first coil holding member, and
The second coil holding member facing the tip of the first coil holding member via the first coil accommodating space when there is no inclination between the central axes of the first coil and the second coil. The second wireless communication device placed in the place and
A power transmission / information communication device characterized by further comprising. The tiltable member includes a hook member arranged at the tip of the first coil holding member and a detachable shaft member arranged in the first coil accommodating space and to which the hook member can be attached and detached.
The hook member and the detachable shaft member according to claim 7, wherein the hook member and the detachable shaft member secure a wireless communication path space that enables wireless communication between the first wireless communication device and the second wireless communication device. The power transmission / information communication device described. The power transmission / information communication device according to claim 7 or 8.
An autonomously movable robot device equipped with the power transmission / information communication device,
A first power transmission line arranged along the first coil holding member, connected to the first coil, and transmitting power from the outside to the power transmission / information communication device.
A first information communication line arranged along the first coil holding member, connected to the first wireless communication device, and performing information communication between the outside and the power transmission / information communication device.
A second power transmission line that is connected to the second coil that is magnetically coupled to the first coil and that transmits power from the power transmission / information communication device to the autonomous movable robot device.
A second information communication line that is connected to the second wireless communication device that performs wireless communication with the first wireless communication device and that performs information communication between the power transmission / information communication device and the autonomous movable robot device.
An autonomously movable robot system characterized by being equipped with.

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