JPH10336806A - Charging device for unmanned guided vehicle - Google Patents

Abstract

PROBLEM TO BE SOLVED: To make electrical connection for charging an unmanned guiding vehicle reliably with simple structure. SOLUTION: When an AGV 2 stops at a given position facing a charging device 1, a motor-driven cylinder 19 moves a support table 17 parallel to the side wall of the AGV 2 to perform rough positioning. When the positioning is finished, a motor-driven cylinder 5 makes a plug 3 proceed toward a socket 4. A guide shaft 8 which proceeds together with the plug 3 is provided on the head side of the motor-driven cylinder 5 and its position is corrected by the correcting hole 12 of a guiding member 11 provided on the AGV 2 side. Guided by a guide hole 13, the plug 3 is made possible to accurately fit into the socket 4. Reaction force, which the head of the guiding shaft 8 receives when the position dislocation is corrected by the correcting hole 12, is absorbed as the dislocation in the axial direction and angle by spring unit provided with a rockable member 14, which the plug 3 and motor-driven cylinder 5 are mourned on, along columns 15.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a charging device for an unmanned guided vehicle for charging a storage battery mounted on the unmanned guided vehicle.

[0002]

2. Description of the Related Art Conventionally, in order to streamline, automate or unmanned distribution in factories and warehouses, unmanned guided vehicles are sometimes referred to as "automated guided vehicles" (sometimes abbreviated as "AGV"). May be used. The unmanned guidance vehicle moves according to a preset program or moves according to a guidance command given from the outside remotely. Electric power that is easy to control and does not cause problems such as exhaust gas is often used as a driving force for controlling the movement and direction of the unmanned guided vehicle. Power is supplied to the unmanned guided vehicle by installing a storage battery in the unmanned guided vehicle, continuously supplying power from the storage battery to each part of the unmanned guided vehicle, and charging the storage battery by the unmanned guided vehicle near the charging device. To make electrical connection for charging and charge the rechargeable battery. For example, JP
Japanese Patent Application Laid-Open No. -80103 discloses a prior art in which a charging power supply having a retractable connector is provided at a stop position of a battery self-propelled vehicle. On the unmanned guided vehicle side and the charging device side,
Two or more pairs of connection terminals and electrodes are used. The mechanical mechanism of the charging device has a function of bringing the terminals and electrodes of each pair into close contact with each other.

An unmanned guided vehicle is trackless and may need to charge a plurality of unmanned guided vehicles. In such a case, the relative position related to charging between the charging device and the unmanned guided vehicle will be different each time depending on the repeatability of the stop position of the unmanned guided vehicle and the manufacturing accuracy of each vehicle. In addition, when charging needs to be performed rapidly, the current also increases, so that it is necessary to prevent the connection terminals from closely contacting each other and causing electrical resistance. In a combination of a plug and a socket, it is necessary to allow movement only in the direction in which the plug is inserted into the socket and restrict movement in other directions. A mechanism for correcting or absorbing the displacement is required.

In the positioning of the charging device by the mechanical mechanism, if one of the orthogonal axis and the oblique axis is set as the insertion axis, the displacement in the other two axes and the rotation angle around the three axes are considered. , It is necessary to have a total of five degrees of freedom. In order to correct the position, use a clamp mechanism and a guide mechanism,
Perform biaxial correction. For the axial displacement, for example, a portion for mounting and supporting a connection terminal, a guide portion, a contact mechanism portion, and the like is configured in a two-stage configuration, and a linear guide and a spring for supporting the neutral position in each direction of the two axes. A method of absorbing by providing is considered. It is also conceivable that the shape of the connection terminal is loosely fitted like a flat plate, or that the unnecessary shapes are brought into contact by pressing each other, thereby eliminating the need to absorb the displacement in the two axial directions. The angle deviation is absorbed by increasing the play of the connection terminal mounting portion.

[0005]

SUMMARY OF THE INVENTION When a plug and a socket are used for electrical connection between an unmanned induction vehicle and a charging device, a method of absorbing an angle deviation by play of a mounting portion is used. If the plugs and sockets are repeatedly subjected to a load or cannot be fitted, an excessive mechanical load is applied to the plug and the socket by the insertion force. The socket and the plug need to be made of a metal material having good conductivity, and the mechanical durability is not always sufficient. Therefore, when an unreasonable load is applied, the socket and the plug are greatly consumed. When the shape of the connection terminal is a loosely fitted shape, such as a flat plate, a large pressing force is required as compared with the insertion force of the fitted, in order to maintain a necessary contact area in terms of capacitance. .
If a large pressing force is to be generated, the mechanical mechanism of the charging device becomes large, and the unmanned guided vehicle must maintain a stop position against the pressing force. Therefore, there is a possibility that a mechanism for maintaining a mechanical positional relationship between the components becomes necessary.

An object of the present invention is to provide a charging apparatus for an unmanned induction vehicle that can reliably perform an electrical connection with a relatively simple mechanism.

[0007]

According to the present invention, a connection electrode for charging current output is inserted into a connection terminal for inputting charging current of an unmanned induction vehicle stopped at a predetermined position, and is mounted on the unmanned induction vehicle. In a charging device for an unmanned induction vehicle that charges a storage battery, a support unit that supports the connection electrode so as to allow a displacement in a predetermined range, and the connection electrode is inserted into a connection terminal for charging current input in a direction of insertion into the connection terminal. The moving means for moving, the moving means corrects the moving position of the connecting electrode during the movement of the connecting electrode from a position separated from the connecting terminal to a fitting position, so that the connecting electrode and the connecting terminal are accurately positioned. A guide means for guiding an unmanned guided vehicle, comprising: a guide means for guiding the fitting so as to be fitted; and a positioning means for positioning the connection electrode within a range in which the movement position can be corrected by the guide means with respect to the connection terminal. Filling It is a device.

According to the present invention, the charging device for an unmanned induction vehicle has a support for supporting a connection electrode inserted into a connection terminal for inputting a charging current of the unmanned induction vehicle so as to allow a displacement within a predetermined range. Means are provided. The connection electrode is moved in the insertion direction by the moving means, and is electrically connected to the connection terminal. During the movement of the connection electrode from the position separated from the connection terminal to the position to be fitted by the movement means, the guide means corrects the movement position of the connection electrode, so that the connection electrode and the connection terminal are accurately fitted. I will guide you. If the connection electrode is positioned by the positioning means within a range where the movement position can be corrected by the guide means, the connection electrode can be accurately fitted to the connection terminal of the unmanned induction vehicle while correcting the movement position by the guide means. Therefore, the electrical connection for supplying the charging current can be reliably performed with a relatively simple mechanical device without requiring a large force.

Further, in the present invention, the support means is substantially plate-shaped, has three or more openings formed at intervals, and a swingable member on which the connection electrode is mounted, and three or more openings. It is characterized by including a support inserted into each of the portions, and a spring provided so as to sandwich a swingable member around the opening from both sides of the opening along each support.

According to the present invention, the support means is provided with three or more openings formed in the substantially plate-like swingable member at intervals and along the columns respectively inserted through the openings. Since it is supported by a spring provided so as to sandwich the periphery of the opening from both sides, in the axial direction of the support and the range of the gap between the opening and the support, based on the neutral position where the forces of the springs on both sides are balanced. Displacement can be performed. Since it has a combination of three or more openings, struts and springs, the swingable member as a whole has uniform displacement in three axial directions within a certain range and inclinations having different displacement amounts for each strut, so that the guide means is provided. Accordingly, the displacement of the connection electrode when the movement position is corrected can be absorbed.

In the present invention, the guide means is provided on a side of the unmanned guided vehicle, wherein the guide means moves together with the connection electrode and protrudes in a direction in which the connection electrode is inserted into the connection terminal.
The guide shaft is guided by a guide hole that guides in the insertion direction at a position where the connection electrode is accurately fitted to the connection terminal, and an inner wall surface that is larger than the guide hole and that is inclined with respect to the insertion direction. A guide member having a correction hole for guiding the tip of the shaft to the front end of the guide hole while correcting it in a direction other than the insertion direction is formed.

According to the present invention, when the connection electrode is inserted into the connection terminal of the unmanned induction vehicle by the moving means, first, the guide shaft that moves together with the connection electrode is largely opened in front of the guide hole provided on the unmanned induction vehicle side. Inserted into the corrector hole. Since the correction hole has an inclined inner wall surface that guides the front end of the guide shaft while correcting it to the front end of the guide hole, the moving position is adjusted before the guide shaft is inserted into the guide hole by absorbing the positioning error by the positioning means. Correction can be performed. Since the connection between the connection electrode and the connection terminal is performed accurately after the guide shaft is inserted into the guide hole, the charging current can be supplied reliably.

[0013]

1 and 2 show a schematic configuration of a charging apparatus 1 for an unmanned guided vehicle according to an embodiment of the present invention. FIG. 1 shows a front view with a part cut away, and FIG. 2 shows a plan view. The charging device 1 is an unmanned guided vehicle A
It has a plug 3 as a connection electrode for charging the storage battery of the GV2. On the AGV 2 side, a socket 4 which is a connection terminal to be fitted with the plug 3 is installed. An electric cylinder 5 is provided for inserting the plug 3 into the socket 4 and for pulling out the inserted plug 3 from the socket 4.
The plug 3 moved by the electric cylinder 5 moves along the insertion guide 6. In the insertion guide 6, the plug 3
Detection roller 7 moved by electric cylinder 5
And a guide shaft 8. The detection roller 7 is a guide shaft 8
At the rear end of the guide shaft, and at the rear end of the guide shaft, when the detection roller 7 is retracted in the direction opposite to the insertion direction of the plug 3 into the socket 4, the detection is performed by the proximity sensor 9 provided behind the insertion guide 6. Are mounted.

The outer diameter of the detection roller 7 is smaller than the correction hole 12 and the guide hole 13 of the guide member 11 provided on the AGV 2 side, and when the plug 3 approaches the socket 4 side by the electric cylinder 5, Through the correction hole 12 and the guide hole 13. The guide shaft 8 behind the detection roller 7 is inserted into the inclined portion of the inner peripheral surface of the correction hole 12, the tip is guided along the inclination, and is inserted into the guide hole 13.
When the guide shaft 8 is inserted through the guide hole 13, the plug 3 can be fitted to the socket 4 accurately.

The tip of the guide shaft 8 is the correction hole 1 of the guide member 11.
The plug 3 and the guide shaft 8 are mounted on a swingable member 14 in order to be able to correct the movement position by being guided by 2. When the tip of the guide shaft 8 is guided along the inclined inner peripheral surface of the correction hole 12 of the guide member 11 to correct the moving position, the swingable member 14 shifts in the axial direction and the angle. The displacement is absorbed. The swingable member 14 is substantially plate-shaped, and is supported by a plurality of columns 15 provided at intervals and a spring unit 16 provided along the columns 15. Prop 15
Should be three or more. Each support 15 has a support table 17.
It is erected from. The support table 17 includes a guide rail 18
Is moved by the electric cylinder 19 in the direction of
Is positioned with respect to the socket 4. Guide rail 18
And the electric cylinder 19 are installed on the gantry 20,
It is fixed on the floor 21. A charging current from a power supply 23 is led to the plug 3 via a flexible conductive cable 22.

FIG. 3 shows the shape of the right side of the charging device 1 shown in FIG. The tip of the electric cylinder 19 and the support table 17
A buffer mechanism 24 is provided between the two. Buffer mechanism 24
Is a connecting member 25 connected to the tip of the electric cylinder 19.
And a slide shaft 26 inserted into a through hole formed in the connection member 25, and springs 27 and 28 pressed from both sides of the connection member 25 along the slide shaft 26. The upper part of the gantry 20 is covered with a cover 29 and protected so that the plug 3 and the like are not exposed.

FIG. 4 shows that the tip of the electric cylinder 5 is an AGV2.
Side, and shows a state in which the charging plug 3 is fitted in the socket 4. While the plug 3 is moving toward the socket 4 from the state shown in FIG. 2 to the state shown in FIG. 4, first, the tip of the detection roller 7 abuts on the surface of the side wall 30 of the AGV 2 and the reaction force from the side wall 30 The electric cylinder 5 presses the detection roller 7 against the side wall 30 until the detection piece 10 shown in FIG. In this state, when the support table 17 is moved in a direction parallel to the surface of the side wall 30 by the electric cylinder 19, the tip of the detection roller 7 falls into the correction hole 12 of the guide member 11, and the detection piece 10 The position of the guide member 11 can be detected in a state where the guide member 11 deviates from the position. When the guide member 11 is detected,
If the electric cylinder 19 is stopped and the tip of the electric cylinder 5 is further projected, the detection roller 7 is
The plug 3 is guided by the guide hole 13 extending in the insertion direction of the plug 3 into the socket 4, and further passes through the guide hole 13. A guide shaft 8 is disposed behind the detection roller 7, and the tip of the guide shaft 8 has a slightly smaller diameter and is tapered. When the tip of the electric cylinder 5 is projected, the detection roller 7
Subsequently, the tip of the guide shaft 8 is guided toward the guide hole 13 by the correction hole 12 of the guide member 11. When the entire guide shaft 8 is inserted into the guide hole 13, the correction of the positioning of the plug 3 and the socket 4 is completed. When the plug 3 is fully inserted into the socket 4, the proximity sensor 31 provided near the plug 3 detects the side wall 30 and stops the electric cylinder 5.

Since the guide shaft 8 is provided separately from the plug 3 for electrical connection, it is possible to apply a lubricant such as grease to smooth the correction of positioning.

FIG. 5 shows a structure in which the swingable member 14 is supported by columns 15. As shown in FIG. 5A, the swingable member 14 is pressed by springs 32 and 33 from both sides in the axial direction of the column 15 by a spring unit 16 provided along the column 15, and is held at a neutral position. I have. As shown in FIG. 5B, the swingable member 14 includes
An opening 34 having an inner diameter D2 larger than the diameter D1 of the column 15 is formed. The support 15 is fixed on the support table 17, and the swingable member 14 is elastically supported on the support table 17 by the springs 32 and 33, and
5 can be displaced in a direction perpendicular to the axis of the column 15 within the range of the gap between the opening 34 and the column 15.

FIG. 6 shows a relative displacement state made possible by the support structure of the swingable member 14 by the columns 15 as shown in FIG. FIG. 6A shows a neutral state, in which the swingable member 14 is substantially parallel to the support table 17, and the column 15 is near the center of the opening 34. FIG.
(B) shows a state in which the swingable member 14 is displaced in the left-right direction or the front-back direction about the insertion direction of the electric cylinder 5 while keeping the swingable member 14 parallel to the support table 17. The difference can be absorbed by the difference between the outer diameter of the support 15 and the inner diameter of the opening 34. Post 15 and opening 34
If the cross-sectional shape is circular, the swingable member 14 can be displaced by movement or the like in any direction within a plane perpendicular to the axial direction of the column 15 with respect to the support table 17. FIG.
(C) shows a state in which the swingable member 14 is also displaced in the axial direction of the column 15, and the swingable member 14 is inclined with respect to the support table 17 with a different displacement for each column 15. Show. Since such a change in the inclined state is also possible, it is possible to absorb an angle shift when the guide shaft 8 receives the position correction by the correction hole 12 of the guide member 11.

By making the opening of the swingable member 14 larger, the opening 34 and the support 1
The displacement of the center position of the axis 5 and the axis of the column 15 and the opening 34
And the swingable member 14 has a degree of freedom corresponding to the axial displacement and the angular displacement. Accordingly, when the tip of the guide shaft 8 comes into contact with the guide member 14 and receives a reaction force for correcting the position, the displacement can be absorbed. Further, the mechanism for absorbing the angle shift is simple, and at the same time, the shift in the axial direction can be absorbed, so that the mechanism is simplified. Multiple columns 15 and openings 3
4, the adjustment of the neutral position of the entire swingable member 14 is made possible by adjusting the neutral position of each support portion.

FIGS. 7, 8 and 9 show simplified front, plan and left side shapes, respectively, of a support portion of the plug 3 provided at the front end of the charging device 1 of FIG.
The plug 3 is mounted such that a pair of upper and lower electrodes 3 a and 3 b are electrically insulated from the base 35 at intervals. Base 3
5 is fixed on a support member 36 guided in the insertion direction by the insertion guide 6 together with the proximity sensor 31. From the support member 36, a connecting piece 37 that connects to the tip of the electric cylinder 5 is provided upright.

FIGS. 10 and 11 show a structure related to the insertion guide 6. FIG. 10 is a front sectional view, and FIG. 11 is a sectional view taken along the line XI-XI of FIG. In the guide shaft 8, a detection roller 7 is mounted at the tip,
A detection shaft 38 to which the detection piece 10 is attached is inserted into the rear end. The detection shaft 38 is provided with a spring 3 provided at a rear portion of the guide shaft 8.
9 pushes the guide shaft 38 toward the distal end.
When the detection roller 7 comes into contact with the side wall 30 of the AGV 2 and receives a reaction force, the spring 39 is compressed, and the detection piece 10 approaches the proximity sensor 9 to perform detection.

FIG. 12 shows a schematic electrical configuration of the charging device 1 of FIG. The charging device 1 includes a control device 40 including a computer that operates according to a preset program. A signal from the AGV 2 and detection signals from the proximity sensors 9 and 31 are input to the control device 40.
Control for the electric cylinders 5 and 19 and control for the power supply 23 are performed.

FIG. 13 shows an example of a control operation performed by the control device 40 of FIG. The operation is started from step a1, and in step a2, the process waits for a signal indicating that the AGV 2 has stopped at a predetermined position to be received. AGV2
Stops at a predetermined position, the electric cylinder 5 is protruded in step a3, and the detection roller 7 is advanced toward the side wall 30 of the AGV 2. In step a4, it is determined based on a signal from the proximity sensor 9 whether the detection roller 7 contacts the side wall 30 or not. If not, the process returns to step a3, and the detection roller 7 keeps moving forward. When it is determined that the end of the detection roller 7 is in contact with the side wall 32, the electric cylinder 5 is temporarily stopped in step a5, and the support table 17 is moved by the electric cylinder 19. In step a6,
It is determined whether or not the tip of the detection roller 7 falls into the correction hole 12 of the guide member 11 with the movement of the support table 17 and the detection piece 10 is not detected by the proximity sensor 9. The movement of the support table in step a5 is continued until the tip of the detection roller 7 falls into the correction hole 12, and when the tip of the detection roller 7 falls into the correction hole 12, the movement of the electric cylinder 19 is stopped. Next, in step a7, the electric cylinder 5 is operated again, and the plug 3 is advanced in the direction of insertion into the socket 4. In step a8, it is determined based on the output from the proximity sensor 31 whether or not the plug 3 has moved forward until it is fitted into the socket 4. When it is determined that the fitting has not been completed, the forward movement of the plug in step a7 is continued. When it is determined that the plug 3 is fitted in the socket 4, the power source 23 is controlled in step a9, and the AGV 2
Performs charging of the storage battery mounted on the vehicle. When charging is completed, the electric cylinder 5 is operated in the reverse direction in step a10, and the plug 3 is retracted so as to be pulled out from the socket 4. When the retreat is completed, the support table 17 is returned to the origin in step a11. When the return is completed, the operation of the charging device 1 ends in step a12.

In the embodiment described above, the plug 3 and the support table 17 are moved by using the electric cylinders 5 and 19. However, other types of actuators such as a linear motor, a ball screw, and a fluid pressure cylinder are used. It can also be used. Although the electric cylinder 5 is provided on the swingable member 14, the swingable member 14 is supported on an XY table capable of two-dimensional displacement, and an actuator is mounted on the swingable member 14. It can be made not to be worn.

[0027]

As described above, according to the present invention, after the positioning is performed roughly by the positioning means, the moving means supports the connecting electrode while inserting the connection electrode into the connection terminal side of the unmanned induction vehicle. The movement position is corrected by the guide means within the allowable range of the displacement by the means, and the connection electrode can be accurately fitted to the connection terminal. When the connecting electrode is inserted into the connecting terminal of the unmanned induction vehicle by the moving means, the moving position is corrected, and the displacement can be absorbed by the supporting means, so that a large mechanical load is applied to the connecting electrode and the connecting terminal. , A reliable electrical connection can be made.

Further, according to the present invention, the supporting means can be configured with a simple structure so that the amount of absorption of the displacement is large.

According to the present invention, in order to correct the moving position when the connection terminal and the connection electrode are fitted, the guide shaft is inserted from the charging device side into the correction hole and the guide hole provided on the unmanned induction vehicle side. As a result, the position is corrected, so that the guide shaft, the correction hole, and the guide hole side can be lubricated to facilitate the guide.

[Brief description of the drawings]

FIG. 1 is a front view showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a plan view of the embodiment of FIG.

FIG. 3 is a right side view of a head portion of the embodiment of FIG. 1;

FIG. 4 is a plan view showing a state in which the plug 3 is fitted to the socket 4 of the AGV 2 in the embodiment of FIG.

5 shows the pivotable member 14 and the support 15 in the embodiment of FIG.
FIG. 4 is a partial cross-sectional view showing the support structure of FIG.

FIG. 6 is a schematic view showing a displaced state by a swingable member and a support column.

FIG. 7 is a front view of a portion related to the plug 3 of the embodiment of FIG. 1;

FIG. 8 is a plan view of a portion related to the plug 3 of the embodiment of FIG.

FIG. 9 is a left side view of a portion related to the plug 3 of the embodiment of FIG. 1;

FIG. 10 is a front sectional view of a portion related to the insertion guide 6 of the embodiment of FIG. 1;

FIG. 11 is a cross-sectional view taken along the line XI-XI of FIG. 10;

FIG. 12 is a block diagram showing a schematic electrical configuration of the charging device 1 of the embodiment of FIG.

FIG. 13 is a flowchart showing an operation of the control device 40 of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Charger 2 AGV 3 Plug 3a, 3b Electrode 4 Socket 5, 19 Electric cylinder 6 Insertion guide 7 Detecting roller 8 Guide shaft 9, 31 Proximity sensor 10 Detecting piece 11 Guide member 12 Correction hole 13 Guide hole 14 Swingable member 15 Support 17 Support table 22 Conductive cable 23 Power supply 32, 33 Spring 34 Opening 40 Control device

Claims (3)

[Claims] An unmanned guided vehicle that charges a storage battery mounted on the unmanned guided vehicle by inserting a charging current output connection electrode into a charging current input connecting terminal of the unmanned guided vehicle stopped at a predetermined position. A charging device for supporting the connecting electrode so as to allow a displacement in a predetermined range; a moving device for moving the connecting electrode in a direction of insertion into the connecting terminal for inputting a charging current; and a moving device. A guide for correcting the moving position of the connection electrode during the movement of the connection electrode from a position separated from the connection terminal to a position where the connection electrode is fitted, and guiding the connection electrode and the connection terminal to be fitted accurately. And a positioning means for positioning the connection electrode with respect to the connection terminal within a range in which the movement position can be corrected by the guide means. 2. The support means is substantially plate-shaped, and has three or more openings formed at intervals, and a swingable member on which the connection electrode is mounted, and each of the three or more openings. 2. An unmanned guided vehicle according to claim 1, further comprising: a support inserted through the opening; and a spring provided along each support to sandwich a swingable member around the opening from both sides of the opening. For charging device. 3. A guide shaft that moves with the connection electrode and protrudes in a direction in which the connection electrode is inserted into the connection terminal, and is provided on the unmanned guidance vehicle side, and the guide shaft moves the guide shaft with respect to the connection terminal. At the position where the connection electrode is accurately fitted, the guide hole that guides in the insertion direction, and the opening that is larger than the guide hole and the inner wall surface that is inclined with respect to the insertion direction, the tip of the guide shaft is in front of the guide hole. The charging device for an unmanned guided vehicle according to claim 1, further comprising: a guide member formed with a correction hole for guiding while performing correction in a direction other than the insertion direction.