CN101425705A - Non-contact electricity supply and navigation apparatus for automatically guiding trolley - Google Patents
Non-contact electricity supply and navigation apparatus for automatically guiding trolley Download PDFInfo
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- CN101425705A CN101425705A CNA2008102345561A CN200810234556A CN101425705A CN 101425705 A CN101425705 A CN 101425705A CN A2008102345561 A CNA2008102345561 A CN A2008102345561A CN 200810234556 A CN200810234556 A CN 200810234556A CN 101425705 A CN101425705 A CN 101425705A
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Abstract
The invention relates to a contactless power supply and navigation device for an automatic guided vehicle, which belongs to an automatic conveying appliance. The device aims to overcome the defects of not high running reliability and stability and higher maintenance cost of the magnetic navigation device AGV supplied power through a storage battery. A contactless power supply cable (3) is laid in a gallery of the running road surface (1) of an AGV (6), the power frequency electric power is converted into high-frequency sinusoidal alternating current uploaded to the contactless power supply cable (3) through a contactless power supply electric power cabinet (2), the inducted electromotive force generated through the electromagnetic induction between the contactless power supply cable (3) and a contactless power supply pickup (4) is converted through the contactless power supply pickup (4) and then supplies power to the motor part of the AGV (6) and a magnetic navigation device (5). The magnetic navigation device (5) detects the magnetic field generated by the contactless power supply cable (3) and makes judgment for navigation for the AGV (6).
Description
Technical field
The present invention is the contactlessly powered and guider of a kind of automatically guiding trolley (AGV-Automatic Guided Vehicle), utilize contactlessly powered technology to give magnetic navigation AGV power supply, the contactlessly powered cable that is loaded with the high frequency sinusoidal ac provides navigation needed magnetic field for the magnetic navigation device of AGV.The invention belongs to technical field of automation conveying equipment.
Background technology
The industrial AGV automatically guiding trolley that is applied to technical field of automation conveying equipment is to adopt storage battery power supply basically at present, adopts battery-driven AGV simple for structure.But long-term application finds to adopt battery-driven AGV that many defectives are arranged, for example: in use because the discharge of storage battery makes AGV not work long hours; The structural pile crown of storage battery portion itself comes off easily, has had a strong impact on AGV reliability of operation and stability; The weight of storage battery has increased the quality of AGV system, has been equivalent to increase the operating load of AGV, needs to improve the carrying load ability of AGV operation; Storage battery is needed frequent charging and maintenance, increased maintenance cost; In use can there be volatilization in the electrolyte of storage battery, has had a strong impact on operational environment and staff's life safety.
The magnetic material of the navigation that traditional magnetic navigation AGV is selected such as magnetic patch can make that along with the growth of service time magnetic behavior is more and more lower, have influenced the navigation accuracy of magnetic navigation AGV, have reduced magnetic navigation AGV reliability of operation.
In the patent No. is 200710120418.6 patent of invention, the management system of the nickel-hydrogen accumulator of invention has proposed solution to capacitance, work noise and the environmental pollution of storage battery, though the method has improved the work quality of storage battery, though energy quick charge, but can not guarantee the long-time stable work of AGV, in addition, because storage battery has been adopted complicated management system, the input of system and the maintenance cost of AGV and battery management system have been increased.
Comprehensively as can be known, adopt battery-driven magnetic navigation AGV operational reliability and stability not high, maintenance cost is higher.
Summary of the invention
The object of the invention be to solve the battery-driven magnetic navigation AGV operational reliability of the employing described in the background technology and stability not high, the maintenance cost problem of higher.Contactlessly powered and the magnetic navigation device of AGV has been abandoned traditional storage battery power supply mode and has been powered, and does not adopt magnetic material to provide navigation needed magnetic field.Be loaded with on the contactlessly powered cable of high frequency sinusoidal ac and the contactlessly powered power taking device coil generation loose coupling electromagnetic induction on the magnetic core, induction obtains induced electromotive force on the coil of contactlessly powered power taking device, gives the power supply of AGV dolly after the conversion of the contactlessly powered power taking device of this induced electromotive force process; The contactlessly powered cable that is loaded with the high frequency sinusoidal ac generates an electromagnetic field at the cable surrounding space, and the Magnetic Sensor in the magnetic navigation device detects the magnetic field that produces, and the control device in the magnetic navigation device is made judgement according to detection signal and given the AGV navigator fix.
Not high for solving the employing battery-driven magnetic navigation AGV operational reliability and the stability that propose in the background technology, the maintenance cost problem of higher the present invention proposes the contactlessly powered of a kind of AGV and magnetic navigation device.Contactlessly powered and the guider of AGV comprises: contactlessly powered electric power cabinet, contactlessly powered cable, contactlessly powered power taking device, magnetic navigation device.Two outputs that two inputs of contactlessly powered cable are connected in parallel on contactlessly powered electric power cabinet constitute the loop, this loop is laid in the tunnel of homing guidance dolly track or is close to the automatically guiding trolley track, the coupling electromagnetic induction takes place in bottom and contactlessly powered cable that contactlessly powered power taking device is fixed on automatically guiding trolley, produce induced electromotive force, for automatically guiding trolley and magnetic navigation device provide power supply, the magnetic navigation device places the automatically guiding trolley inner bottom part corresponding with contactlessly powered power taking device, be used to detect the magnetic field that contactlessly powered cable produces, give the automatically guiding trolley navigator fix.
The composition of contactlessly powered electric power cabinet: the major function of contactlessly powered electric power cabinet is that the power frequency power electricity that will import is transformed into the high frequency sinusoidal ac.Export the high frequency sinusoidal ac of fixed frequency after rectifying and wave-filtering, inversion, frequency-selecting, resonance, insulation blocking and the resonance compensation of contactlessly powered electric power cabinet with the power frequency power electricity process electric power cabinet of input.
Contactlessly powered cable: loaded from the high-frequency ac of contactlessly powered electric power cabinet input sinusoidal on the contactlessly powered cable.The contactlessly powered cable that is loaded with the high frequency sinusoidal ac has two functions: the one and contactlessly powered power taking device generation electromagnetic induction; Another is the magnetic field that need of work is provided to the Magnetic Sensor in the magnetic navigation device of AGV by the magnetic field of its generation.
The composition of contactlessly powered power taking device: the function of contactlessly powered power taking device is and the contactlessly powered cable generation induced electromotive force of working together, again the motor and the power supply of magnetic navigation device of giving magnetic navigation AGV after through resonance, rectification, filtering, current-limiting protection with this induced electromotive force.
The composition of magnetic navigation device: the function of magnetic navigation device is to magnetic navigation AGV navigation orientation.Magnetic Sensor in the magnetic navigation device is used for detecting the magnetic field that contactlessly powered cable produces, and the control device in the magnetic navigation device detects this signal and makes judgement and locate to AGV.
The course of work of the present invention is as follows: output high frequency sinusoidal ac is loaded into contactlessly powered cable after the conversion of the contactlessly powered electric power cabinet of input power frequency power electricity process, be loaded with the contactlessly powered cable one side of high frequency sinusoidal ac and the coil generation electromagnetic induction on the contactlessly powered power taking device, on the coil of contactlessly powered power taking device, produce induced electromotive force, the needed magnetic field of Magnetic Sensor work in the magnetic navigation device is provided on the other hand.Contactlessly powered power taking device with this induced electromotive force be transformed into direct current to after the motor of the AGV dolly that connects partly power, also give the magnetic navigation device power supply of AGV simultaneously, Magnetic Sensor energising back in the magnetic navigation device is detected magnetic field and is produced comparison signal, and the control device in the magnetic navigation device is made judgement according to this detection signal and located to AGV.
Beneficial effect: the present invention adopts contactlessly powered technology and does not adopt storage battery to power to AGV, thereby has alleviated the load of AGV, guarantees the long-time reliable and stable work of AGV, has also saved the needed maintenance cost of maintenance and inspection storage battery.The present invention adopts the magnetic field of the contactlessly powered cable generation guider need of work that is loaded with the high frequency sinusoidal ac, do not adopt traditional magnetic material such as magnetic patch to produce magnetic field, thereby just avoided magnetic patch to be suitable for the problem of the magnetic behavior decline of appearance for a long time.Thereby magnetic navigation AGV reliability of operation and stability have further been guaranteed.
Description of drawings
Fig. 1 is a first embodiment of the invention.The last figure of Fig. 1 is a vertical view, and figure below is that the A of last figure is to figure.
Fig. 2 is the contactlessly powered cable of first embodiment of the invention and the electromagnetic induction figure of power taking device.
Fig. 3 is the Magnetic Sensor magnetic field detection figure of the guider of first embodiment of the invention
Fig. 4 is a second embodiment of the invention.The last figure of Fig. 4 is a vertical view, and figure below is that the A of last figure is to figure.
Fig. 5 is the contactlessly powered cable of second embodiment of the invention and the electromagnetic induction figure of power taking device.
Fig. 6 is the Magnetic Sensor magnetic field detection figure of the guider of second embodiment of the invention.
Fig. 7 is a third embodiment of the invention.The last figure of Fig. 7 is a vertical view, and figure below is that the A of last figure is to figure.
Fig. 8 is the contactlessly powered cable of third embodiment of the invention and the electromagnetic induction figure of power taking device.
Fig. 9 is the Magnetic Sensor magnetic field detection figure of the guider of third embodiment of the invention.
Figure 10 is contactlessly powered electric power cabinet circuit diagram.
Figure 11 is contactlessly powered power taking device circuit diagram.
Embodiment
Further describe the present invention below in conjunction with accompanying drawing and execution mode.The difference of each execution mode compares summary at last this part.
Below in conjunction with Fig. 1 to Fig. 3, introduce first execution mode of the present invention.In introducing first execution mode, need the implication of each label of Fig. 1 to Fig. 3 of illustrating as follows:
1-AGV track;
2-contactlessly powered electric power cabinet;
3-contactlessly powered cable;
4-contactlessly powered power taking device;
5-magnetic navigation device;
6—AGV；
Coil on 32, the 33-contactlessly powered power taking device magnetic core;
Magnetic core on the 34-contactlessly powered power taking device;
The Magnetic Sensor of 51,52-magnetic navigation device;
Among Fig. 1 to Fig. 3,, contactlessly powered cable 3 is layed in the tunnel of the AGV track 1 that presets, also can be close to AGV 6 tracks 1 in order not hinder the operation of AGV 6.Be that contactlessly powered cable 3 is layed in the tunnel of AGV 6 tracks 1 that preset in embodiment of the present invention 1.
Power frequency power electricity is held input by A, B, the C of contactlessly powered electric power cabinet 2; the high frequency sinusoidal ac is exported from p1, p2 end in rectification 7, filtering 8, high-frequency inversion 9, frequency-selecting 10, resonance 11, insulation blocking 12, resonance compensation conversion 13 backs through contactlessly powered electric power cabinet 2, holds the high frequency sinusoidal ac of output to be loaded into the contactlessly powered cable 3 from p1, p2.The position relation of contactlessly powered cable 3 and contactlessly powered power taking device 4, magnetic navigation device 5, AGV 6 as shown in Figure 1, the position relation of the magnetic core 34 of contactlessly powered cable 3 and contactlessly powered power taking device 4 as shown in Figure 2, the relation of two Magnetic Sensors 51,52 in contactlessly powered cable 3 and the magnetic navigation device 5 as shown in Figure 3.Among Fig. 2, be loaded with two coils 32 on the electric module 14 of being subjected to of the contactlessly powered cable 3 of high frequency sinusoidal ac and contactlessly powered power taking device 4,33 electromagnetic induction takes place, at two coils 32,33 two ends obtain induced electromotive force, with the two ends series connection of two coils 32,33, be about to s1 ' and be connected, series connection output induced electromotive force with s2 '.This induced electromotive force is given 6 magnetic navigation devices 5 and AGV power supply through contactlessly powered power taking device 3 resonance 15, compensation 16, rectification 17, filtering 18, current-limiting protection 19 backs.Among Fig. 3, contactlessly powered cable 3 produces magnetic fields, and two Magnetic Sensors 51,52 of magnetic navigation device 5 detect these magnetic fields, and produce comparison signal, and 5 control device of magnetic navigation device detects this signal and makes and judge and give AGV 6 navigation.Navigation is described below: when AGV 6 correctly travels along predetermined path, not skew on the left and right directions vertical with operating path, pass two Magnetic Sensors 51 of guider 5 this moment, magnetic field intensity in 52 is identical, the controller of magnetic navigation device 5 detects two Magnetic Sensors 51,52 difference signals that transmit 1, signal 1 guarantee that AGV 6 does not do skew, former direction work; When AGV 6 departs from preset path left, the magnetic field intensity that pass the left side Magnetic Sensor 51 of magnetic navigation device 5 this moment weakens, the magnetic field intensity of passing the right Magnetic Sensor 51 of magnetic navigation device 5 strengthens, the controller of magnetic navigation device 5 detects two Magnetic Sensors 51,52 difference signals that transmit 2, difference signal guarantees that AGV 6 is offset, and makes AGV 6 get back to former preset path to the right; When AGV 6 departs from preset path to the right, the magnetic field intensity of passing the left side Magnetic Sensor 51 of magnetic navigation device 5 this moment strengthens, the magnetic field intensity of passing the right Magnetic Sensor 51 of magnetic navigation device 5 weakens, the controller of magnetic navigation device 5 detects two Magnetic Sensors 51,52 difference signals that transmit 3, difference signal guarantees that AGV 6 is offset, and makes AGV 6 get back to former preset path left.In entire work process, though the magnetic field that the high frequency sinusoidal ac in the contactlessly powered cable 3 produces is changing, but because two Magnetic Sensors 51, the intensity in 52 detected magnetic fields is at the same time with the variation of amplitude, the control device of magnetic navigation device 5 detects two Magnetic Sensors 51,52 difference, so the magnetic field of conversion can not influence navigation.
Below in conjunction with Fig. 4 to Fig. 6, introduce second execution mode of the present invention.In introducing first execution mode, need the implication of each label of Fig. 4 to Fig. 6 of illustrating as follows:
1-AGV track;
2-contactlessly powered electric power cabinet;
3-contactlessly powered cable;
4-contactlessly powered power taking device;
5-magnetic navigation device;
6—AGV；
Coil on the 43-contactlessly powered power taking device magnetic core;
Magnetic core on the 44-contactlessly powered power taking device;
The Magnetic Sensor of 56,57-guider;
Identical with execution mode 1, contactlessly powered cable 3 also is layed in the tunnel of AGV 6 tracks 1 that preset.Power frequency power electricity is held input by A, B, the C of contactlessly powered electric power cabinet 2; the high frequency sinusoidal ac is exported from p1, p2 end in rectification 7, filtering 8, high-frequency inversion 9, frequency-selecting 10, resonance 11, insulation blocking 12, resonance compensation conversion 13 backs through contactlessly powered electric power cabinet 2, holds the high frequency sinusoidal ac of output to be loaded into the contactlessly powered cable 3 from p1, p2.The position relation of contactlessly powered cable 3 and contactlessly powered power taking device 4, magnetic navigation device 5, AGV 6 as shown in Figure 4, the position relation of the magnetic core 44 of contactlessly powered cable 3 and contactlessly powered power taking device 4 as shown in Figure 5, the relation of two Magnetic Sensors 56,57 in contactlessly powered cable 3 and the magnetic navigation device 5 as shown in Figure 6.Among Fig. 5, be loaded with the contactlessly powered cable 3 of high frequency sinusoidal ac and the coil 43 of contactlessly powered power taking device 4 electromagnetic induction takes place, obtain induced electromotive force at coil 43 two ends of contactlessly powered power taking device 4.This induced electromotive force is powered to magnetic navigation device 5 and AGV 6 through contactlessly powered power taking device 3 resonance 15, compensation 16, rectification 17, filtering 18, current-limiting protection 19 backs.Among Fig. 6, contactlessly powered cable 3 produces magnetic fields, and two Magnetic Sensors 56,57 of magnetic navigation device 5 detect these magnetic fields, and produce comparison signal, and 5 control device of magnetic navigation device detects this signal and makes and judge and give AGV 6 navigation.Navigation principle is the same with execution mode 1, and what worked this moment is two Magnetic Sensors 56,57.
Below in conjunction with Fig. 7 to Fig. 9, introduce the 3rd execution mode of the present invention.In introducing first execution mode, need the implication of each label of Fig. 7 to Fig. 9 of illustrating as follows:
1-AGV track;
2-contactlessly powered electric power cabinet;
3-contactlessly powered cable;
4-contactlessly powered power taking device;
5-magnetic navigation device;
6—AGV；
Coil on 32, the 33-contactlessly powered power taking device magnetic core;
Magnetic core on the 34-contactlessly powered power taking device;
The Magnetic Sensor of 61,62-magnetic navigation device;
Identical with execution mode 1 and 2, contactlessly powered cable 3 is layed in the tunnel of the AGV track 1 that presets too.Power frequency power electricity is held input by A, B, the C of contactlessly powered electric power cabinet 2; the high frequency sinusoidal ac is exported from p1, p2 end in rectification 7, filtering 8, high-frequency inversion 9, frequency-selecting 10, resonance 11, insulation blocking 12, resonance compensation conversion 13 backs through contactlessly powered electric power cabinet 2, holds the high frequency sinusoidal ac of output to be loaded into the contactlessly powered cable 3 from p1, p2.The position relation of contactlessly powered cable 3 and contactlessly powered power taking device 4, magnetic navigation device 5, AGV 6 as shown in Figure 7, the position relation of the magnetic core 34 of contactlessly powered cable 3 and contactlessly powered power taking device 4 as shown in Figure 8, the relation of two Magnetic Sensors 61,62 in contactlessly powered cable 3 and the magnetic navigation device 5 as shown in Figure 9.Among Fig. 8, be loaded with the contactlessly powered cable 3 of high frequency sinusoidal ac and two coils 30 of contactlessly powered power taking device 4,31 electromagnetic induction takes place, two coils 30 at contactlessly powered power taking device 4,31 two ends obtain induced electromotive force, induced electromotive force series connection output with two coils 30,31 obtain is about to s1 ' and links to each other with s2 '.This induced electromotive force is given AGV 6 and 5 power supplies of magnetic navigation device through contactlessly powered power taking device 3 resonance 15, compensation 16, rectification 17, filtering 18, current-limiting protection 19 backs.Among Fig. 9, contactlessly powered cable 3 produces magnetic fields, and two Magnetic Sensors 61,62 of magnetic navigation device 5 detect these magnetic fields, and produce comparison signal, and 5 control device of magnetic navigation device detects this signal and makes and judge and give AGV 6 navigation.Navigation principle is the same with execution mode 1, and what worked this moment is Magnetic Sensor 61,62.
The main difference of three kinds of execution modes is as follows:
The difference following points of execution mode 1 and execution mode 2:
1. as Fig. 2 and shown in Figure 5, the core shapes of contactlessly powered power taking device 4 is different, and the magnetic core 34 in the mode 1 has only a magnetic core window, magnetic core 44 in the mode 2 has two magnetic core window, it is also just inequality that contactlessly powered cable 3 passes the mode of two magnetic cores 34,44, as Fig. 2 and Fig. 5.The magnetic field that electromagnetic induction takes place in the mode 1 is mainly derived from the contactlessly powered cable 3 that passes magnetic core 32 that connects contactlessly powered electric power cabinet 2 p1 end; The magnetic field that electromagnetic induction takes place in the mode 2 is mainly derived from the contactlessly powered cable 3 that passes magnetic core 44 that connects contactlessly powered electric power cabinet 2 p1, p2 two ends.
2. the source in the magnetic field of the Magnetic Sensor work of confession magnetic navigation device 5 is different.As Fig. 3 and shown in Figure 6, the magnetic field of working for two Magnetic Sensors 51,52 of magnetic navigation device 5 in the mode 1 is mainly derived from the contactlessly powered cable 3 that passes magnetic core 34 that connects contactlessly powered electric power cabinet 2p1 end; The magnetic field of working for two Magnetic Sensors 56,57 of magnetic navigation device 5 in the mode 2 is mainly derived from the contactlessly powered cable 3 that passes magnetic core 44 that connects contactlessly powered electric power cabinet 2 p1, p2 two ends.
The difference following points of execution mode 1 and execution mode 3:
1. as Fig. 1 and shown in Figure 7, contactlessly powered power taking device 4 and the position of magnetic navigation device 5 in AGV 6 are different.In the mode 1, contactlessly powered power taking device 4 and magnetic navigation device 5 all are symmetrically arranged in AGV 6; In the mode 3, contactlessly powered power taking device 4 and magnetic navigation device 5 are all asymmetric to be arranged among the AGV 6.
2. from the vertical range difference between the double-end contactlessly powered cable 3 of contactlessly powered electric power cabinet 2 p1, p2.As illustrated in fig. 1 and 2, in the mode 1, contactlessly powered power taking device 4 is symmetrically arranged in from contactlessly powered cable 3 tops of the p1 end output of contactlessly powered electric power cabinet 2, magnetic core 34 is wound with the contactlessly powered cable 3 of drawing away from the p2 end beyond the coil 32, and the magnetic field that electromagnetic induction takes place only derives from the contactlessly powered cable 3 that passes magnetic core 34 that connects contactlessly powered electric power cabinet 2p1 end; Shown in Fig. 7 and 8, in the mode 3, contactlessly powered power taking device 4 is symmetrically arranged in from contactlessly powered cable 3 tops of the p1 end output of contactlessly powered electric power cabinet 2, and magnetic core 34 is wound with the centre that is positioned at beyond the coil 32 from the contactlessly powered cable 3 of p1, the p2 end output of contactlessly powered electric power cabinet 2, and the magnetic field that electromagnetic induction takes place is mainly derived from the stack that connects the magnetic field that contactlessly powered cable 3 that contactlessly powered electric power cabinet 2 p1, p2 two ends connect produces.
3. the source in the magnetic field of the Magnetic Sensor work of confession magnetic navigation device 5 is different.. as Fig. 3 and shown in Figure 9, magnetic is mainly derived from for the magnetic fields of two Magnetic Sensors 51 of guider 5 and 52 work and is connected the contactlessly powered cable 3 that passes magnetic core 34 that contactlessly powered electric power cabinet 2 p1 hold in the mode 1; Be mainly derived from the contactlessly powered cable 3 that passes magnetic core 34 that is connected contactlessly powered electric power cabinet 2 p1, p2 two ends for two Magnetic Sensors 61 of magnetic navigation device 5 and the magnetic fields of 62 work in the mode 3.
The difference following points of execution mode 2 and execution mode 3:
1. as Fig. 4 and shown in Figure 7, contactlessly powered power taking device 4 and the position of magnetic navigation device 5 in AGV 6 are different.In the mode 2, contactlessly powered power taking device 4 and magnetic navigation device 5 all are symmetrically arranged in AGV 6; In the mode 3, contactlessly powered power taking device 4 and magnetic navigation device 5 are all asymmetric to be arranged among the AGV 6.
2. as shown in Figure 5 and Figure 8, the core shapes of contactlessly powered power taking device 4 is different, magnetic core 44 in the mode 2 has two magnetic core window, and the magnetic core 34 in the mode 3 has only a magnetic core window, and it is also just inequality that contactlessly powered cable 3 passes the mode of two magnetic cores 34 and 44.
The choosing of execution mode in the practical application:
Connect vertical range between contactlessly powered cable 3 two ends at contactlessly powered electric power cabinet 2 p1, p2 two ends when big, should select mode 1 for use, should not adopt mode 2 and 3; Connect between contactlessly powered cable 3 two ends at contactlessly powered electric power cabinet 2 p1, p2 two ends vertical range hour, should select mode 2 and 3 for use, should not adopt mode 1.Select execution mode in actual applications flexibly, so the operating path of AGV can be arranged according to the change of the needs flexibility of producing.Must be noted that also that in actual applications how permeability magnetic material can not be arranged in the space, the 20CM left and right sides around the contactlessly powered cable.
Claims (4)
1. the contactlessly powered and guider of an automatically guiding trolley is characterized in that: comprise contactlessly powered electric power cabinet (2), contactlessly powered cable (3), contactlessly powered power taking device (4), magnetic navigation device (5).Two outputs that (3) two inputs of contactlessly powered cable are connected in parallel at contactlessly powered electric power cabinet (2) constitute the loop, this loop is laid in the tunnel of homing guidance dolly (6) track or is close to automatically guiding trolley (6) track, the coupling electromagnetic induction takes place in bottom and contactlessly powered cable (3) that contactlessly powered power taking device (4) is fixed on automatically guiding trolley (6), produce induced electromotive force, for automatically guiding trolley (6) and magnetic navigation device (5) provide power supply, the magnetic navigation device is put (5) and is placed automatically guiding trolley (6) inner bottom part corresponding with contactlessly powered power taking device (4), be used to detect the magnetic field that contactlessly powered cable (3) produces, give automatically guiding trolley (6) navigator fix.
2. the contactlessly powered and guider of automatically guiding trolley according to claim 1, it is characterized in that: described contactlessly powered electric power cabinet (2), comprise rectification module (7), filtration module (8), high-frequency inversion module (9), frequency-selecting module (10), resonant transformation module (11), isolation module (12), compensating module (13), power frequency power electricity is by the A of contactlessly powered electric power cabinet (2), B, C holds input, behind rectification module (7) and filtration module (8), be connected in the input of high-frequency inversion module (9), the output of high-frequency inversion module (9) is connected in the input of resonant transformation module (11) through frequency-selecting module (10), and the output of resonant transformation module (11) is connected in the input of compensating module (13) after isolation module (12) is isolated, and the output of compensating module (13) is connected in two terminations of contactlessly powered cable (3).
3. the contactlessly powered and guider of automatically guiding trolley according to claim 1 and 2; it is characterized in that: described contactlessly powered power taking device (4); comprise that induction is subjected to electric module (14); resonant capacitance group (15); resonance compensation module (16); rectification module (17); filtration module (18); current-limiting protection module (19); wherein induction is subjected to the output of electric module (14) to be connected in the input of resonant capacitance group (15); the output of resonant capacitance group (15) is connected in the input of resonance compensation module (16), and the output of resonance compensation module (16) exports current-limiting protection module (19) to through rectification module (17) and filtration module (18).
4. the non-contact power supply of automatic carriage according to claim 3, it is characterized in that: described induction is placed on the loop that is made of contactlessly powered cable (3) by electric module (14), comprise magnetic core and the magnetic core coil that is used to produce induced electromotive force, magnetic core coil is wound on the magnetic core, when magnetic core is the U type magnetic core of a magnetic core window, then all be wound with magnetic core coil on the both sides core post of U type magnetic core, two magnetic core coil series connection; When magnetic core is the E type magnetic core of two magnetic core window, then magnetic core coil is wound on the intermediate magnetic stem stem.
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| CNA2008102345561A CN101425705A (en) | 2008-11-14 | 2008-11-14 | Non-contact electricity supply and navigation apparatus for automatically guiding trolley |
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| CNA2008102345561A CN101425705A (en) | 2008-11-14 | 2008-11-14 | Non-contact electricity supply and navigation apparatus for automatically guiding trolley |
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| CN102156475A (en) * | 2011-03-07 | 2011-08-17 | 江苏科技大学 | Method and device for programmably and electromagnetically guiding AGV |
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
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| CN102156475B (en) * | 2011-03-07 | 2012-08-29 | 江苏科技大学 | Method and device for programmably and electromagnetically guiding AGV |
| CN102156475A (en) * | 2011-03-07 | 2011-08-17 | 江苏科技大学 | Method and device for programmably and electromagnetically guiding AGV |
| CN102402226A (en) * | 2011-12-30 | 2012-04-04 | 长春艾希技术有限公司 | Electromagnetic guiding device for non-contact power supply automatic guided vehicle |
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