CN109466353A - Automatic guide vehicle charging system and method - Google Patents
Automatic guide vehicle charging system and method Download PDFInfo
- Publication number
- CN109466353A CN109466353A CN201811320433.XA CN201811320433A CN109466353A CN 109466353 A CN109466353 A CN 109466353A CN 201811320433 A CN201811320433 A CN 201811320433A CN 109466353 A CN109466353 A CN 109466353A
- Authority
- CN
- China
- Prior art keywords
- automatic guide
- guide vehicle
- charging
- interactive areas
- getting device
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/16—Information or communication technologies improving the operation of electric vehicles
Abstract
The invention discloses a kind of automatic guide vehicle charging system and methods, including vehicle management system, single machine navigation module, single machine control module, charging unit, electricity getting device, battery and extra large side interactive areas interaction bracket；Vehicle management system is used for when automatic guide vehicle drives in the interactive areas Hai Ce of stockyard, takes electric instruction to automatic guide vehicle transmission；Single machine navigation module is used for after automatic guide vehicle receives and electricity is taken to instruct, and is determined the traveling coordinate of automatic guide vehicle and is sent to single machine control module；Single machine control module includes charging control unit, for judging whether automatic guide vehicle travels to charged area based on traveling coordinate；It charges if so, control electricity getting device stretches out car body and charging unit to battery is connected in；Automatic guide vehicle is not necessarily to continue a journey at the charging pile in special charging place, but when stockyard interactive areas Hai Ce is driven in production operation charges, and eliminates the planning in special charging place, is not take up forward position place also and charging continuation of the journey can be implemented.
Description
Technical field
The invention belongs to automatic dock technical fields, specifically, be related to a kind of automatic guide vehicle charging system and
Method.
Background technique
AGV(automatic guide vehicle) be automatic dock special transportation device, pass through battery-powered operation.Current
AGV battery pack electric energy supply mode mainly includes two kinds: changing electric-type and rechargeable.
The shortcomings that changing electric-type is to need to build special electrical changing station, needs to be equipped with battery backup in electrical changing station, but AGV is dynamic
Force system battery pack carried charge is larger, and vehicle energy consumption is big, causes the cost investment of electrical changing station huge；It is rechargeable have be not necessarily to
Build electrical changing station, the advantages of without being equipped with battery backup, compared to change electric-type can investment reduction cost, but the charging mould of charging pile
Formula is that AGV is rested in specific regions to charge, and needs to be configured according to the quantity of AGV, which increases costs of investment.
Summary of the invention
This application provides a kind of automatic guide vehicle charging system and methods, solve existing AGV battery pack electric energy supply side
The high technical problem of formula cost of investment.
In order to solve the above technical problems, the application is achieved using following technical scheme:
It proposes a kind of automatic guide vehicle charging system, including vehicle management system, single machine navigation module, single machine control module, fills
Electric installation, electricity getting device, battery and extra large side interactive areas interaction bracket；Wherein, the single machine navigation module, the single machine control mould
Block, battery and electricity getting device are installed on automatic guide vehicle, and the charging unit is installed on the extra large side interactive areas interaction bracket
On；The sea side interactive areas interaction bracket is set in the interactive areas Hai Ce of stockyard；The vehicle management system, for drawing automatically
When guide-car is driven in the interactive areas Hai Ce of stockyard, electric instruction is taken to automatic guide vehicle transmission；The single machine navigation module is used for
The automatic guide vehicle receives described after taking electricity to instruct, and determines the traveling coordinate of the automatic guide vehicle and is sent to the list
Machine control module；The single machine control module includes charging control unit；The charging control unit, for being based on the traveling
Coordinate judges whether the automatic guide vehicle travels to charged area；If so, controlling the electricity getting device stretches out car body and institute
It states charging unit and charges to the battery is connected in；Wherein, the charged area is located at setting for the extra large side interactive areas interaction bracket
Determine in range.
Further, the single machine control module includes interaction control unit；The interaction control unit, for described
Battery charging during, control the automatic guide vehicle and execute band case rows after jacking and drive into the extra large side interactive areas interaction bracket and hold
Row interaction, and lifting platform decline is controlled after the completion of interaction, and to be driven out to the extra large top-cross mutual for the control automatic guide vehicle
Area interacts bracket；The charging control unit is also used to be driven out to institute in the interaction control unit control automatic guide vehicle
When stating extra large side interactive areas interaction bracket, controls the electricity getting device and separate and retracted in car body with the charging unit.
Further, electricity getting device includes telescoping mechanism and current-collector；The charging unit includes charging module and wiping
Line.
Further, the charging control unit includes Distance Judgment subelement, for travelling in the automatic guide vehicle
To charged area, judge whether the automatic guide vehicle travels to first distance node, if so, the charging control unit
It controls the electricity getting device and stretches out car body, the Distance Judgment subelement continues to judge whether the automatic guide vehicle runs to the
Two apart from node, if so, charging control unit first determines whether the electricity getting device stretches out normally, if so, charging control
Unit processed continues to control the electricity getting device to be docked with the charging unit.
Further, the charge power of the charging unit is greater than theoretical rated power；The theory rated power is institute
State the consumption power in one dust cycle of automatic guide vehicle.
It is proposed a kind of automatic guide vehicle charging method, comprising: receive vehicle management system transmission takes electric instruction, wherein
It is described that electricity instruction is taken to generate when travelling for automatic guide vehicle to the interactive areas Hai Ce of stockyard；Determine the row of the automatic guide vehicle
Sail coordinate；Judge whether the automatic guide vehicle travels to charged area based on the traveling coordinate；If so, control electricity getting device
It stretches out car body to dock with charging unit, to be embodied as the battery charging of the automatic guide vehicle；Wherein, the electricity getting device installation
In on the automatic guide vehicle, the charging unit is installed on extra large side interactive areas interaction bracket, sea side interactive areas interaction
Bracket is set in the interactive areas the stockyard Hai Ce；The charged area is located at the setting model of the extra large side interactive areas interaction bracket
In enclosing.
Further, during charging for the battery of the automatic guide vehicle, the method also includes: control is described automatic
Guide car execution jacking band case rows sail the extra large side interactive areas interaction bracket such as and execute interaction；And it is controlled after the completion of interaction
Lifting platform decline, and control the automatic guide vehicle and travel out the extra large side interactive areas interaction bracket.
Further, control electricity getting device stretches out car body and docks with charging unit, specifically: judge the automatic guide vehicle
Whether travel to first distance node；If so, controlling the electricity getting device stretches out car body；And judgement continues described in judgement certainly
Whether dynamic guide car travels to second distance node；If so, judging whether the electricity getting device stretches out normally, if so, control
The electricity getting device is docked with the charging unit.
Further, abnormal if judging that the electricity getting device stretches out, the method also includes: issue prompt information.
Further, the charge power for controlling the charging unit is greater than theoretical rated power；The theory rated power
For the consumption power in one dust cycle of the automatic guide vehicle.
Compared with prior art, the advantages of the application and good effect is: the automatic guide vehicle Charging that the application proposes
System and method, install charging unit on the interaction bracket of the stockyard interactive areas Hai Ce, are not take up wharf apron place, draw when automatically
Implement primary charging when each cycle operation of guide-car to extra large side interactive areas, that is, interacting in automatic guide vehicle with extra large side interactive areas
It completes to charge during bracket interaction production operation, is not take up the production operation time, it is real to implement charging by each cycle operation
Now circulation continuation of the journey does not need construction electrical changing station, does not need to be equipped with reserve battery, realizes the continuous electricity of low cost, solves AGV battery
The high technical problem of group electric energy supply mode cost of investment.
After the detailed description of the application embodiment is read in conjunction with the figure, other features and advantages of the application will become more
Add clear.
Detailed description of the invention
Fig. 1 is the system architecture diagram for the automatic guide vehicle charging system that the application proposes；
Fig. 2 is the method flow diagram for the automatic guide vehicle charging method that the application proposes.
Specific embodiment
The specific embodiment of the application is described in more detail with reference to the accompanying drawing.
The application is directed to a kind of continuation of the journey mode of the automatic dock automatic guide vehicle of low cost, for this purpose,
The application proposes a kind of automatic guide vehicle charging system, as shown in Figure 1, include vehicle management system 1, single machine navigation module 21,
Single machine control module 22, charging unit 31, electricity getting device 24, battery 23 and extra large side interactive areas interaction bracket 3；Wherein, single machine is led
Model plane block 21, single machine control module 22, battery 23 and electricity getting device 24 are installed on automatic guide vehicle 2, and charging unit 31 is installed
In 3 on extra large side interactive areas interaction bracket；Extra large side interactive areas interaction bracket 3 is set in the interactive areas Hai Ce of stockyard.
Vehicle management system 1 is used for when automatic guide vehicle 2 drives in the interactive areas Hai Ce of stockyard, to automatic guide vehicle 2
Transmission takes electric instruction；Single machine navigation module 21 is used for after automatic guide vehicle 2 receives and electricity is taken to instruct, and determines automatic guide vehicle 2
Traveling coordinate and be sent to single machine control module 22；Single machine control module 22 includes charging control unit 221, charge control list
Member 221 is for judging whether automatic guide vehicle travels to charged area based on traveling coordinate；If so, control electricity getting device 24 is stretched
Car body and charging unit 31 charge to battery 23 is connected in out；Wherein, charged area is located at the setting of extra large side interactive areas interaction bracket
In range, charging unit is located in the setting range.
As it can be seen that based on the automatic guide vehicle charging system that the application proposes, automatic guide vehicle is not necessarily to special charging place
Charging pile at continue a journey, but when stockyard interactive areas Hai Ce is driven in production operation, charges, and eliminates special charging
The planning in place is not take up forward position place also and charging continuation of the journey can be implemented.
Extra large side interactive areas interaction bracket, for the transferring device that the stockyard interactive areas Hai Ce is arranged in, in general, automatic guide vehicle row
It sails to extra large side interactive areas, the transfer for interacting and realizing container is hung with the field in stockyard, and interact bracket and be then used for automatic guide vehicle
Container is first placed on interactive bracket by jack-up method, field is hung then to be turned from crawl container straight line on interaction bracket again
It moves, realizes the technical effect for improving automatic guide vehicle operating efficiency.
Electricity getting device 24 is installed on every automatic guide vehicle 2, is connect with battery 23, and telescoping mechanism sum aggregate is specifically included
Electric appliance, telescoping mechanism is used to dock current-collector stretching car body with charging unit by flexible, or is set back in car body and fills with charging
Set separation；Charging unit 31 is installed on the interaction bracket of the stockyard interactive areas Hai Ce, including charging module and with charging module phase
Trolley even, after automatic guide vehicle travels in the setting range to interaction bracket, the current-collector of automatic guide vehicle is by stretching
Car body stretches out in contracting mechanism, connects with the trolley of charging unit, and charging module can start as battery charging.
The single machine control module 22 that the application proposes further includes interaction control unit 222；The interaction control unit 222 is used for
Battery 23 charge during, control automatic guide vehicle 2, which executes band case rows after jacking and drives into extra large side interactive areas interaction bracket, to be executed
Interaction, and lifting platform decline is controlled after the completion of interaction, and control automatic guide vehicle is driven out to extra large side interactive areas interaction bracket；
Charging control unit 221, which is then also used to control automatic guide vehicle 2 in interaction control unit 222, is driven out to extra large side interactive areas interaction bracket
When 3, control electricity getting device is separated with charging unit and is retracted in car body.
The above control flow can be completed at the same time interjob during automatic guide vehicle charges, pass through time-multiplexed section
Charging duration has been saved, charge efficiency is improved.
Specifically, charging control unit 221 includes Distance Judgment subelement 2211, for travelling extremely in automatic guide vehicle 2
Behind charged area, judge whether automatic guide vehicle 2 travels to first distance node, if so, the control of charging control unit 221 takes
Electric installation 24 stretches out car body, and Distance Judgment subelement 2211 continues to judge whether automatic guide vehicle runs to second distance node,
If so, charging control unit 221 first determines whether electricity getting device stretches out normally, if so, charging control unit 221 continues
Control electricity getting device 24 is docked with charging unit 31, otherwise then can issue information alert by modes such as alarms.
It is first node with 282 so that the Y-coordinate of setting range is between 280-300 as an example, is second node with 296,
When automatic guide vehicle is travelled to 282 position, control electricity getting device stretches out, and when automatic guide vehicle is travelled to 296, judgement takes electricity
Whether device stretches out state normal, if so, electricity getting device can normally dock implementation charging with charging unit, if it is not, then sending out
It alarms out.When completing interjob and going out interaction bracket, when traveling is to 296 position of second node, control electricity getting device retraction.
The automatic guide vehicle charging system that the application proposes, implements cycle charging during automatic guide vehicle production operation,
Charging for realization in the stockyard interactive areas Hai Ce can satisfy the consumption of a dust cycle of automatic guide vehicle, with automatic
Guide car drives to the stockyard interactive areas Hai Ce after receiving case from bridge crane and hands over case, then travelling back bridge crane is a dust cycle, is needed
The charge power for designing charging unit is greater than theoretical rated power, and theoretical rated power here is one work of automatic guide vehicle
Make the consumption power in cycle period.
The circulating consumption of automatic guide vehicle is calculated according to the work flow of the Total combining ability of automatic dock and AGV,
Wherein comprehensively consider ground line gradient, air resistance coefficient, tire and ground friction resistance, the transmission efficiency of AGV and load, battery holds
Situations such as amount.
In the embodiment of the present application, an electricity getting device 24 is respectively installed in the front and back of automatic guide vehicle 2, in practical application, no matter
Automatic guided vehicle enters the stockyard interactive areas Hai Ce with which head and interacts bracket interaction with extra large side interactive areas, is all preferably placed at front end
Electricity getting device 24 interacts the charging unit installed on bracket with extra large side interactive areas and docks, and implements charging during interjob, if
When wherein an electricity getting device 24 damages, then controls an other electricity getting device and dock implementation charging with charging unit, do not delay
Operation does not delay charging yet, improves the reliability of equipment.
Based on automatic guide vehicle charging system set forth above, the application also proposes a kind of automatic guide vehicle charging method,
Apply in the automatic guide vehicle charging system, as shown in Fig. 2, including the following steps:
Step S21: receive vehicle management system transmission takes electric instruction, wherein taking electricity instruction is that automatic guide vehicle is travelled to heap
It is generated when in the interactive areas of the side Chang Hai.
In each cycle operation of automatic guide vehicle when traveling to extra large side interactive areas, vehicle management system, which issues, takes electric instruction.
Step S22: the traveling coordinate of automatic guide vehicle is determined.
Automatic guide vehicle receive this take electricity instruct after, single machine navigation module then obtain its travel coordinate.
Step S23: judge whether automatic guide vehicle travels to charged area based on traveling coordinate；
Single machine control module then judges whether automatic guide vehicle runs to the charged area set based on traveling coordinate；If
It is,
Step S24: control electricity getting device stretches out car body and docks with charging unit, to be embodied as the battery charging of automatic guide vehicle.
After automatic guide vehicle is travelled to charged area, control electricity getting device stretches out car body and is mounted on extra large side interactive areas
Charging unit docking on interaction bracket, charging unit can start to charge for the battery of automatic guide vehicle；Here, charged area
In the setting range of extra large side interactive areas interaction bracket.
For the battery of automatic guide vehicle charging during, step S25: control automatic guide vehicle execute jacking band case rows sail as
Extra large side interactive areas interaction bracket executes interaction；And step S26: lifting platform decline is controlled after the completion of interaction, and is controlled certainly
Dynamic guide car travels the side interactive areas interaction bracket that goes to sea.By time-multiplexed mode, in interaction while implementing to charge, raising is filled
Electrical efficiency.
In the embodiment of the present application, control electricity getting device stretches out car body and docks with charging unit, specifically: the automatic guidance of judgement
Whether vehicle travels to first distance node；If so, control electricity getting device stretches out car body；And judgement continues to judge to guide automatically
Whether vehicle travels to second distance node；If so, judge whether electricity getting device stretches out normally, if so, control electricity getting device with
Charging unit docking；If it is abnormal to judge that electricity getting device stretches out, prompt information is issued.
During charging, by the detection to parameters such as battery charges, the charge power for controlling charging unit is greater than
Theoretical rated power, theoretical rated power are the consumption power in one dust cycle of automatic guide vehicle, to realize continuation of the journey
Electric energy is higher than consumption electric energy, supports that the unlimited continuation of the journey of automatic guide vehicle may.And due to the mode of cycle charging, electricity is realized
Shallowly filling for pond is shallowly put, and can be played the effect for extending battery life, be further decreased the charging input cost of automatic guide vehicle.
Specific charging modes are described in detail in above-mentioned charging system, and it will not go into details herein.
It should be noted that the above description is not a limitation of the present invention, the present invention is also not limited to the example above,
The variations, modifications, additions or substitutions that those skilled in the art are made within the essential scope of the present invention, are also answered
It belongs to the scope of protection of the present invention.
Claims (10)
1. automatic guide vehicle charging system, which is characterized in that control mould including vehicle management system, single machine navigation module, single machine
Block, charging unit, electricity getting device, battery and extra large side interactive areas interaction bracket；Wherein, the single machine navigation module, the single machine
Control module, battery and electricity getting device are installed on automatic guide vehicle, and the charging unit is installed on the extra large side interactive areas and hands over
On mutual bracket；The sea side interactive areas interaction bracket is set in the interactive areas Hai Ce of stockyard；
The vehicle management system, for being sent out to automatic guide vehicle when automatic guide vehicle drives in the interactive areas Hai Ce of stockyard
It send and takes electric instruction；
The single machine navigation module, for the automatic guide vehicle receive it is described take electricity to instruct after, determine and described draw automatically
The traveling coordinate of guide-car is simultaneously sent to the single machine control module；
The single machine control module includes charging control unit；The charging control unit, for being sentenced based on the traveling coordinate
Whether the automatic guide vehicle that breaks travels to charged area；If so, controlling the electricity getting device stretches out car body and the charging
Device charges to the battery is connected in；Wherein, the charged area is located at the setting range of the extra large side interactive areas interaction bracket
It is interior.
2. automatic guide vehicle charging system according to claim 1, which is characterized in that the single machine control module includes handing over
Mutual control unit；
The interaction control unit, for controlling the automatic guide vehicle and executing band after jacking during the battery charging
Case rows drive into the extra large side interactive areas interaction bracket and execute interaction, and lifting platform decline, and control are controlled after the completion of interaction
It makes the automatic guide vehicle and is driven out to the extra large side interactive areas interaction bracket；
The charging control unit is also used to be driven out to the extra large top-cross in the interaction control unit control automatic guide vehicle
When mutual area's interaction bracket, controls the electricity getting device and separate and retracted in car body with the charging unit.
3. automatic guide vehicle charging system according to claim 1, which is characterized in that electricity getting device include telescoping mechanism and
Current-collector；The charging unit includes charging module and trolley.
4. automatic guide vehicle charging system according to claim 1, which is characterized in that the charging control unit include away from
Judge whether the automatic guide vehicle travels for travelling in the automatic guide vehicle to charged area from judgment sub-unit
To first distance node, if so, the charging control unit, which controls the electricity getting device, stretches out car body, Distance Judgment
Unit continues to judge whether the automatic guide vehicle runs to second distance node, if so, charging control unit first determines whether
Whether the electricity getting device stretches out normally, if so, charging control unit continues to control the electricity getting device and the charging fills
Set docking.
5. automatic guide vehicle charging system according to claim 1, which is characterized in that the charge power of the charging unit
Greater than theoretical rated power；The theory rated power is the consumption function in one dust cycle of the automatic guide vehicle
Rate.
6. automatic guide vehicle charging method characterized by comprising
Receive vehicle management system transmission takes electric instruction, wherein described that electricity instruction is taken to travel for automatic guide vehicle to stockyard sea
It is generated when in the interactive areas of side；
Determine the traveling coordinate of the automatic guide vehicle；
Judge whether the automatic guide vehicle travels to charged area based on the traveling coordinate；If so,
Control electricity getting device stretches out car body and docks with charging unit, to be embodied as the battery charging of the automatic guide vehicle；Wherein,
The electricity getting device is installed on the automatic guide vehicle, and the charging unit is installed on extra large side interactive areas interaction bracket, institute
Extra large side interactive areas interaction bracket is stated to be set in the interactive areas the stockyard Hai Ce；The charged area is located at the extra large side interactive areas
In the setting range of interaction bracket.
7. automatic guide vehicle charging method according to claim 6, which is characterized in that in the electricity for the automatic guide vehicle
During pond is charged, the method also includes:
It controls the automatic guide vehicle and executes jacking band case rows and sail the extra large side interactive areas interaction bracket such as and execute interaction；And
Lifting platform decline is controlled after the completion of interaction, and is controlled the automatic guide vehicle and travelled out the extra large side interactive areas interaction
Bracket.
8. automatic guide vehicle charging method according to claim 6, which is characterized in that control electricity getting device stretch out car body with
Charging unit docking, specifically:
Judge whether the automatic guide vehicle travels to first distance node；If so,
It controls the electricity getting device and stretches out car body；And judgement continue to judge the automatic guide vehicle whether travel to second away from
From node；If so,
Judge whether the electricity getting device stretches out normally, is docked if so, controlling the electricity getting device with the charging unit.
9. automatic guide vehicle charging method according to claim 8, which is characterized in that if judging, the electricity getting device stretches out
It is abnormal, the method also includes:
Issue prompt information.
10. automatic guide vehicle charging method according to claim 6, which is characterized in that control filling for the charging unit
Electrical power is greater than theoretical rated power；The theory rated power is disappearing in one dust cycle of the automatic guide vehicle
Wasted work rate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320433.XA CN109466353B (en) | 2018-11-07 | 2018-11-07 | Automatic guided vehicle charging system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811320433.XA CN109466353B (en) | 2018-11-07 | 2018-11-07 | Automatic guided vehicle charging system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109466353A true CN109466353A (en) | 2019-03-15 |
| CN109466353B CN109466353B (en) | 2022-06-21 |
Family
ID=65672223
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811320433.XA Active CN109466353B (en) | 2018-11-07 | 2018-11-07 | Automatic guided vehicle charging system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109466353B (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001325994A (en) * | 2000-05-15 | 2001-11-22 | Matsushita Electric Ind Co Ltd | Automatic guided vehicle and its cell management system |
| CN203301199U (en) * | 2013-06-14 | 2013-11-20 | 长沙驰众机械科技有限公司 | An intelligent contraposition charging device equipped with a telescopic contact for an AGV guiding vehicle |
| CN105128686A (en) * | 2015-08-12 | 2015-12-09 | 上海海事大学 | Automatic charging ground equipment for all-electric unmanned automatic navigation carrying cart in automated container terminal and charging method |
| CN105162220A (en) * | 2015-08-12 | 2015-12-16 | 上海海事大学 | Automated container terminal all-electric unmanned automatic guided vehicle automatic charging device and charging method thereof |
| CN207523454U (en) * | 2017-06-23 | 2018-06-22 | 北京艾瑞思机器人技术有限公司 | A kind of automatic charging structure for AGV travelling bogies |
| CN108418068A (en) * | 2018-05-09 | 2018-08-17 | 上海云童机械有限公司 | A kind of automatic butt jointing device and its interconnection method of the charging of gantry crane suspender |
| CN108502552A (en) * | 2018-05-16 | 2018-09-07 | 青岛港国际股份有限公司 | A kind of container terminal automatic yard |
| CN108516357A (en) * | 2018-05-16 | 2018-09-11 | 青岛港国际股份有限公司 | Automatic cabinet shipping dock |
-
2018
- 2018-11-07 CN CN201811320433.XA patent/CN109466353B/en active Active
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001325994A (en) * | 2000-05-15 | 2001-11-22 | Matsushita Electric Ind Co Ltd | Automatic guided vehicle and its cell management system |
| CN203301199U (en) * | 2013-06-14 | 2013-11-20 | 长沙驰众机械科技有限公司 | An intelligent contraposition charging device equipped with a telescopic contact for an AGV guiding vehicle |
| CN105128686A (en) * | 2015-08-12 | 2015-12-09 | 上海海事大学 | Automatic charging ground equipment for all-electric unmanned automatic navigation carrying cart in automated container terminal and charging method |
| CN105162220A (en) * | 2015-08-12 | 2015-12-16 | 上海海事大学 | Automated container terminal all-electric unmanned automatic guided vehicle automatic charging device and charging method thereof |
| US20180152031A1 (en) * | 2015-08-12 | 2018-05-31 | Shanghai Maritime University | Automatic Charging Device for an AGV on an Automated Container Terminal and Charging Method Therefor |
| CN207523454U (en) * | 2017-06-23 | 2018-06-22 | 北京艾瑞思机器人技术有限公司 | A kind of automatic charging structure for AGV travelling bogies |
| CN108418068A (en) * | 2018-05-09 | 2018-08-17 | 上海云童机械有限公司 | A kind of automatic butt jointing device and its interconnection method of the charging of gantry crane suspender |
| CN108502552A (en) * | 2018-05-16 | 2018-09-07 | 青岛港国际股份有限公司 | A kind of container terminal automatic yard |
| CN108516357A (en) * | 2018-05-16 | 2018-09-11 | 青岛港国际股份有限公司 | Automatic cabinet shipping dock |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109466353B (en) | 2022-06-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104340082B (en) | Fuel cell vehicle | |
| JP5580307B2 (en) | Hybrid power supply device for crane and control method of hybrid power supply device for crane | |
| CN103097172B (en) | Drive device for railway vehicle | |
| CN102785583B (en) | Fuel cell vehicle | |
| CN104619628A (en) | Drive control device for drive system including vertical carrier machine | |
| CN104079054B (en) | A kind of energy-recuperation system for ultra-high-tension power transmission line inspection robot and method | |
| CN102372006A (en) | Transportation vehicle system and charging method for the transportation vehicle system | |
| CN102325947A (en) | Construction machine and industrial vehicle provided with power supply system | |
| CN102958746A (en) | Electric vehicle propulsion control device, and railway vehicle system | |
| JP5414397B2 (en) | Feeding type cargo handling equipment | |
| KR101589360B1 (en) | Power supply apparatus, crane, and power supply method | |
| CN107539162A (en) | A kind of medium-and low-speed maglev train traction system | |
| CN105172988A (en) | Self-charging electric vehicle and charging method thereof | |
| US9013051B2 (en) | Hybrid type construction machine | |
| CN110834545A (en) | Power supply system of guide rail electric car and control method thereof | |
| JP5850672B2 (en) | Parking equipment | |
| EP2501015B1 (en) | Power supply system | |
| CN108382232A (en) | A kind of Dynamic design method of quarry tipper | |
| CN205034285U (en) | Self -charging electric motor car | |
| CN109466353A (en) | Automatic guide vehicle charging system and method | |
| CN103633720B (en) | A kind of double source electric car motor driver | |
| CN206815922U (en) | Interchangeable electric multi-storied garage | |
| JP6189010B2 (en) | Crane and power supply method for crane | |
| JP7212075B2 (en) | AGV charging method and system for automated container terminal | |
| CN204870597U (en) | Automatic platform of supplying power of free -standing AGV |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB02 | Change of applicant information | ||
| CB02 | Change of applicant information |
Address after: No.12 Jingba Road, Huangdao District, Qingdao City, Shandong Province Applicant after: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant after: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. Address before: The city of north port green road 266011 Shandong city of Qingdao province No. 6 Applicant before: QINGDAO PORT INTERNATIONAL Co.,Ltd. Applicant before: QINGDAO NEW QIANWAN CONTAINER TERMINAL Co.,Ltd. |
|
| GR01 | Patent grant | ||
| GR01 | Patent grant |