JP2017041934A - Unmanned carrier and power supply system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an unmanned carrier capable of efficiently receiving power in wireless power supply and a power supply system.SOLUTION: An unmanned carrier 2 includes: a vehicle body 2E, which moves on a travel route G, provided with a power supply line 1D; a power reception electrode 20 formed in a plate shape having a facing surface 20A facing a power supplying electrode 10 of the power supply line 1D, for receiving power from te power supplying electrode 10; and an electrode cover 21 covering the facing surface 20A of the power receiving electrode 20 and made of a resin material having insulation properties, which is in slide contact with the power supply line 1D during the travel of the vehicle body 2E.SELECTED DRAWING: Figure 4

Description

  The present invention relates to an automatic guided vehicle that receives electric power during traveling and a power supply system that supplies power to the automatic guided vehicle from a power supply device.

2. Description of the Related Art In recent years, research and development have been actively conducted on techniques for supplying power to a traveling electric vehicle wirelessly (see, for example, Patent Document 1).
Patent Document 1 describes a technology for supplying power with high efficiency to a traveling vehicle. Specifically, the first and second conductors are embedded under the road surface, the first tire having a first tire inner conductor (steel belt) inside is rolled above the first conductor, and the second tire A second tire having a conductor (steel belt) inside is rolled over the second conductor. Then, the first electrode is provided on the first tire and the second electrode is provided on the second tire, and AC power is supplied to the first conductor and the second conductor, and this AC power is supplied to the first electrode and the second electrode. The electrode is receiving power.

JP 2012-175869 A

  However, in the configuration of Patent Document 1, whether or not power can be received efficiently depends on the size of the tire. Therefore, it is inconvenient if the configuration of Patent Document 1 is used for an automatic guided vehicle in which a small tire is generally employed. . That is, when the tire is small, there is a problem that the electrostatic capacity formed between the conductor under the road surface and the conductor in the tire is small, and power cannot be received efficiently.

  This invention is made | formed in view of the said situation, Comprising: It aims at providing the automatic guided vehicle and electric power feeding system which can receive electric power efficiently during driving | running | working in electric power feeding by radio | wireless.

  In order to solve the above-mentioned problems, the invention according to claim 1 is a plate-like body having a vehicle body that moves on a traveling path provided with a power supply line, and a facing surface that faces the power supply electrode of the power supply line. A power receiving electrode for receiving power from the power feeding electrode, and a resin material that covers the facing surface of the power receiving electrode and has an electrical insulation property, and the power feeding line is moved during the movement of the vehicle body. And an electrode cover that is slidably contacted.

  The invention described in claim 2 is the automatic guided vehicle according to claim 1, further comprising a biasing mechanism that biases the power receiving electrode toward the power feeding electrode.

  According to a third aspect of the present invention, in the automatic guided vehicle according to the first or second aspect of the present invention, the automatic guided vehicle further includes an electrode support mechanism that supports the power receiving electrode, and the electrode support mechanism corresponds to the undulations of the travel path. The direction of the facing surface of the power receiving electrode is changed.

  According to a fourth aspect of the present invention, in the automatic guided vehicle according to the third aspect, the electrode support mechanism supports the power receiving electrode so as to be swingable in the front-rear direction of the vehicle body.

  According to a fifth aspect of the present invention, in the automatic guided vehicle according to the third or fourth aspect, the electrode support mechanism supports the power receiving electrode so as to be swingable in a lateral direction of the vehicle body. To do.

  According to a sixth aspect of the present invention, in the automatic guided vehicle according to any one of the first to fifth aspects, a lead wire provided through the electrode cover is connected to the power receiving electrode. Features.

  A seventh aspect of the present invention is the automatic guided vehicle according to any one of the first to sixth aspects, further comprising a pair of power receiving electrodes provided at intervals in the left-right direction of the vehicle body. The vehicle body moves in a state where the electrode cover that covers each of the pair of power receiving electrodes is in contact with the power supply line.

  The invention according to claim 8 is a power feeding system that feeds power from the power feeding device to the automatic guided vehicle, wherein the power feeding device is connected to the power feeding electrode provided in the power feeding line and the power feeding electrode. An AC power source that generates AC power, and the automatic guided vehicle includes a vehicle body that moves on a traveling path provided with the power supply line, and a power receiving electrode that receives power from the power feeding electrode. The power feeding electrode and the power receiving electrode are formed in a plate shape having opposing surfaces facing each other, and at least one of the opposing surfaces of the power feeding electrode and the power receiving electrode has electrical insulation. The vehicle body is covered with an electrode cover formed of a resin material, and the vehicle body is in a state where the electrode cover or the power receiving electrode that covers the facing surface of the power receiving electrode is in contact with the power supply line. Characterized in that it dynamic.

  ADVANTAGE OF THE INVENTION According to this invention, the automatic guided vehicle and electric power feeding system which can receive electric power efficiently during driving | running | working in electric power feeding by radio | wireless can be provided.

It is a block diagram of the electric power feeding system which concerns on one Embodiment of this invention. It is a perspective view of an automatic guided vehicle and a runway concerning the embodiment. (A)-(C) is a schematic diagram of the power receiving mechanism with which the automatic guided vehicle which concerns on the embodiment is equipped, (D) is sectional drawing of the AA line part of (B). It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on the embodiment. It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on a modification. It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on another modification.

An embodiment of the present invention will be described with reference to FIGS.
As shown in FIG. 1, the power supply system S of the present embodiment includes a power supply device 1 that wirelessly supplies power, and an automatic guided vehicle 2 that automatically travels along a guide line 3 (see FIG. 2). The power feeding device 1 feeds power for traveling to the automatic guided vehicle 2.

  The power feeding apparatus 1 includes an AC power source 1A, a high frequency inverter 1B, a matching circuit 1C, and a power feeding line 1D. AC power supply 1A is comprised by the commercial AC power supply whose voltage is 100V, for example, and produces | generates alternating current power. The AC power supply 1A is connected to the power supply electrode 10 via the high-frequency inverter 1B and the matching circuit 1C. The high frequency inverter 1B converts the power generated by the AC power source 1A into high frequency power, and the matching circuit 1C matches the impedances of the electric circuits of the power feeding device 1 and the automatic guided vehicle 2 respectively. The power supply line 1D includes a pair of power supply electrodes 10. For example, high frequency power having a frequency of 16 MHz and a voltage of 200 V to 300 V is supplied to the pair of power supply electrodes 10. The pair of power supply electrodes 10 transmits AC power to the automatic guided vehicle 2 wirelessly.

  The automatic guided vehicle 2 includes a power receiving mechanism 2A, a rectifying circuit 2B, a traveling motor 2C, and a steering motor 2D. The power receiving mechanism 2A includes a pair of power receiving electrodes 20. A detailed configuration of the power receiving mechanism 2A will be described later with reference to FIG. The power receiving electrode 20 is provided to face the power feeding electrode 10 and receives AC power from the power feeding electrode 10. The power receiving electrode 20 is connected to the traveling motor 2C and the steering motor 2D via the rectifying circuit 2B. The rectifier circuit 2B converts the AC power received by the power receiving electrode 20 into DC power, and the traveling motor 2C and the steering motor 2D generate power for traveling the automatic guided vehicle 2 using the DC power.

  FIG. 2 is a view of the automatic guided vehicle 2 as viewed obliquely from above, and shows an aspect in which the automatic guided vehicle 2 travels on the traveling path G. The front-rear direction X, the left-right direction Y, and the up-down direction Z of the vehicle body 2E indicated by arrows in the figure are directions orthogonal to each other. The front-rear direction X is a direction in which the automatic guided vehicle 2 can go straight. In FIG. 2, the rectifier circuit 2B, the travel motor 2C, and the steering motor 2D are not shown.

  As illustrated in FIG. 2, a power supply line 1 </ b> D is provided on the traveling path G. The feed line 1D is configured by a right feed line 1R and a left feed line 1L provided on the traveling path G. Each of the right power supply line 1R and the left power supply line 1L includes a belt-shaped power supply electrode 10 and an electrode cover 11. The power feeding electrode 10 is formed in a plate shape having a facing surface 10 </ b> A that faces the power receiving electrode 20. The electrode cover 11 covers the facing surface 10 </ b> A of the power supply electrode 10. The electrode cover 11 is formed of a resin material having excellent electrical resistance and abrasion resistance. For example, the electrode cover 11 is formed of nylon 6 (PA6), ultra high molecular polyethylene (UPE), polyacetal (POM), or the like.

  In addition, a guide line 3 is provided on the traveling path G. The induction line 3 is provided between the right power supply line 1 </ b> R and the left power supply line 1 </ b> L and is embedded in the travel path G. The feed line 1D and the induction line 3 extend in parallel to each other.

  The automatic guided vehicle 2 is an AGV (Automated Guided Vehicle) that travels along the guide line 3. The automatic guided vehicle 2 includes a vehicle body 2E on which a load is loaded, wheels 2F, 2G, 2H, and 2I that roll on the traveling path G, and a guidance sensor 2J that detects the guidance line 3. The vehicle body 2E moves on the traveling path G. A power receiving mechanism 2A, wheels 2F, 2G, 2H, 2I and an induction sensor 2J are provided at the bottom of the vehicle body 2E. The wheels 2F and 2G are front wheels, and the wheels 2H and 2I are rear wheels. The wheels 2F, 2G, 2H, 2I are arranged so as not to roll on the feed line 1D and the induction line 3. Specifically, the wheel 2F is provided between the induction line 3 and the right power supply line 1R, and the wheel 2G is provided between the induction line 3 and the left power supply line 1L. The wheel 2H is provided on the right side of the right power supply line 1R, and the wheel 2I is provided on the left side of the left power supply line 1L.

  In this embodiment, the automatic guided vehicle 2 is a magnetic induction type automatic guided vehicle that travels along the induction line 3 that is magnetized. That is, the induction sensor 2J is configured by a magnetic sensor.

  The traveling motor 2C (see FIG. 1) rotates the wheels 2H and 2I in order to move the vehicle body 2E. Further, the steering motor 2D (see FIG. 1) determines the direction in which the wheels 2F and 2G roll based on the detection result of the guide line 3 by the guide sensor 2J in order to move the vehicle body 2E along the guide line 3. Change.

  As illustrated in FIG. 2, the power receiving mechanism 2A includes a right power receiver 2R and a left power receiver 2L. The right power receiver 2R is provided on the right power supply line 1R, and the left power receiver 2L is provided on the left power supply line 1L. As shown in FIG. 3, the right power receiver 2R and the left power receiver 2L include the power receiving electrode 20, the electrode cover 21, the electrode support mechanism 22, the urging mechanism 23, and the lead wire 24 (see FIG. 3). ). The power receiving electrodes 20 provided in each of the right power receiver 2R and the left power receiver 2L form a pair, and the pair of power receiving electrodes 20 are provided at intervals in the left-right direction Y.

  In FIG. 3, since the right power receiver 2R and the left power receiver 2L have the same configuration, only one of the right power receiver 2R and the left power receiver 2L constituting the power receiving mechanism 2A is illustrated, and the other is illustrated. Omitted. 3A is a view of the power reception mechanism 2A viewed from the left, FIG. 3B is a view of the power reception mechanism 2A viewed from above, and FIG. 3C is a view of the power reception mechanism 2A. It is the figure seen from back. FIG. 3D is a cross-sectional view of the power receiving electrode 20 and the electrode cover 21 taken along line AA in FIG.

  As shown in FIG. 3, the power receiving electrode 20 is formed in a flat plate shape having a facing surface 20 </ b> A (see FIG. 3D) that faces the power feeding electrode 10, and extends in the front-rear direction X. The electrode cover 21 covers the facing surface 20 </ b> A of the power receiving electrode 20. The power receiving electrode 20 is connected to the rectifier circuit 2 </ b> B via the lead wire 24.

  Similar to the electrode cover 11, the electrode cover 21 is formed of a resin material having excellent electrical resistance such as nylon 6, ultra high molecular weight polyethylene, or polyacetal. As shown in FIG. 3D, the electrode cover 21 includes a lower cover material 21A that covers the facing surface 20A that is the lower surface of the power receiving electrode 20, and an upper cover material 21B that covers the upper surface 20B of the power receiving electrode 20. Has been.

  The electrode support mechanism 22 supports the power receiving electrode 20 below the vehicle body 2E. The electrode support mechanism 22 is configured such that the power receiving electrode 20 can be swung in the front-rear direction X, and is configured so that the power receiving electrode 20 can be swung in the left-right direction Y. Accordingly, the direction of the facing surface 20A of the power receiving electrode 20 is changed. Specifically, the electrode support mechanism 22 includes a vehicle arm via an arm support mechanism 22A provided at the bottom of the vehicle body 2E, an arm support mechanism 22B provided at the front end of the electrode cover 21, and the arm support mechanism 22A. The vehicle body side arm member 22C connected to the main body 2E and the electrode side arm member 22D connected to the electrode cover 21 via the arm support mechanism 22B are configured. The vehicle body side arm member 22C and the electrode side arm member 22D constitute a support arm that extends obliquely downward from the front toward the rear. The vehicle body 2E and the vehicle body side arm member 22C are connected so as to be rotatable about an axis A1 extending in the left-right direction Y. When the vehicle body side arm member 22C rotates with respect to the vehicle body 2E, the power receiving electrode 20 swings in the direction indicated by the arrow R1 in FIG. 3A, and the power receiving electrode 20 is displaced in the vertical direction Z. To do. The electrode cover 21 and the electrode side arm member 22D are connected so as to be rotatable about an axis A2 extending in the left-right direction Y. The vehicle body side arm member 22C does not rotate with respect to the vehicle body 2E, and the electrode cover 21 rotates with respect to the electrode side arm member 22D, so that power is received in the direction indicated by the arrow R2 in FIG. The working electrode 20 swings and the facing surface 20A tilts. The vehicle body side arm member 22C and the electrode side arm member 22D are connected so as to be rotatable about an axis A3 extending in the front-rear direction X. The electrode side arm member 22D rotates with respect to the vehicle body side arm member 22C without the vehicle body side arm member 22C rotating with respect to the vehicle body 2E, whereby the direction indicated by the arrow R3 in FIG. Then, the power receiving electrode 20 swings and the facing surface 20A tilts.

  The urging mechanism 23 is configured by a compression coil spring. The biasing mechanism 23 biases the power receiving electrode 20 and the electrode cover 21 toward the power feeding electrode 10. The urging mechanism 23 presses the rear end portion of the electrode cover 21 downward so that the facing surface 10A of the power supply electrode 10 and the facing surface 20A of the power receiving electrode 20 are parallel to each other.

  The lead wire 24 is a wiring that electrically connects the power receiving electrode 20 covered with the electrode cover 21 and the rectifier circuit 2B provided in the vehicle main body 2E, and is constituted by an electric wire covered with an insulating material. ing. The lead wire 24 is provided through the electrode cover 21 and connected to the power receiving electrode 20 in the electrode cover 21.

  FIG. 4 is a view of the automatic guided vehicle 2 as viewed from the rear, and illustrates a traveling mode of the automatic guided vehicle 2. In FIG. 4, the illustration of the mechanism for connecting the vehicle body 2E and the wheels 2F, 2G, 2H, 2I, the illustration of the lead wire 24, and the like are omitted.

  As shown in FIG. 4, the electrode cover 21 of the power receiving mechanism 2A is pressed against the electrode cover 11 of the power supply line 1D. When the electrode covers 21 and 11 come into contact with each other, the facing surface 20A of the power receiving electrode 20 and the facing surface 10A of the power feeding electrode 10 face each other in parallel through the electrode covers 21 and 11 having dielectric properties. The vehicle body 2E moves along the guide line 3 with the electrode covers 21 and 11 in contact with each other. That is, the vehicle body 2E drags the electrode cover 21 covering each of the pair of power receiving electrodes 20 with respect to the electrode cover 11 of the power supply line 1D so as to receive power on the opposing surfaces 20A of the pair of power receiving electrodes 20. Move while.

In the present embodiment, the following effects can be obtained.
(1) The automatic guided vehicle 2 is formed in a plate shape having a facing surface 20A facing the power supply electrode 10 of the power supply line 1D, and receives the power from the power supply electrode 10. 20 is provided with an electrode cover 21 that covers 20 facing surfaces 20A, is made of a resin material having electrical insulation, and is in sliding contact with the power supply line 1D during movement of the vehicle main body 2E. According to this configuration, the electrostatic capacity formed between the power feeding electrode 10 and the power receiving electrode 20 can be increased regardless of the size of the wheels 2F, 2G, 2H, 2I. The power can be efficiently received by the power receiving electrode 20 during the traveling of the second power. Further, since the power receiving electrode 20 is covered by the electrode cover 21, it becomes difficult to touch the power receiving electrode 20, and safety can be improved.

  (2) The automatic guided vehicle 2 includes a biasing mechanism 23 that biases the power receiving electrode 20 toward the power feeding electrode 10. According to this configuration, the electrode cover 21 and the electrode cover 11 of the power supply line 1D can be reliably adhered.

  (3) The automatic guided vehicle 2 includes an electrode support mechanism 22 that supports the power receiving electrode 20, and the electrode support mechanism 22 changes the direction of the facing surface 20 </ b> A of the power receiving electrode 20 according to the undulation of the traveling path G. . According to this configuration, even when the traveling path G is undulated, the electrode covers 21 and 11 are brought into close contact with each other, and the capacitance formed between the power feeding electrode 10 and the power receiving electrode 20 is reduced. It is possible to suppress the decrease.

  (4) Since the electrode support mechanism 22 supports the power receiving electrode 20 so as to be swingable in the front-rear direction X, even when the traveling path G undulates in the front-rear direction X, the power supply electrode 10 and the power receiving electrode Accordingly, it is possible to suppress a decrease in the capacitance formed between the two.

  (5) Since the electrode support mechanism 22 supports the power receiving electrode 20 so as to be swingable in the left-right direction Y, even when the traveling path G undulates in the left-right direction Y, the power feeding electrode 10 and the power receiving electrode Accordingly, it is possible to suppress a decrease in the capacitance formed between the two.

  (6) Since the lead wire 24 provided through the electrode cover 21 is connected to the power receiving electrode 20, the power receiving electrode 20 and the rectifier circuit 2B are electrically connected without exposing the power receiving electrode 20. Can be connected.

  The present invention is not limited to the above embodiment, and the above configuration can be changed. For example, the following modifications can be implemented, and the following modifications can be combined.

  As shown in FIG. 5, the facing surface 20 </ b> A of the power receiving electrode 20 may not be covered with the electrode cover 21. Further, as illustrated in FIG. 6, the facing surface 10 </ b> A of the power feeding electrode 10 may not be covered with the electrode cover 11. That is, at least one facing surface (the facing surface 10A, the facing surface 20A, or the facing surface 10A and the facing surface 20A) of the power feeding electrode 10 and the power receiving electrode 20 is formed of a resin material having electrical insulation. What is necessary is just to be covered with the electrode cover.

  When the facing surface 20A of the power receiving electrode 20 is not covered by the electrode cover 21, the power receiving electrode 20 of the power receiving mechanism 2A is pressed against the electrode cover 11 of the power feeding line 1D. When the power receiving electrode 20 and the electrode cover 11 come into contact with each other, the facing surface 20A of the power receiving electrode 20 and the facing surface 10A of the power feeding electrode 10 face each other in parallel via the electrode cover 11. The vehicle body 2 </ b> E moves along the guide line 3 with the power receiving electrode 20 and the electrode cover 11 in contact with each other. That is, the vehicle body 2E moves while dragging the power receiving electrode 20 with respect to the electrode cover 11 of the power supply line 1D so as to receive power at the opposing surface 20A of the power receiving electrode 20.

  On the other hand, when the facing surface 10A of the power feeding electrode 10 is not covered by the electrode cover 11, the electrode cover 21 of the power receiving mechanism 2A is pressed against the power feeding electrode 10 of the power feeding line 1D. When the electrode cover 21 and the power feeding electrode 10 come into contact with each other, the facing surface 20A of the power receiving electrode 20 and the facing surface 10A of the power feeding electrode 10 face each other in parallel via the electrode cover 21. The vehicle body 2 </ b> E moves along the guide line 3 in a state where the electrode cover 21 and the power supply electrode 10 are in contact with each other. That is, the vehicle body 2E moves while dragging the electrode cover 21 with respect to the power supply electrode 10 of the power supply line 1D so as to receive power on the opposing surface 20A of the power reception electrode 20.

  The right power receiver 2R and the left power receiver 2L may have different configurations. For example, the facing surface 20A of the power receiving electrode 20 provided in the right power receiver 2R is covered by the electrode cover 21, and the facing surface 20A of the power receiving electrode 20 provided in the left power receiver 2L is covered by the electrode cover 21. It is also possible to adopt a configuration that does not break.

  If the vehicle body 2E can move with the electrode cover 21 or the power receiving electrode 20 in contact with the power supply line 1D, the configuration of the electrode support mechanism 22 and the biasing mechanism 23 is changed. Also good. For example, if the traveling path G is flat, the electrode support mechanism 22 may be configured not to change the direction of the facing surface 20A of the power receiving electrode 20. Further, the urging mechanism 23 can be constituted by an elastic body other than the compression coil spring. Further, the biasing mechanism 23 may be omitted as long as it is possible to prevent a gap from being formed between the power receiving electrode 20 and the power feeding electrode 10.

  The shape, arrangement, number, etc. of the power receiving electrode 20 can be changed according to the shape, arrangement, number, etc. of the power supply electrode 10. The automatic guided vehicle 2 can also convert AC power received by the power receiving electrode 20 into DC power, store it in a battery (not shown), and travel with the power stored in the battery.

  ・ The driving method can be changed. For example, the traveling motor 2C may rotate the front wheels instead of the rear wheels in order to move the vehicle body 2E. Further, the steering motor 2D may change the rotational speeds of the wheels 2F and 2G without changing the directions of the wheels 2F and 2G in order to change the moving direction of the vehicle body 2E.

  The power supply line 1D can be embedded in the travel path G. That is, the power supply electrode 10 of the power supply line 1 </ b> D or the electrode cover 11 covering the power supply electrode 10 may be provided in a state where there is no step with the traveling path G.

  The automatic guided vehicle 2 may not be a magnetic induction type AGV. For example, an AGV of an optical induction system can be configured by configuring the induction sensor 2J with an image sensor.

DESCRIPTION OF SYMBOLS 1 Feeding device 1A AC power supply 1D Feeding line 1L Left feeding line 1R Right feeding line 2 Automatic guided vehicle 2A Power receiving mechanism 2E Vehicle main body 2L Left receiving device 2R Right receiving device 3 Induction line 10 Feeding electrode 10A Opposing surface 11 Electrode cover 20 Electrode 20A Opposing surface 21 Electrode cover 21A Lower cover material 21B Upper cover material 22 Electrode support mechanism 22A Arm support mechanism 22B Arm support mechanism 22C Car body side arm material 22D Electrode side arm material 23 Energizing mechanism 24 Lead wire G Running path S Power supply System X Back and forth direction Y Left and right direction Z Up and down direction

In order to solve the above-mentioned problems, the invention according to claim 1 is a plate-like body having a vehicle body that moves on a traveling path provided with a power supply line, and a facing surface that faces the power supply electrode of the power supply line. is formed, a power receiving electrode for receiving the power from the power supply electrode, covering the opposing surface of the power receiving electrode, and the electrodes cover that Do a resin material having an electrical insulating property, the power receiving electrode An electrode support mechanism for supporting the vehicle body below the vehicle body, the electrode cover has a flat lower surface facing the power supply line, and the electrode cover is moved during the movement of the vehicle body. The lower surface moves in surface contact with the feed line .

The invention according to claim 3, in the automatic guided vehicle according to claim 1 or 2, before Symbol electrode support mechanism changes the orientation of the facing surface of the power receiving electrode in response to undulations of the travel path It is characterized by that.

A sixth aspect of the present invention is the automatic guided vehicle according to any one of the first to fifth aspects, further comprising a pair of power receiving electrodes provided at intervals in the left-right direction of the vehicle body. The vehicle body moves in a state where the electrode cover that covers each of the pair of power receiving electrodes is in contact with the power supply line.

The invention according to claim 7 is a power feeding system that feeds power from the power feeding device to the automatic guided vehicle, and the power feeding device is connected to the power feeding electrode provided in the power feeding line and the power feeding electrode. An AC power source that generates AC power, and the automatic guided vehicle includes a vehicle body that moves on a traveling path provided with the power supply line, and a power receiving electrode that receives power from the power feeding electrode. The power feeding electrode and the power receiving electrode are formed in a plate shape having opposing surfaces facing each other, and the opposing surfaces of both the power feeding electrode and the power receiving electrode are electrically insulating resins. covered by the electrode cover formed of a material, said vehicle body and said electrode cover provided on the facing surface of the electrode cover and the power supply electrodes provided on the facing surface of the power receiving electrode to each other Characterized in that it moves in a state of being contact.
The invention according to claim 8 is the power feeding system according to claim 7, wherein the automatic guided vehicle is a right power receiving electrode provided as a power receiving electrode with a space between each other in the left-right direction of the vehicle body. And the left power receiving electrode, and the power feeding device includes, as the power feeding electrode, a right power feeding electrode provided below the right power receiving electrode, and a left power feeding electrode provided below the left power receiving electrode. The automatic guided vehicle further includes a right wheel that is arranged on the right side of the electrode cover provided on the facing surface of the right power feeding electrode and rolls on the traveling road, and the left power feeding. It is provided with the left wheel which is arranged on the left side of the electrode cover provided in the counter surface of an electrode, and rolls on the runway.

Claims (8)

A vehicle body that moves on a traveling path provided with a power supply line;
A power receiving electrode that is formed in a plate shape having a facing surface facing the power feeding electrode of the power feeding line, and that receives power from the power feeding electrode;
An automatic guided vehicle comprising: an electrode cover that covers the facing surface of the power receiving electrode, is made of a resin material having electrical insulation, and is in sliding contact with the power supply line during movement of the vehicle main body. . The automatic guided vehicle according to claim 1, further comprising a biasing mechanism that biases the power receiving electrode toward the power feeding electrode. An electrode support mechanism for supporting the power receiving electrode;
3. The automatic guided vehicle according to claim 1, wherein the electrode support mechanism changes a direction of the facing surface of the power receiving electrode according to undulations of the traveling path. The automatic guided vehicle according to claim 3, wherein the electrode support mechanism supports the power receiving electrode so as to be swingable in a front-rear direction of the vehicle body. The automatic guided vehicle according to claim 3 or 4, wherein the electrode support mechanism supports the power receiving electrode so as to be swingable in a lateral direction of the vehicle body. 6. The automatic guided vehicle according to claim 1, wherein a lead wire provided through the electrode cover is connected to the power receiving electrode. A pair of power receiving electrodes provided at intervals in the left-right direction of the vehicle body,
The said vehicle main body moves in the state which contact | abutted with respect to the said electric power feeding line the said electrode cover which covers each of a pair of said electrode for power reception. Automatic guided vehicle. A power supply system that supplies power to an automatic guided vehicle from a power supply device,
The power supply apparatus includes a power supply electrode provided in a power supply line, and an AC power source that is connected to the power supply electrode and generates AC power.
The automatic guided vehicle includes a vehicle body that moves on a traveling path provided with the power supply line, and a power receiving electrode that receives power from the power feeding electrode.
The power feeding electrode and the power receiving electrode are formed in a plate shape having opposing surfaces facing each other,
The opposing surface of at least one of the power feeding electrode and the power receiving electrode is covered with an electrode cover formed of a resin material having electrical insulation,
The power supply system, wherein the vehicle body moves in a state where the electrode cover or the power reception electrode that covers the facing surface of the power reception electrode is in contact with the power supply line.

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