JP2020054055A - Automated guided vehicle, battery replacement method and charging method - Google Patents

Abstract

To improve maintainability in an automated guided vehicle, a battery replacement method and a charging method.SOLUTION: An automated guided vehicle includes: a vehicle body 11; a travel drive device 12 for causing the vehicle body 11 to travel; a control device 13 mounted to the vehicle body 11 to control the travel drive device 12; a pressure-resistant explosion-proof container 14 for storing the control device 13; a battery 15 mounted to the vehicle body 11; a pressure-resistant explosion-proof container 16 for storing the battery 15; and a pressure-resistant explosion-proof connector 17 for electrically connecting the control device 13 to the battery 15 outside the pressure-resistant explosion-proof container 14 and the pressure-resistant explosion-proof container 16.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic guided vehicle and a method for replacing and charging a battery.

  2. Description of the Related Art An automated guided vehicle (AGV) is used in a production factory or the like as a technique for transporting materials, parts, finished products, and the like. The automatic guided vehicle has driving wheels, and a sensor detects a magnetic tape or the like laid on a floor surface, and is guided by magnetism generated by the magnetic tape and travels unmanned. On the other hand, for example, when the production factory is in a flammable gas atmosphere (explosive atmosphere), a spark generated when the automatic guided vehicle operates may catch fire and cause a fire. Therefore, in this case, the automatic guided vehicle needs an explosion-proof structure.

  As an explosion-proof structure of a conventional automatic guided vehicle, for example, there is one described in Patent Document 1 below. The explosion-proof automatic guided vehicle described in Patent Literature 1 has a control device, a battery, and the like mounted on a cart and stored in an explosion-proof container.

JP-A-4-172904

  Since the automatic guided vehicle has a motor and a control unit for driving the drive wheels, a battery for supplying electric power to the motor and the control unit is required. In Patent Literature 1, a control device, a battery, and the like are housed in a common single explosion-proof container. By the way, the battery needs to be replaced when the charged amount decreases, or to be charged in the case of a secondary battery. In addition, if the battery is used for a long period of time and deteriorates, it needs to be replaced. In this case, only the deteriorated battery is removed from the explosion-proof container, and a new battery is installed. However, when the automatic guided vehicle has an explosion-proof structure, it is necessary to pass the standard for explosion-proof electric machinery and equipment according to the guidelines for explosion-proof electrical equipment in factories. Therefore, there is a possibility that the conventional automatic guided vehicle may have to be certified for the explosion-proof container containing the control device and the battery every time the battery is replaced, and there is a problem that maintenance is not good.

  An object of the present invention is to solve the above-mentioned problems, and to provide an automatic guided vehicle for improving maintainability, and a method for replacing and charging a battery.

  The automatic guided vehicle of the present invention for achieving the above object has a bogie main body, a traveling drive device for traveling the bogie main body, a control device mounted on the bogie main body to control the traveling drive device, A first explosion-proof container accommodating a control device, a battery capable of supplying power to the control device, a second explosion-proof container accommodating the battery, and the first explosion-proof container and the second explosion-proof container. A connector having an explosion-proof structure for electrically connecting the control device and the battery externally is provided.

  Therefore, the control device is accommodated in the first explosion-proof container, the battery is accommodated in the second explosion-proof container, and the control device and the battery are electrically connected by the connector having the explosion-proof structure. Can be connected and disconnected in an explosive atmosphere, and the automatic guided vehicle can be used in an explosive atmosphere. Since the control device and the battery are housed in different explosion-proof containers, when replacing the battery, only the second explosion-proof container needs to be maintained, and the maintenance of the first explosion-proof container is not required, and the maintainability is improved. can do.

  In the automatic guided vehicle of the present invention, the explosion-proof connector is connected to the battery via a power line, and the explosion-proof plug is connected to the control device via a power line. When the outlet of the explosion-proof structure and the plug of the explosion-proof structure are mechanically connected, the power of the battery is supplied to the control device.

  Therefore, when the explosion-proof structure outlet and the explosion-proof structure plug are mechanically connected, the power of the battery is supplied to the control device, and the connection and disconnection of the battery and the control device in an explosive atmosphere can be safely performed. Can be done.

    In the automatic guided vehicle according to the present invention, the battery is a secondary battery.

    Therefore, when the battery is a secondary battery, the secondary battery is charged when the amount of stored power is reduced, so that the secondary battery can be continuously used without being replaced.

  The automatic guided vehicle according to the present invention is characterized in that a plug of a charger can be connected to the connector having the explosion-proof structure.

  Therefore, the battery can be easily and safely charged by connecting the plug of the charger to an outlet having a flameproof structure.

  In the automatic guided vehicle according to the present invention, the second explosion-proof container is provided with a charger connected to the battery inside.

  Therefore, the battery can be easily and safely charged by housing the charger together with the battery in the second explosion-proof container.

  In the automatic guided vehicle according to the present invention, the second explosion-proof container is provided with a power receiving unit of a non-contact charger connected to the battery inside.

  Therefore, the battery can be easily and safely charged by housing the power receiving unit of the non-contact type charger in the second explosion-proof container.

  The automatic guided vehicle according to the present invention is characterized in that a fixing device for detachably fixing the second explosion-proof container to the bogie main body is provided.

  Therefore, the battery can be easily replaced by making the second explosion-proof container removable from the bogie main body.

  In the automatic guided vehicle of the present invention, the fixing device includes a positioning member that positions the second explosion-proof container with respect to the bogie main body, and a fixing device that fixes the second explosion-proof container to the bogie main body. It is characterized by having.

  Therefore, by providing the positioning member and the fixing device as the fixing device, the fixing operation of the second explosion-proof container containing the battery can be easily performed.

  In the automatic guided vehicle of the present invention, a third explosion-proof container accommodating an auxiliary machine is mounted on the bogie main body, and the control device and the auxiliary machine are provided outside the first explosion-proof container and the third explosion-proof container. Are electrically connected.

  Therefore, the third explosion-proof container accommodating the auxiliary equipment is provided, and by electrically connecting the control device and the auxiliary equipment, the auxiliary equipment can be safely mounted on the bogie main body.

  In the automatic guided vehicle according to the present invention, the auxiliary device is at least one of a microphone and a speaker, and a wire mesh portion is provided in a part of the third explosion-proof container.

  Therefore, by providing the wire netting portion in the third explosion-proof container accommodating the microphone or the speaker, the microphone or the speaker can have the explosion-proof structure, but the sound collection function and the sound generation function can be secured.

  In the automatic guided vehicle according to the aspect of the invention, the auxiliary device is a distance measuring device including a light emitting unit that emits laser light and a light receiving unit that receives laser light, and the distance measuring device emits light from the light emitting unit. A partition member is provided between the laser beam thus obtained and the laser beam received by the light receiving section.

  Therefore, by providing a partition member between the light emitting part and the light receiving part of the distance measuring device, when the laser light emitted from the light emitting part is reflected on the inner surface of the third explosion-proof container, the reflected laser is partitioned. The light can be blocked by the member and light reception by the light receiving unit can be suppressed, and a decrease in measurement accuracy by the distance measurement device can be suppressed.

  The automatic guided vehicle according to the present invention is characterized in that the bogie main body is provided with a connector for connecting the towed bogie.

  Therefore, since the bogie body pulls another bogie through the coupler, it is possible to mount the first explosion-proof container and the second explosion-proof container and to increase the weight without loading luggage on the bogie body. Thus, the running stability of the bogie main body can be improved.

  The automatic guided vehicle according to the present invention includes a bogie main body, a traveling drive device for traveling the bogie main body, a control device mounted on the bogie main body to control the traveling drive device, and a first pressure-resistant housing the control device. An explosion-proof container, a battery capable of supplying power to the control device, a second explosion-proof container accommodating the battery, the control device and the battery outside the first and second explosion-proof containers. A connector having an explosion-proof structure for electrically connecting the battery and the battery, wherein the electric connection between the control device and the battery is released by the connector having the explosion-proof structure; and Replacing the second explosion-proof container containing the charged battery with the second explosion-proof container containing the charged battery, and electrically connecting the control device and the charged battery by the connector of the explosion-proof structure. Connect Those characterized by having a step.

  Therefore, by replacing the battery, the automatic guided vehicle can be continuously used, and the maintainability can be improved.

  The automatic guided vehicle according to the present invention includes a bogie main body, a traveling drive device for traveling the bogie main body, a control device mounted on the bogie main body to control the traveling drive device, and a first pressure-resistant housing the control device. An explosion-proof container, a battery capable of supplying power to the control device, a second explosion-proof container accommodating the battery, the control device and the battery outside the first and second explosion-proof containers. A connector having an explosion-proof structure for electrically connecting the battery with the controller, wherein the connector of the explosion-proof structure disconnects the electrical connection between the control device and the battery; and Electrically connecting the battery and the charger with an explosion-proof connector; charging the battery with the charger; and connecting the charger and the battery with the explosion-proof connector. Electrical A step of releasing the connection, is characterized in that and a step of electrically connecting the battery and the control unit by a connection device of the flameproof.

  Therefore, by charging the battery, the automatic guided vehicle can be continuously used, and the maintainability can be improved.

  ADVANTAGE OF THE INVENTION According to the automatic guided vehicle and the battery replacement method and the charging method of this invention, maintenance property can be improved.

FIG. 1 is a schematic diagram illustrating an automatic guided vehicle of the present embodiment. FIG. 2 is a schematic front view showing a battery mounting structure. FIG. 3 is a schematic side view showing a battery mounting structure. FIG. 4 is a schematic plan view showing a mounting structure of the battery. FIG. 5 is a schematic diagram illustrating a method of replacing a battery. FIG. 6 is a schematic diagram illustrating a method of replacing a battery. FIG. 7 is a schematic diagram illustrating a method of replacing a battery. FIG. 8 is a schematic diagram illustrating a method of replacing a battery. FIG. 9 is a schematic diagram illustrating a method of transporting a battery. FIG. 10 is a schematic diagram illustrating a method of charging a battery. FIG. 11 is a schematic diagram illustrating a first modification of the battery. FIG. 12 is a schematic diagram illustrating a second modification of the battery. FIG. 13 is a perspective view illustrating a distance measurement device. FIG. 14 is a cross-sectional view illustrating a distance measuring device and a pressure-resistant explosion-proof container. FIG. 15 is a cross-sectional view illustrating a speaker, a microphone, and an explosion-proof container.

  Hereinafter, preferred embodiments of an automatic guided vehicle, a battery replacement method, and a charging method according to the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited by the embodiments, and when there are a plurality of embodiments, the embodiments include a combination of the embodiments.

  The automatic guided vehicle of the present embodiment can be used, for example, in a flammable gas atmosphere (explosive atmosphere) environment (one type of dangerous place) in a production facility. Therefore, the automatic guided vehicle of the present embodiment has an explosion-proof structure. The explosion-proof structure has passed the standard for explosion-proof electric machines and appliances according to the factory electrical equipment explosion-proof guidelines.

  FIG. 1 is a schematic diagram illustrating an automatic guided vehicle of the present embodiment. In FIG. 1, the Y direction as the left-right direction is the left-right direction (width direction) of the automatic guided vehicle, the X direction perpendicular to the paper surface is the front-rear direction (longitudinal direction) of the automatic guided vehicle, and Is the vertical direction (height direction) of the automatic guided vehicle. The components and the arrangement of the automatic guided vehicle described below are merely examples, and can be changed as needed.

  The automatic guided vehicle of the present embodiment is a towing truck, and travels by towing a truck on which materials, parts, finished products, and the like are mounted. In addition, the automatic guided vehicle of the present invention is not limited to a towing vehicle, and the automatic guided vehicle itself may be capable of traveling by mounting materials, parts, finished products, and the like.

  In the present embodiment, as shown in FIG. 1, the automatic guided vehicle 10 includes a bogie main body 11, a traveling drive device 12, a control device 13, a pressure-resistant explosion-proof container (first pressure-resistant explosion-proof container) 14, and a battery 15. , An explosion-proof container (second explosion-proof container) 16 and an explosion-proof connector (explosion-proof connector) 17.

  The bogie main body 11 has a predetermined size and a rectangular flat plate shape. The traveling drive device 12 causes the carriage main body 11 to travel. The traveling drive device 12 has drive motors 21 and 22 having a pressure-resistant explosion-proof structure, and drive wheels 23 and 24. In the bogie main body 11, a pair of left and right brackets 25 and 26 having an L-shape are fixed to a lower surface below the Z direction. The drive motors 21 and 22 are fixed to brackets 25 and 26. The drive motors 21 and 22 are arranged such that the drive shafts 21a and 22a are parallel to the Y direction and linear in the Y direction. The drive motors 21 and 22 have drive wheels 23 and 24 connected to drive shafts 21 a and 22 a via power transmission mechanisms 27 and 28, respectively. The drive wheels 23 and 24 are made of a conductive material, and can roll on a floor G in a production facility factory. Although not shown, the bogie main body 11 is provided with a plurality of (for example, two) driven wheels formed on the lower surface separately from the driving wheels 23 and 24.

  Therefore, when the drive motors 12 and 22 are driven to rotate in the normal rotation direction at the same rotation speed, the traveling drive device 12 rotates the drive wheels 23 and 24 synchronously in one direction, and moves the bogie main body 11 along the X direction. Advance. When the traveling drive device 12 drives the drive motors 21 and 22 in the reverse direction at the same rotation speed, the drive wheels 23 and 24 rotate in the other direction, and the bogie main body 11 moves backward in the X direction. When the drive motor 21 and the drive motor 22 are driven and rotated at different rotation speeds, the drive drive device 12 rotates the drive wheel 23 and the drive wheel 24 at different speeds, so that the bogie main body 11 is on one side or the other in the Y direction. Turn to the side.

  The control device 13 drives and controls the drive motors 21 and 22 of the traveling drive device 12. Although not shown, the control device 13 includes a motor driver, an inverter, a controller, and the like. The explosion-proof container 14 is mounted and fixed on the carriage body 11. The explosion-proof container 14 is, for example, a metal box having a hollow shape, and is provided with a lid (not shown). The control device 13 is housed and fixed inside the explosion-proof container 14. The drive motors 21 and 22 and the control device 13 are connected by power lines (including signal lines) 31 and 32. The power lines 31 and 32 have one ends connected to the drive motors 21 and 22 and the other ends connected to the control device 13 through sleeves (for example, cable glands) 33 and 34 fixed to the explosion-proof container 14.

  The battery 15 is a rechargeable secondary battery, stores a predetermined amount of power, and can supply power to the control device 13. Note that the battery 15 may be a primary battery. The explosion-proof container 16 is mounted on the carriage body 11 and fixed. The pressure-resistant explosion-proof container 16 is, for example, a metal box having a hollow shape, and is provided with a lid (not shown). The battery 15 is housed and fixed inside the explosion-proof container 16. Indicator 41 displays the remaining charge amount stored in battery 15. An L-shaped bracket 42 is fixed to the upper part of the explosion-proof container 16. The explosion-proof container 43 is fixed to the bracket 42, and the indicator 41 is accommodated and fixed inside the explosion-proof container 43. Like the explosion-proof containers 14 and 16, the explosion-proof container 43 is a hollow metal box, for example, and is provided with a lid (not shown). The explosion-proof container 43 is provided with a display window 44 made of pressure-resistant glass, and the indicator 41 can be visually recognized through the display window 44 from outside. The battery 15 and the indicator 41 are connected by a power line (including a signal line) 45. The power line 45 has one end connected to the battery 15 through a sleeve 46 fixed to the explosion-proof container 16, and the other end connected to the indicator 41 through a sleeve 47 fixed to the explosion-proof container 43.

  The explosion-proof connector 17 electrically connects the controller 13 and the battery 15 outside the explosion-proof container 14 and the explosion-proof container 16. The explosion-proof connector 17 has an explosion-proof outlet (explosion-proof structure outlet) 51 and an explosion-proof plug (explosion-proof structure plug) 52. An L-shaped bracket 53 is fixed to the side of the explosion-proof container 16. The explosion-proof outlet 51 is fixed to the bracket 53. The explosion-proof outlet 51 allows a direct current to flow, and is connected to one end of a power line 54. The power line 54 is connected to the battery 15 through the inside of a sleeve 55 having the other end fixed to the explosion-proof container 16. The explosion-proof plug 52 allows a direct current to flow, and is connected to one end of a power line 56. The power line 56 is connected to the control device 13 through a sleeve 57 having the other end fixed to the explosion-proof container 14. The explosion-proof outlet 51 and the explosion-proof plug 52 are mechanically and electrically connectable. The explosion-proof plug 52 is inserted into and locked in the explosion-proof outlet 51 and is mechanically connected. At this time, the explosion-proof outlet 51 and the explosion-proof plug 52 are electrically connected. In this state, the power of the battery 15 can be supplied to the control device 13 via the explosion-proof connector 17 and the power lines 54 and 56. Although the explosion-proof outlet 51 is fixed to the explosion-proof container 16 via the bracket 53, it may be directly fixed to the explosion-proof container 16 or may be fixed or placed at another position such as the bogie main body 11. May be.

  The automatic guided vehicle 10 also includes, as auxiliary equipment, a magnetic sensor 61, a distance measuring device (laser radar finder) 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, a wireless device 67, A rotating light (Patrolite (registered trademark)) 68 is provided.

  The bogie main body 11 has a pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 71 fixed to the lower surface of one end in the Y direction. The magnetic sensor 61 is housed and fixed in the explosion-proof container 71. The magnetic sensor 61 detects a magnetic sheet 72 laid on the floor G. The magnetic sensor 61 and the control device 13 are connected by a power line (including a signal line) 73. One end of the power line 73 is connected to the magnetic sensor 61 through the inside of a sleeve 74 fixed to the explosion-proof container 71, and the other end is connected to the control device 13 through the inside of a sleeve 75 fixed to the explosion-proof container 14. You. The automatic guided vehicle 10 is not limited to the magnetic induction type including the magnetic sensor 61 and the magnetic sheet 72, but may be an electromagnetic induction type, an optical induction type, an image guidance type, an autonomous guidance type, or the like.

  The distance measuring device 62 detects an obstacle (for example, a worker or another automatic guided vehicle) when the automatic guided vehicle 10 travels. An L-shaped bracket 81 is fixed to the side of the explosion-proof container 14. An explosion-proof container (third explosion-proof container) 82 is fixed to the bracket 81, and the distance measuring device 62 is accommodated inside the explosion-proof container 82. The distance measuring device 62 and the control device 13 are connected by a power line (including a signal line) 83. One end of the power line 83 is connected to the distance measuring device 62 through a sleeve 84 fixed to the explosion-proof container 82, and the other end is connected to the control device 13 through a sleeve 85 fixed to the explosion-proof container 14. Is done. Although the distance measuring device 62 is fixed to the explosion-proof container 14 via the bracket 81, it may be provided to the explosion-proof container 14 or the bogie main body 11.

  The microphone and the speaker 63 have a sound collecting function of collecting surrounding sounds, and also have a sound generating function of emitting sounds to the surroundings. The flameproof container (third flameproof container) 86 is fixed to the flameproof container 82, and the microphone and the speaker 63 are housed inside the flameproof container 86. The microphone and speaker 63 and the control device 13 are connected by a power line (including a signal line) 87. One end of the power line 87 is connected to the microphone and the speaker 63 through a sleeve 88 fixed to the explosion-proof container 86, and the other end is connected to the control device 13 through a sleeve 89 fixed to the explosion-proof container 14. Is done.

  The operation device 64 has a plurality of operation switches that can be operated by an operator and outputs an operation signal to the control device 13. The operation switches include, for example, a travel start switch, a travel stop switch, a destination change switch, and the like. An L-shaped bracket 91 is fixed to the side of the explosion-proof container 14. An explosion-proof container (third explosion-proof container) 92 is fixed to the bracket 91, and the operating device 64 is housed inside the explosion-proof container 92. The operation device 64 and the control device 13 are connected by a power line (including a signal line) 93. The power line 93 has one end connected to the operation device 64 through a sleeve 94 fixed to the explosion-proof container 92, and the other end connected to the control device 13 through a sleeve 95 fixed to the explosion-proof container 14. You. Although the operating device 64 is fixed to the explosion-proof container 14 via the bracket 91, it may be provided on the explosion-proof container 14 or the bogie main body 11.

  The contact switch 65 stops the traveling of the automatic guided vehicle 10 when the automatic guided vehicle 10 comes into contact with an obstacle (for example, a worker or another automatic guided vehicle) during traveling. The explosion-proof container (third explosion-proof container) 96 is fixed to the bracket 91, and the contact switch 65 is housed inside the explosion-proof container 96. The contact switch 65 and the control device 13 are connected by a power line (including a signal line) 97. The power line 97 has one end connected to the contact switch 65 through a sleeve 98 fixed to the explosion-proof container 96, and the other end connected to the control device 13 through a sleeve 99 fixed to the explosion-proof container 14. Is done. Although the contact type switch 65 is fixed to the explosion-proof container 14 via the bracket 91, it may be provided on the explosion-proof container 14 and the bogie main body 11.

  The coupler 66 connects a bogie (not shown) towed by the automatic guided vehicle 10. The coupler 66 operates a hook by an actuator, for example. The coupler 66 is housed inside the explosion-proof container and is connected to the control device 13 by a power line (including a signal line) 101. The power line 101 has one end connected to the coupler 66 through a sleeve 102 fixed to the explosion-proof container, and the other end connected to the control device 13 through a sleeve 103 fixed to the explosion-proof container 14. . The coupler may be of a manual type.

  The wireless device 67 includes an explosion-proof antenna (an antenna having an explosion-proof structure) 111, and the control device 13 performs wireless communication with the outside. The flameproof container (third flameproof container) 112 is fixed to the upper part of the flameproof container 14, and the wireless device 67 is housed inside the flameproof container 112. The wireless device 67 is connected by a power line (including a signal line) 113. The power line 113 has one end connected to the wireless device 67 through a sleeve 114 fixed to the explosion-proof container 112, and the other end connected to the control device 13 through a sleeve 115 fixed to the explosion-proof container 14. You.

  The rotating lamp 68 lights or flashes when the automatic guided vehicle 10 is running or when an abnormality occurs. The explosion-proof container (third explosion-proof container) 116 is fixed to the upper part of the explosion-proof container 14, and the rotating lamp 68 is housed inside the explosion-proof container 116. The rotating lamp 68 is connected by a power line (including a signal line) 117. One end of the power line 117 is connected to the rotary lamp 68 through a sleeve 118 fixed to the explosion-proof container 116, and the other end is connected to the control device 13 through a sleeve 119 fixed to the explosion-proof container 14. You.

  In the present embodiment, the explosion-proof container 16 containing the battery 15 is detachable from the bogie main body 11. FIG. 2 is a schematic front view showing the mounting structure of the battery, FIG. 3 is a schematic side view showing the mounting structure of the battery, and FIG. 4 is a schematic plan view showing the mounting structure of the battery.

  As shown in FIGS. 2 to 4, the explosion-proof container 16 containing the battery 15 includes a substrate 121 having a rectangular flat plate shape, and a case main body 122 provided integrally on the substrate 121. The substrate 121 has a locking groove 123 formed on the lower surface, and positioning holes 124 and positioning grooves 125 formed diagonally on the upper surface. The case body 122 has a hollow shape, has a pressure-resistant explosion-proof structure, and the battery 15 is housed and fixed inside.

  The explosion-proof container 16 is fixed to the bogie main body 11 by a fixing device 130. The fixing device 130 includes positioning members 131 and 132 and fixing tools 133 and 134 provided on the carriage body 11. The positioning member 131 and the positioning member 132 are provided at diagonal positions on the upper surface of the bogie main body 11. The positioning member 131 is a positioning pin having a tapered upper end, and is fixed to the upper surface of the bogie main body 11. The positioning member 132 is a positioning pin longer than the positioning member 131, and is fixed to the upper surface of the bogie main body 11. The positioning member 131 and the positioning member 132 are provided at positions corresponding to the positioning holes 124 and the positioning grooves 125 provided in the substrate 121 of the explosion-proof container 16. The fixture 133 and the fixture 134 have the same configuration, and are provided at opposite sides of the bogie main body 11. The fixtures 133 and 134 are rotatably attached to the bogie main body 11 by attachment shafts 135 and 136.

  Therefore, when the amount of power stored in the battery 15 decreases or the battery 15 deteriorates due to long-term use, the battery 15 is replaced with a new one. In this case, the explosion-proof container 16 containing the battery 15 is removed from the cart body 11, and the explosion-proof container 16 containing the new battery 15 is attached to the cart body 11.

  5 to 9 are schematic diagrams illustrating a method of replacing a battery.

  As shown in FIG. 5, the automatic guided vehicle 10 is stopped at the battery replacement position, and the fixing device 130 is operated to release the restraint of the explosion-proof container 16 on the bogie main body 11. First, the fixtures 133 and 134 are rotated outward with the mounting shafts 135 and 136 as fulcrums. Next, as shown in FIGS. 6 and 9, the explosion-proof container 16 is raised using, for example, a forklift 140. The forklift 140 can travel with a plurality of drive wheels 141, and locks the fork 142 in the locking groove 123 of the explosion-proof container 16 to lift the explosion-proof container 16. At this time, as shown in FIGS. 7 and 9, the forklift 140 raises the pressure-resistant explosion-proof container 16 along the positioning members 131 and 132. When the explosion-proof container 16 moves above the positioning member 131 and the positioning hole 124 comes off the positioning member 131, the explosion-proof container 16 is horizontally moved by the forklift 140 as shown in FIGS. It is transported to a predetermined place. Then, the explosion-proof container 16 containing the new battery 15 is transported to the bogie main body 11 by the forklift 140, and the explosion-proof container 16 is attached to the bogie main body 11 in a procedure reverse to the above-described removal procedure. Here, the explosion-proof container 16 is moved using the forklift 140, but may be a crane, a jack, a winch or the like.

  Here, a method of charging the battery 15 will be described. FIG. 10 is a schematic diagram illustrating a method of charging a battery.

  As shown in FIG. 10, when the amount of power stored in the battery 15 decreases, the automatic guided vehicle 10 moves to a predetermined charging station 150 or moves by hand pushing. The charging station 150 is located in an explosion-proof area (a kind of dangerous place) and has a charger 151 having a pressure-resistant explosion-proof structure. The charger 151 has a plug 152 connected to an outlet of a commercial power supply (AC 100 V), and a tip end of a power line 153 connected to an explosion-proof plug 154. The explosion-proof plug 154 has the same structure as the explosion-proof plug 52.

  Therefore, when the charged amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 150 and stopped. At the charging station 150, first, the explosion-proof plug 52 is withdrawn from the explosion-proof outlet 51 of the explosion-proof connector 17 for mechanical connection and electrical connection between the explosion-proof outlet 51 and the explosion-proof plug 52. Disconnect. Next, the explosion-proof plug 154 of the charger 151 is inserted into the explosion-proof outlet 51 and locked, thereby making a mechanical and electrical connection. Here, the battery 15 is charged by the charger 151.

  Although the above-described charging station 150 is described as being provided in the explosion-proof area, when the charging station 150 is provided in the non-explosion-proof area (non-dangerous place), the charger 151 and the explosion-proof plug 154 are There is no need to use a flameproof structure.

  Further, the method of charging the battery 15 is not limited to the method described above. FIG. 11 is a schematic diagram illustrating a first modification of the battery, and FIG. 12 is a schematic diagram illustrating a second modification of the battery.

  In the first modification, the explosion-proof container 16 accommodates not only the battery 15 but also a charger 161, and the charger 161 is connected to the battery 15. An explosion-proof outlet 51 constituting the explosion-proof connector 17 is connected to one end of a power line 54, and the other end of the power line 54 is connected to a charger 161 through the inside of a sleeve 55 of the explosion-proof container 16. The charging station 162 is provided with a pressure-resistant explosion-proof plug 163. The plug 165 connected to the explosion-proof plug 163 via the power line 164 is connected to an outlet of a commercial power supply (AC 100 V).

  Therefore, when the charged amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 162 and stopped. At the charging station 162, first, the explosion-proof plug 52 is withdrawn from the explosion-proof outlet 51 of the explosion-proof connector 17 for mechanical connection and electrical connection between the explosion-proof outlet 51 and the explosion-proof plug 52. Disconnect. Next, the explosion-proof plug 163 is inserted into the explosion-proof outlet 51 and locked to provide mechanical and electrical connection. Here, the battery 15 is charged by the charger 161.

  In the second modification, the battery 15 is charged at a non-contact charging station 170. In the charging station 170, an explosion-proof container 172 is attached to a frame 171, and the explosion-proof container 172 is provided with a charging window 173 made of tempered glass. The non-contact power supply unit 174 is housed inside the flameproof explosion-proof container 172 and faces the charging window 173. On the other hand, the explosion-proof container 16 is provided with a charging window 175 made of tempered glass. The non-contact type power receiving unit 176 is housed inside the explosion-proof container 16, connected to the battery 15, and faces the charging window 175. The power supply unit 174 and the power reception unit 176 constitute a non-contact charger.

  Therefore, when the charged amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 170 and stopped. At this time, the power receiving unit 176 is made to face the power feeding unit 174. Here, non-contact charging from the power supply unit 174 to the power reception unit 176 is performed.

  Further, the distance measuring device 62 will be described in detail. FIG. 13 is a perspective view showing a distance measuring device, and FIG. 14 is a sectional view showing a distance measuring device and a pressure-resistant explosion-proof container.

  As shown in FIGS. 13 and 14, the distance measuring device 62 is provided with a light projecting unit 182 for projecting a laser and a light receiving unit 183 for receiving a laser on an upper part of a main body 181. In the distance measuring device 62, a partition member 184 is provided between the laser light emitted from the light emitting unit 182 and the laser light received by the light receiving unit 183. The partition member 184 is made of a material through which laser cannot pass. The partition member 184 has a ring shape, and is supported by the main body 181 via a support member 185. The partition member 184 is provided around a boundary between the light emitting unit 182 and the light receiving unit 183. The distance measuring device 62 is housed inside the explosion-proof container 82. The explosion-proof container 82 is configured by fixing a cylindrical case main body 188 between an upper support plate 186 and a lower support plate 187 having a disc shape. The case main body 188 is made of tempered glass. The partition member 184 has an inner peripheral portion that contacts the outer peripheral surface of the boundary between the light projecting unit 182 and the light receiving unit 183 of the distance measuring device 62, and an outer peripheral portion that contacts the inner peripheral surface of the case body 188.

  Therefore, the distance measuring device 62 emits the laser at an angle of about 200 degrees in the horizontal direction and about 30 degrees in the vertical direction, and the light-receiving section 183 similarly emits the laser at about 200 degrees in the horizontal direction. The laser is received at an angle of about 30 degrees in the vertical direction. At this time, the laser beam emitted by the light projecting unit 182 is reflected on the inner surface of the case main body 188 partially formed of tempered glass and returns to the light projecting unit 182. Since the light projecting unit 182 projects the laser beam at a predetermined spread angle in the horizontal direction and the vertical direction, the light receiving unit 183 may receive the laser beam reflected by the case main body 188. However, in the present embodiment, a partition member 184 is provided between the light projecting unit 182 and the light receiving unit 183. Part of the laser beam emitted from the light projecting unit 182 and reflected by the case main body 188 is blocked by the partition member 184 and is not received by the light receiving unit 183.

  Further, the speaker and the microphone will be described in detail. FIG. 15 is a cross-sectional view illustrating a speaker, a microphone, and an explosion-proof container.

  As shown in FIG. 15, the pressure-resistant explosion-proof container 86 has a main body 191 having a cylindrical shape. The main body 191 is fixed at one end to a sleeve 88 into which a power line (including a signal line) 87 is inserted. In the main body 191, a wire netting portion 192 is fixed to the other end, and a radial reinforcing portion 193 is fixed. The wire netting portion 192 and the reinforcing portion 193 are provided at a predetermined distance, and have a structure through which sound can pass. The microphone and the speaker 63 are accommodated and fixed inside the explosion-proof container 86. The microphone and the speaker 63 are provided with a sound collection unit and a sound generation unit facing the wire netting unit 192. Note that only a microphone or a speaker may be provided. In this case, the microphone and the speaker may be independently housed in another explosion-proof container.

  Therefore, since the microphone and the speaker 63 are housed in the explosion-proof container 86 having the wire netting portion 192 and the reinforcing portion 193, the explosion-proof structure can be achieved. In addition, the microphone and the speaker 63 can collect surrounding sounds through the wire mesh 192 and emit sounds to the surroundings through the wire mesh 192.

  As described above, in the automatic guided vehicle of the present embodiment, the bogie main body 11, the traveling drive device 12 that runs the bogie main body 11, the control device 13 that is mounted on the bogie main body 11 and controls the traveling drive device 12 includes: , An explosion-proof container 14 containing the control device 13, a battery 15 mounted on the carriage body 11, an explosion-proof container 16 containing the battery 15, and the control device 13 outside the explosion-proof container 14 and the explosion-proof container 16. And a battery 15 for electrically connecting the battery and the battery 15.

  Therefore, the control device 13 is accommodated in the explosion-proof container 14, the battery 15 is accommodated in the explosion-proof container 16, and the control device 13 and the battery 15 are electrically connected by the explosion-proof connector 17. Connection and disconnection of the battery 13 and the battery 15 in an explosive atmosphere become possible, and the automatic guided vehicle 10 can be used in an explosive atmosphere. Since the control device 13 and the battery 15 are housed in different explosion-proof containers 14 and 16, when the battery 15 is replaced, only the explosion-proof container 16 needs to be maintained, and the maintenance of the explosion-proof container 16 becomes unnecessary. The maintainability can be improved.

  Specifically, by adopting a pressure-resistant explosion-proof structure, it is not necessary to secure and check the airtightness necessary for the internal pressure explosion-proof structure, and it is not necessary to perform ground management. In addition, by using the explosion-proof connector 17, the workability of replacing the battery 15 is improved, and the workability of charging the battery 15 is improved, so that the burden of user work can be reduced.

  In the automatic guided vehicle of the present embodiment, as the explosion-proof connector 17, an explosion-proof outlet 51 connected to the battery 15 via the power line 54 and an explosion-proof connector connected to the control device 13 via the power line 56. When the plug 52 is provided, and the pressure-resistant explosion-proof outlet 51 and the pressure-resistant explosion-proof plug 52 are mechanically connected, the power of the battery 15 is supplied to the control device 13. Therefore, when the explosion-proof outlet 51 and the explosion-proof plug 52 are mechanically connected, the electric power of the battery 15 is supplied to the control device 13, and the connection between the battery 15 and the control device 13 in an explosive atmosphere is performed. And cutting can be performed safely.

    In the automatic guided vehicle of the present embodiment, the battery 15 is a secondary battery. Therefore, by charging when the charged amount of the battery 15 decreases, the battery 15 can be continuously used without being replaced.

  In the automatic guided vehicle of this embodiment, the explosion-proof plug 154 of the charger 151 can be connected to the explosion-proof outlet 51. Therefore, the battery 15 can be easily and safely charged.

  In the automatic guided vehicle of the present embodiment, a charger 161 connected to the battery 15 is provided inside the explosion-proof container 16. Therefore, the battery 15 can be easily and safely charged.

  In the automatic guided vehicle of the present embodiment, a power receiving unit 176 of a non-contact type charger connected to the battery 15 is provided inside the explosion-proof container 16. Therefore, the battery 15 can be easily and safely charged.

  In the automatic guided vehicle of the present embodiment, a fixing device 130 for detachably fixing the explosion-proof container 14 to the carriage main body 11 is provided. Therefore, by making the explosion-proof container 16 detachable from the bogie main body 11, the battery 15 can be easily replaced.

  In the automatic guided vehicle of the present embodiment, positioning members 131 and 132 for positioning the explosion-proof container 16 with respect to the bogie main body 11 and fixing members 133 and 133 for fixing the explosion-proof container 16 to the bogie main body 11 are used as the fixing device 130. 134 is provided. Therefore, after positioning the explosion-proof container 16 on the bogie main body 11 by the positioning members 131 and 132, the explosion-proof container 16 can be fixed to the bogie main body 11 by the fixtures 133 and 134. 16 can be easily fixed.

  In the automatic guided vehicle of the present embodiment, a magnetic sensor 61 as an auxiliary device, a distance measuring device 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, a wireless device 67, and a rotating light 68 are accommodated. The explosion-proof containers 71, 82, 86, 92, 96, 112 and 116 are mounted on the bogie main body 11, and the control device is provided outside the explosion-proof containers 14 and 71, 82, 86, 92, 96, 112 and 116. 13 and a magnetic sensor 61, a distance measuring device 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, a wireless device 67, and a rotating light 68 are electrically connected. Therefore, the magnetic sensor 61, the distance measuring device 62, the microphone and the speaker 63, the operating device 64, the contact switch 65, the coupler 66, the wireless device 67, and the rotating light 68 as auxiliary equipment can be securely mounted on the bogie main body 11. it can.

  In the automatic guided vehicle of the present embodiment, a microphone and a speaker 63 are provided as auxiliary equipment, and a wire mesh portion 192 is provided in a part of the explosion-proof container 86. Therefore, while the microphone and the speaker 63 can have a pressure-resistant explosion-proof structure, a sound collecting function and a sound generating function can be secured.

  In the automatic guided vehicle of the present embodiment, a distance measuring device 62 having a light projecting unit 182 that emits a laser and a light receiving unit 183 that receives a laser is provided as an auxiliary device. A partition member 184 is provided between the laser beam received by the light receiving section 183 and the laser beam. Therefore, when the laser light emitted from the light emitting unit 182 is reflected on the inner surface of the pressure-resistant explosion-proof container 82, the reflected laser is blocked by the partition member 184, and the light reception by the light receiving unit 183 can be suppressed. It is possible to suppress a decrease in measurement accuracy due to the measurement 62.

  In the automatic guided vehicle of the present embodiment, a connector 66 for connecting a truck towed to the truck body 11 is provided. Therefore, since the bogie main body 11 pulls another bogie through the coupler 66, it is possible to mount the explosion-proof containers 14 and 16 on the bogie main body 11 without loading luggage, thereby increasing the weight of the bogie. The running stability of the main body 11 can be improved.

  In the automatic guided vehicle of the present embodiment, the step of disconnecting the electrical connection between the control device 13 and the battery 15 by the explosion-proof connector 17 and the charging of the explosion-proof container 16 containing the battery 15 are completed. And a step of electrically connecting the controller 13 and the charged battery 15 by the explosion-proof connector 17. Therefore, by replacing the battery 15, the automatic guided vehicle 10 can be continuously used, and the maintainability can be improved.

  In the automatic guided vehicle of the present embodiment, the step of disconnecting the electrical connection between the control device 13 and the battery 15 by the explosion-proof connector 17 and the step of disconnecting the battery 15 and the explosion-proof by the explosion-proof connector 17. A step of electrically connecting the plugs 154 and 163, a step of charging the battery 15, and a step of disconnecting the electrical connection between the explosion-proof plugs 154 and 163 and the battery 15 by the explosion-proof connector 17; And a step of electrically connecting the control device 13 and the battery 15 by the explosion-proof connector 17. Therefore, by charging the battery 15, the automatic guided vehicle 10 can be continuously used, and the maintainability can be improved.

  In the above-described embodiment, the explosion-proof container containing the battery 15 is mounted on the bogie main body 11. However, the explosion-proof container containing the battery 15 is mounted on another bogie and connected to the bogie main body 11. Is also good.

DESCRIPTION OF SYMBOLS 10 Automatic guided vehicle 11 Bogie main body 12 Travel drive device 13 Control device 14 Explosion-proof container (1st explosion-proof container)
15 Battery 16 Flameproof container (second Flameproof container)
21, 22 Drive motor 23, 24 Drive wheel 41 Indicator 43 Explosion-proof container 44 Display window 51 Explosion-proof outlet 52 Explosion-proof plug 61 Magnetic sensor 62 Distance measuring device 63 Microphone and speaker 64 Operating device 65 Contact switch 66 Coupler 67 Radio equipment 68 Rotating light 71, 82, 86, 92, 96, 112, 116 Flameproof container (third flameproof container)
72 Magnetic sheet 111 Explosion-proof antenna 121 Substrate 122 Case main body 123 Locking groove 124 Positioning hole 125 Positioning groove 130 Fixing device 131, 132 Positioning member 133, 134 Fixing device 135, 136 Mounting shaft 140 Forklift 150, 162, 170 Charging station 151,161 Charger 154,163 Explosion-proof plug 172 Explosion-proof container 174 Power supply unit (non-contact type charger)
176 power receiving unit (contactless charger)
182 Light emitting part 183 Light receiving part 184 Partition member 192 Wire mesh part 193 Reinforcing part

Claims (14)

The bogie body,
A traveling drive device for traveling the carriage body,
A control device mounted on the bogie main body to control the traveling drive device;
A first explosion-proof container containing the control device;
A battery capable of supplying power to the control device;
A second explosion-proof container containing the battery;
A connector having an explosion-proof structure for electrically connecting the control device and the battery outside the first explosion-proof container and the second explosion-proof container;
An automatic guided vehicle characterized by comprising:   The explosion-proof connector has an explosion-proof outlet connected to the battery via a power line, and an explosion-proof plug connected to the controller via a power line. 2. The automatic guided vehicle according to claim 1, wherein the power of the battery is supplied to the control device when an outlet having a structure and a plug having the explosion-proof structure are mechanically connected. 3.   The automatic guided vehicle according to claim 1, wherein the battery is a secondary battery.   The automatic guided vehicle according to claim 3, wherein a plug of a charger can be connected to the connector having the explosion-proof structure.   4. The automatic guided vehicle according to claim 3, wherein a charger connected to the secondary battery is provided in the second explosion-proof container. 5.   4. The automatic guided vehicle according to claim 3, wherein the second explosion-proof container is provided with a power receiving unit of a non-contact type charger connected to the secondary battery. 5.   The automatic guided vehicle according to any one of claims 1 to 6, further comprising a fixing device that detachably fixes the second explosion-proof container to the bogie main body.   The said fixing device has a positioning member which positions the said 2nd explosion-proof container with respect to the said bogie main body, and the fixing tool which fixes the said 2nd explosion-proof container to the said bogie main body, The Claims characterized by the above-mentioned. 8. The automatic guided vehicle according to 7.   A third explosion-proof container accommodating an auxiliary device is provided, and the control device and the auxiliary device are electrically connected outside the first and third explosion-proof containers. An automatic guided vehicle according to any one of claims 1 to 8.   10. The automatic guided vehicle according to claim 9, wherein the auxiliary device is at least one of a microphone and a speaker, and a wire mesh portion is provided in a part of the third explosion-proof container.   The auxiliary device is a distance measuring device having a light emitting unit that emits a laser and a light receiving unit that receives the laser, and the distance measuring device is configured such that the laser emitted from the light emitting unit and the light receiving unit are The automatic guided vehicle according to claim 9, wherein a partition member is provided between the automatic guided vehicle and the laser beam to be received.   The automatic guided vehicle according to any one of claims 1 to 11, wherein the bogie main body is provided with a coupler for coupling a towed bogie. The bogie body,
A traveling drive device for traveling the carriage body,
A control device mounted on the bogie main body to control the traveling drive device;
A first explosion-proof container containing the control device;
A battery capable of supplying power to the control device;
A second explosion-proof container containing the battery;
A connector having an explosion-proof structure for electrically connecting the control device and the battery outside the first explosion-proof container and the second explosion-proof container;
In an automatic guided vehicle equipped with
Disconnecting the electrical connection between the control device and the battery by the explosion-proof connector,
Replacing the second explosion-proof container housing the battery with a second explosion-proof container housing a charged battery;
Electrically connecting the control device and the charged battery with the explosion-proof connector,
A method for replacing a battery, comprising: The bogie body,
A traveling drive device for traveling the carriage body,
A control device mounted on the bogie main body to control the traveling drive device;
A first explosion-proof container containing the control device;
A battery capable of supplying power to the control device;
A second explosion-proof container containing the battery;
A connector having an explosion-proof structure for electrically connecting the control device and the battery outside the first explosion-proof container and the second explosion-proof container;
In an automatic guided vehicle equipped with
Disconnecting the electrical connection between the control device and the battery by the explosion-proof connector,
Electrically connecting the battery and the charger by the explosion-proof connector,
Charging the battery with the charger;
Releasing the electrical connection between the charger and the battery by the explosion-proof connector,
Electrically connecting the control device and the battery with the explosion-proof connector,
A method for charging a battery, comprising:

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