JP2021090243A - Charging system - Google Patents

Abstract

To provide a charging system capable of accommodating positional displacement of a traveling body with respect to a charging device.SOLUTION: A charging device 4 comprises: a charger 22 which charges a battery 5; an electrode part 27 including a positive electrode charging electrode terminal 25 and a negative electrode charging electrode terminal 26 electrically connected with the charger 22; a telescopic boom 28 which is attached to the electrode part 27 and extensible/contractible in a lateral direction that is vertical to a travel direction of an unmanned carrier 2; and a drive motor 16 and a drive mechanism 29 for performing an extending/contracting operation of the telescopic boom 28. The positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are arrayed in a height direction that is vertical to the travel direction and the lateral direction. The unmanned carrier 2 comprises a power receiving unit 6 which is electrically connected with the battery 5 and includes a positive electrode power receiving section 37 in contact with the positive electrode charging electrode terminal 25 and a negative electrode power receiving section 38 in contact with the negative electrode charging electrode terminal 26, and the positive electrode power receiving section 37 and the negative electrode power receiving section 38 are arrayed in the height direction and extend in the travel direction.SELECTED DRAWING: Figure 2

Description

The present invention relates to a charging system.

For example, Patent Document 1 describes a charging system that automatically charges a battery of an automatic guided vehicle that travels along a predetermined travel path. The charging system described in Patent Document 1 includes an automatic charging device installed in a traveling path. The automatic charging device includes a charging device main body and a charger that supplies a charging current to the battery of an automatic guided vehicle. The main body of the charging device is held by a telescopic boom extending in a direction perpendicular to the traveling path, a drive mechanism for expanding and contracting the telescopic boom, a holding portion attached to the tip of the telescopic boom, and the holding portion. It is provided with a charging side electrode terminal that is connected to the charger via an electric wire and engages with a vehicle side electrode terminal of an automatic guided vehicle, and a wheel that is rotatably supported by a holding portion via a support plate. There is.

Japanese Unexamined Patent Publication No. 2009-278775

By the way, in the automatic traveling of an automatic guided vehicle (traveling body) as in the above-mentioned conventional technique, the stopping accuracy of the automatic guided vehicle varies depending on the road surface condition of the traveling route and the like. Therefore, the stop position of the automatic guided vehicle with respect to the automatic charging device. May shift.

An object of the present invention is to provide a charging system capable of absorbing a displacement of a traveling body with respect to a charging device.

One aspect of the present invention is a charging system including a charging device installed in a traveling path on which the traveling body travels and charging the battery mounted on the traveling body. In the charging system, the charging device charges the battery. A device, an electrode portion having a positive electrode charging electrode terminal and a negative electrode charging electrode terminal electrically connected to the charger, and a second direction attached to the electrode portion and perpendicular to the first direction corresponding to the traveling direction of the traveling body. A telescopic member that can be expanded and contracted and a drive unit that expands and contracts the elastic member are provided, and the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are arranged in a third direction perpendicular to the first and second directions. The traveling body includes a power receiving unit that is electrically connected to the battery and has a positive electrode power receiving unit that contacts the positive electrode charging electrode terminal and a negative electrode power receiving unit that contacts the negative electrode charging electrode terminal. It is arranged in the third direction and extends in the first direction.

In such a charging system, when the traveling body stops in the charging area where the charging device is installed, the expansion / contraction member is directed toward the traveling body by the drive unit and is perpendicular to the first direction corresponding to the traveling direction of the traveling body. By extending in the direction, the positive electrode charging electrode terminal and the negative electrode charging electrode terminal come into contact with the positive electrode power receiving portion and the negative electrode power receiving portion, respectively. Then, the charger and the battery are electrically connected, and the battery is charged by the charger. Here, since the telescopic member extends in the second direction toward the traveling body, the displacement of the traveling body in the second direction with respect to the charging device is absorbed. Further, the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are arranged in the third direction perpendicular to the first direction and the second direction. Further, the positive electrode power receiving unit and the negative electrode power receiving unit are arranged in the third direction and extend in the first direction. Therefore, the contact range between the positive electrode charging electrode terminal and the negative electrode charging electrode terminal and the positive electrode power receiving portion and the negative electrode power receiving portion becomes wider in the first direction. Therefore, the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are likely to come into contact with the positive electrode power receiving portion and the negative electrode power receiving portion in the first direction, respectively. As a result, the displacement of the traveling body in the first direction with respect to the charging device is absorbed.

The charging device may further include wheels that are rotatably supported by the electrode portion via an elastic body and receive the load of the electrode portion in the third direction. In such a configuration, since the load of the electrode portion is supported by the wheels, the displacement of the traveling body in the third direction with respect to the charging device is absorbed. Further, the elastic body facilitates the reciprocating movement of the positive electrode charging electrode terminal and the negative electrode charging electrode terminal in the third direction. Therefore, the displacement of the traveling body in the third direction with respect to the charging device is further absorbed.

The wheels may be free wheels that can move in all directions. In such a configuration, the telescopic member tends to bend along the first direction with the base end portion of the telescopic member as a fulcrum, so that the electrode portion easily moves along the first direction. As a result, the displacement of the traveling body in the first direction with respect to the charging device is further absorbed. In addition, the deviation of the posture of the traveling body with respect to the charging device is also absorbed.

The electrode portion has a tapered housing in which the length dimension in the third direction decreases toward the tip, and the positive electrode charging electrode terminal and the negative electrode charging electrode terminal project from the tip surface of the housing. The power receiving unit has a unit main body that fits with the housing, and the positive electrode power receiving portion and the negative electrode power receiving portion may be arranged inside the unit main body. In such a configuration, when the telescopic member extends in the second direction toward the traveling body, the housing fits into the unit body, so that the displacement of the traveling body in the third direction with respect to the charging device is absorbed.

A wall portion extending in the first direction is projected between the positive electrode power receiving portion and the negative electrode power receiving portion on the front end surface of the unit body, and the wall portion is formed of an insulator to form a housing. A groove portion extending in the first direction and fitting with the wall portion may be provided between the positive electrode charging electrode terminal and the negative electrode charging electrode terminal on the tip surface. In such a configuration, even if metal fragments, water, or the like adhere to the unit body, the wall portion formed of the insulator prevents a short circuit between the positive electrode power receiving portion and the negative electrode power receiving portion.

The electrode portion includes a holding body arranged inside the housing and a spring arranged between the housing and the holding body to urge the positive electrode charging electrode terminal and the negative electrode charging electrode terminal to the tip end side of the housing. The positive electrode charging electrode terminal and the negative electrode charging electrode terminal may be fixed to one of the holding body and the housing, and the telescopic member may be fixed to the other of the holding body and the housing. In such a configuration, when the elastic member extends in the second direction toward the traveling body and the positive electrode charging electrode terminal and the negative electrode charging electrode terminal come into contact with the positive electrode power receiving portion and the negative electrode power receiving portion, respectively, the positive electrode charging electrode terminal and the negative electrode charging electrode terminal and the negative electrode charging electrode terminal and the negative electrode charging electrode terminal come into contact with each other. The negative electrode charging electrode terminal recedes toward the base end side of the housing against the urging force of the spring. Therefore, since the impact when the positive electrode charging electrode terminal and the negative electrode charging electrode terminal come into contact with the positive electrode power receiving portion and the negative electrode power receiving portion, respectively, is absorbed, damage to the positive electrode charging electrode terminal and the negative electrode charging electrode terminal is prevented.

In the charging system, the arrival detection unit that detects whether the vehicle has reached the charging area where the charging device is installed, the positive electrode charging electrode terminal contacts the positive electrode power receiving unit, and the negative electrode charging electrode terminal contacts the negative electrode power receiving unit. When the contact detection unit that detects whether or not the vehicle has reached the charging area and the arrival detection unit detect that the traveling body has reached the charging area, the drive unit is controlled so as to extend the telescopic member, and then the contact detection unit charges the positive electrode. When it is detected that the electrode terminal comes into contact with the positive electrode power receiving part and the negative electrode charging electrode terminal comes into contact with the negative electrode power receiving part, the drive part is controlled so as to stop the extension of the telescopic member, and then the battery is charged by the charger. When this is completed, an expansion / contraction control unit that controls the drive unit so as to contract the expansion / contraction member is further provided, a contact detection unit is provided in the charging device, and the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are spring urging forces. It may be a sensor that detects whether or not it has retracted to the base end side of the housing against the above. With such a configuration, it is possible to easily and inexpensively detect whether or not the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are in contact with the positive electrode power receiving portion and the negative electrode power receiving portion, respectively.

According to the present invention, it is possible to absorb the displacement of the traveling body with respect to the charging device.

It is a schematic block diagram which shows the charging system which concerns on one Embodiment of this invention. It is a block diagram which shows schematic structure of the automatic guided vehicle and the charging device shown in FIG. It is a schematic perspective view of the automatic guided vehicle shown in FIG. It is a flowchart which shows the procedure of the control processing executed by the controller of the automatic guided vehicle shown in FIG. It is a side view of the charging device shown in FIG. It is the schematic of the electrode part shown in FIG. It is a perspective view of the electrode part shown in FIG. It is a flowchart which shows the procedure of the control process executed by the controller of the charging device shown in FIG. It is a top view which shows the position deviation in the traveling direction and the lateral direction of the automatic guided vehicle with respect to a charging device. It is a side view which shows the misalignment in the height direction of an automatic guided vehicle with respect to a charging device. It is a top view which shows the posture deviation of the automatic guided vehicle with respect to a charging device. It is a perspective view which shows typically the electrode part and the power receiving unit as a comparative example. FIG. 5 is a plan view showing a state in which the telescopic boom shown in FIG. 5 bends along the traveling direction. It is a schematic block diagram which shows the modification of the automatic guided vehicle and the charging device shown in FIG.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the figure, the same or equivalent elements are designated by the same reference numerals, and duplicate description will be omitted.

FIG. 1 is a schematic configuration diagram showing a charging system according to an embodiment of the present invention. In FIG. 1, the charging system 1 of the present embodiment is a system that automatically charges the battery 5 (see FIG. 2) mounted on the automatic guided vehicle 2 unmanned. The automatic guided vehicle 2 is, for example, a traveling body that automatically travels along a predetermined loop-shaped traveling path 3 in a factory.

The charging system 1 includes a charging device 4 installed on the traveling path 3. The charging device 4 is installed in the charging area A for charging. The charging device 4 is mounted on the road surface of the traveling path 3.

FIG. 2 is a block diagram schematically showing the configurations of the automatic guided vehicle 2 and the charging device 4. In FIG. 2, the automatic guided vehicle 2 includes a battery 5, a power receiving unit 6, a traveling motor 7, a light emitter 8, a communication unit 9, and a controller 10. Further, the automatic guided vehicle 2 includes a vehicle body 11 and a plurality of wheels 12 as shown in FIG. The battery 5, the power receiving unit 6, the traveling motor 7, the light emitter 8, the communication unit 9, and the controller 10 are mounted on the vehicle body 11.

The power receiving unit 6 is attached to one side of the vehicle body 11. The power receiving unit 6 is a unit that receives electric power from the charging device 4. The power receiving unit 6 is electrically connected to the battery 5 via electric wires 13 and 14. The power receiving unit 6 will be described in detail later.

The traveling motor 7 is a motor that rotationally drives the wheels 12 with the electric power stored in the battery 5. The light emitter 8 irradiates the laser beam toward the side of the automatic guided vehicle 2. The communication unit 9 has a transmission / reception antenna 9a and performs wireless communication with the communication unit 20 (described later) of the charging device 4.

The controller 10 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The controller 10 controls the light emitter 8 so as to irradiate the laser beam from the light emitter 8. Further, the controller 10 controls the traveling motor 7 so that the automatic guided vehicle 2 travels along the traveling path 3.

FIG. 4 is a flowchart showing a procedure of control processing of the traveling motor 7 executed by the controller 10. This process is executed when the battery 5 is charged by the charging device 4 while the automatic guided vehicle 2 is traveling.

In FIG. 4, the controller 10 first determines whether charging of the battery 5 is requested (procedure S101). At this time, it may be determined whether or not the battery 5 is requested to be charged, for example, based on an instruction signal from a host system (not shown), or based on the voltage value of the battery 5 measured by a voltmeter. It may be done based on.

The controller 10 repeatedly executes the procedure S101 until it is determined that the battery 5 has been requested to be charged. When the controller 10 determines that the battery 5 is requested to be charged, the controller 10 controls the traveling motor 7 so as to stop the automatic guided vehicle 2 in the charging area A (procedure S102).

After that, the controller 10 determines whether or not the start permission command signal (described later) from the charging device 4 has been received via the communication unit 9 (procedure S103). The controller 10 repeatedly executes the procedure S103 until it is determined that the start permission command signal from the charging device 4 has been received. When the controller 10 determines that the start permission command signal from the charging device 4 has been received, the controller 10 controls the traveling motor 7 so as to restart the traveling of the automatic guided vehicle 2 (procedure S104).

Returning to FIG. 2, the charging device 4 includes a device main body 15, a drive motor 16, a receiver 17, a limit switch 18, a voltage sensor 19, a communication unit 20, and a controller 21.

As shown in FIGS. 2 and 5, the apparatus main body 15 has a charger 22 that charges the battery 5 by supplying a charging current to the battery 5, and electricity is supplied to the charger 22 via the wires 23 and 24. An electrode portion 27 having a positive electrode charging electrode terminal 25 and a negative electrode charging electrode terminal 26 connected to each other, and two telescopic booms attached to the electrode portion 27 and expandable and contractible in a direction perpendicular to the traveling direction of the unmanned transport vehicle 2. 28, a drive mechanism 29 for expanding and contracting the expansion / contraction boom 28, and wheels 30 rotatably supported by the electrode portion 27 are provided.

The traveling direction of the automatic guided vehicle 2 (hereinafter, simply referred to as the traveling direction) corresponds to the first direction (X direction). The direction perpendicular to the traveling direction is the lateral direction (hereinafter, simply referred to as the lateral direction) with respect to the automatic guided vehicle 2, and corresponds to the second direction (Y direction).

The electrode portion 27 is attached to the tip end portion of each telescopic boom 28. As shown in FIG. 6, the electrode portion 27 has a housing 31, a holding body 32 arranged in the housing 31, and a spring 33 arranged between the housing 31 and the holding body 32. Have. The housing 31 and the holding body 32 are made of an insulating material such as resin.

A positive electrode charging electrode terminal 25 and a negative electrode charging electrode terminal 26 are fixed to the holding body 32. Specifically, the holding body 32 includes two fixing plates 32a and 32b arranged in the vertical direction of the charging device 4 and a connecting plate 32c for connecting the fixing plates 32a and 32b to each other. The vertical direction (hereinafter, simply referred to as the vertical direction) of the charging device 4 corresponds to a third direction (Z direction) perpendicular to the traveling direction and the lateral direction.

The positive electrode charging electrode terminal 25 is projected from the center of the fixing plate 32a. The negative electrode charging electrode terminal 26 projects from the center of the fixing plate 32b. Therefore, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are arranged in the vertical direction. At this time, the positive electrode charging electrode terminal 25 is arranged above the electrode portion 27, and the negative electrode charging electrode terminal 26 is arranged below the electrode portion 27.

As shown in FIG. 7, the housing 31 has a tapered shape such that the length dimension in the vertical direction decreases toward the tip. The housing 31 has an upper surface 31a, a lower surface 31b, two side surfaces 31c, and a tip surface 31d. In FIG. 6, the housing 31 is shown in a simplified manner.

The upper surface 31a and the lower surface 31b have a rectangular shape. The upper surface 31a and the lower surface 31b are tapered surfaces such that the distance between the upper surface 31a and the lower surface 31b gradually decreases from the base end of the housing 31 toward the tip end surface 31d. The side surface 31c has a trapezoidal shape. The side surfaces 31c are arranged parallel to each other. That is, each side surface 31c is not a tapered surface such that the distance between each side surface 31c gradually decreases from the base end of the housing 31 toward the tip end surface 31d side.

The tip surface 31d has a rectangular shape. Two through holes (not shown) through which the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 pass are provided on the tip surface 31d side by side in the vertical direction. Therefore, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 project from the tip surface 31d.

A groove portion 34 having a V-shaped cross section extending in the traveling direction is provided at the central portion of the tip surface 31d in the vertical direction. Therefore, the groove 34 is arranged between the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26.

As shown in FIG. 6, a fixing plate 35 is provided at the base end portion of the housing 31. The fixing plate 35 is a part of the housing 31. The spring 33 is arranged between the connecting plate 32c and the fixing plate 35. The spring 33 urges the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 toward the tip end side of the housing 31 by urging the holding body 32 toward the tip end side of the housing 31.

The telescopic boom 28 is a telescopic member fixed to the upper end and the lower end of the housing 31. The drive mechanism 29 includes, for example, a rack fixed to the telescopic boom 28 and a pinion screwed with the rack. Further, the drive mechanism 29 may have a chain hung on two sprockets, and the telescopic boom 28 may be fixed to the chain. The drive mechanism 29 constitutes a drive unit that expands and contracts the telescopic boom 28 in cooperation with the drive motor 16.

As shown in FIG. 5, the wheel 30 is rotatably supported by the housing 31 via an elastic body 36. The elastic body 36 is a damper, a spring, or the like, and is arranged between the electrode portion 27 and the wheel 30. The wheel 30 is a caster wheel (free wheel) that can move in all directions (front-back, left-right direction). The wheel 30 receives the load of the electrode portion 27 in the vertical direction and transmits it to the floor surface.

As shown in FIG. 3, the power receiving unit 6 has a positive electrode power receiving unit 37 that contacts the positive electrode charging electrode terminal 25 and a negative electrode power receiving unit 38 that contacts the negative electrode charging electrode terminal 26. The positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 are electrically connected to the battery 5 via the electric wires 13 and 14, respectively.

Further, the power receiving unit 6 has a unit main body 39 that fits with the housing 31 of the electrode portion 27. The unit main body 39 has an upper surface 39a, a lower surface 39b, two side surfaces 39c, and a tip surface 39d. The upper surface 39a and the lower surface 39b are arranged parallel to each other. The side surfaces 39c are arranged parallel to each other. The tip surface 39d faces the tip surface 31d of the housing 31.

The positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 are arranged inside the unit main body 39. The positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 are arranged in the vertical direction. At this time, the positive electrode power receiving unit 37 is arranged on the upper side of the power receiving unit 6, and the negative electrode power receiving unit 38 is arranged on the lower side of the power receiving unit 6.

The positive electrode power receiving unit 37 has a power receiving port 37a opened on the tip surface 39d. The negative electrode power receiving unit 38 has a power receiving port 38a opened on the tip surface 39d. The power receiving ports 37a and 38a have a rectangular cross section. The power receiving ports 37a and 38a extend in the traveling direction. Therefore, the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 extend in the traveling direction.

An upper wall portion 40 extending in the traveling direction is provided at the upper end portion of the tip surface 39d of the unit main body 39. The upper wall portion 40 is tapered toward the tip end side of the unit main body 39. The outer wall surface of the upper wall portion 40 is a part of the upper surface 39a of the unit main body 39. The inner wall surface of the upper wall portion 40 is a tapered surface 40a that engages with the upper surface 31a of the housing 31.

A lower wall portion 41 extending in the traveling direction is provided at the lower end portion of the front end surface 39d of the unit main body 39. The lower wall portion 41 is tapered toward the tip end side of the unit main body 39. The outer wall surface of the lower wall portion 41 is a part of the lower surface 39b of the unit main body 39. The inner wall surface of the lower wall portion 41 is a tapered surface 41a that engages with the lower surface 31b of the housing 31.

A wall portion 42 for preventing a short circuit extending in the traveling direction is projected from the central portion of the tip surface 39d of the unit main body 39 in the vertical direction. The wall portion 42 is provided between the positive electrode power receiving portion 37 and the negative electrode power receiving portion 38 in the unit main body 39. The wall portion 42 has a mountain-shaped cross section. The groove portion 34 provided in the housing 31 fits with the wall portion 42.

The region between the upper wall portion 40 and the wall portion 42 is the positive electrode power receiving region 43. Both ends of the positive electrode power receiving region 43 in the traveling direction are open. That is, wall portions forming a part of the side surface 39c of the unit main body 39 are not provided at both ends of the positive electrode power receiving region 43 in the traveling direction. The region between the lower wall portion 41 and the wall portion 42 is the negative electrode power receiving region 44. Both ends of the negative electrode power receiving region 44 in the traveling direction are open. That is, wall portions forming a part of the side surface 39c of the unit main body 39 are not provided at both ends of the negative electrode power receiving region 44 in the traveling direction.

Therefore, when the housing 31 of the electrode portion 27 is fitted to the unit main body 39, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are prevented from being forcibly pulled and bent in the traveling direction.

The unit body 39 is formed of an insulator such as rubber or resin. Therefore, the wall portion 42 for preventing a short circuit is also formed of an insulator.

Returning to FIG. 2, the drive motor 16 is a motor that drives the drive mechanism 29. The drive motor 16 rotationally drives a rotating body such as a pinion or a sprocket.

The receiver 17 receives the laser beam emitted from the light emitter 8. The light receiver 17 constitutes a arrival detection unit that detects whether or not the automatic guided vehicle 2 has reached the charging area A in which the charging device 4 is installed in cooperation with the light emitting device 8.

By detecting the contact of the electrode portion 27 with the holding body 32, the limit switch 18 causes the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 to resist the urging force of the spring 33 on the expansion / contraction boom 28 side (housing 31). It is a contact sensor that detects whether or not it has receded to the base end side of the. The limit switch 18 constitutes a contact detection unit that detects whether the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are in contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively.

The voltage sensor 19 is a sensor that detects the voltage value of the battery 5. When the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are in contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively, the charger 22 and the battery 5 are connected to the electric wire 23, the positive electrode charging electrode terminal 25, the positive electrode power receiving unit 37, and the positive electrode power receiving unit 37. The charger 22 and the battery 5 are electrically connected via the electric wire 13, and the charger 22 and the battery 5 are electrically connected via the electric wire 24, the negative electrode charging electrode terminal 26, the negative electrode power receiving portion 38, and the electric wire 14. Therefore, the voltage sensor 19 can detect the voltage value of the battery 5. The communication unit 20 has a transmission / reception antenna 20a and performs wireless communication with the communication unit 9 (described above) of the automatic guided vehicle 2.

The controller 21 is composed of a CPU, RAM, ROM, an input / output interface, and the like. The controller 21 has an expansion / contraction control unit 45, a charge control unit 46, and a command notification unit 47.

The expansion / contraction control unit 45 controls the drive motor 16 so as to expand / contract the expansion / contraction boom 28 based on the detection signals of the receiver 17 and the voltage sensor 19. The charge control unit 46 controls the charger 22 based on the detection signals of the limit switch 18 and the voltage sensor 19. The command notification unit 47 issues a command and a notification regarding charging by the charger 22.

FIG. 8 is a flowchart showing the details of the procedure of the control process executed by the controller 21. This process is executed when the higher system (described above) or the automatic guided vehicle 2 requests charging of the battery 5.

In FIG. 8, the controller 21 first acquires the detection signal of the receiver 17 (procedure S111). Then, the controller 21 determines whether or not the automatic guided vehicle 2 has reached the charging area A based on the detection signal of the receiver 17 (procedure S112). At this time, when the laser beam emitted from the light emitter 8 of the automatic guided vehicle 2 is received by the light receiver 17, it is determined that the automatic guided vehicle 2 has reached the charging area A.

When the controller 21 determines that the automatic guided vehicle 2 has not reached the charging area A, the controller 21 re-executes the procedure S111. When the controller 21 determines that the automatic guided vehicle 2 has reached the charging area A, the controller 21 controls the drive motor 16 so as to extend the telescopic boom 28 (procedure S113).

Subsequently, the controller 21 first acquires the detection signal of the limit switch 18 (procedure S114). Then, the controller 21 determines whether or not the positive electrode charging electrode terminal 25 is in contact with the positive electrode power receiving unit 37 and the negative electrode charging electrode terminal 26 is in contact with the negative electrode power receiving unit 38 based on the detection signal of the limit switch 18. (Procedure S115). At this time, when the holding body 32 retracts against the urging force of the spring 33 and contacts the limit switch 18, the positive electrode charging electrode terminal 25 contacts the positive electrode power receiving portion 37 and the negative electrode charging electrode terminal 26 contacts the negative electrode power receiving portion 38. Is determined to be in contact with.

When the controller 21 determines that the positive electrode charging electrode terminal 25 is in contact with the positive electrode power receiving unit 37 and the negative electrode charging electrode terminal 26 is not in contact with the negative electrode power receiving unit 38, the controller 21 re-executes the procedure S114. When the controller 21 determines that the positive electrode charging electrode terminal 25 is in contact with the positive electrode power receiving portion 37 and the negative electrode charging electrode terminal 26 is in contact with the negative electrode power receiving portion 38, the controller 21 stops the expansion of the telescopic boom 28. The drive motor 16 is controlled (procedure S116).

Subsequently, the controller 21 acquires the detection signal of the voltage sensor 19 (procedure S117). Then, the controller 21 determines whether or not the voltage value of the battery 5 is within the rechargeable voltage range (procedure S118). The rechargeable voltage range is a range of voltage values at which charging of the battery 5 can be started, and varies depending on the battery 5. When the controller 21 determines that the voltage value of the battery 5 is within the rechargeable voltage range, the controller 21 controls the charger 22 so as to start charging the battery 5 (procedure S119).

After that, the controller 21 acquires the detection signal of the voltage sensor 19 (procedure S120). Then, the controller 21 determines whether or not the voltage value of the battery 5 is equal to or higher than the charge completion voltage (procedure S121). The charge completion voltage is a voltage value at which charging of the battery 5 is completed, and varies depending on the battery 5. When the controller 21 determines that the voltage value of the battery 5 is not equal to or higher than the charge completion voltage, the controller 21 executes the procedure S120 again.

When the controller 21 determines that the voltage value of the battery 5 is equal to or higher than the charge completion voltage, the controller 21 determines whether or not the state in which the voltage value of the battery 5 is equal to or higher than the charge completion voltage continues for a specified time (procedure S122). ). When the controller 21 determines that the state in which the voltage value of the battery 5 is equal to or higher than the charge completion voltage has not continued for the specified time, the controller 21 re-executes the procedure S120.

When the controller 21 determines that the state in which the voltage value of the battery 5 is equal to or higher than the charge completion voltage continues for a specified time, the controller 21 controls the charger 22 so as to stop the charging of the battery 5 (procedure S123). ..

Subsequently, the controller 21 controls the drive motor 16 so as to contract the telescopic boom 28 to the initial position (procedure S124). Then, the controller 21 transmits a start permission command signal via the communication unit 20 (procedure S125). The start permission command signal is a command signal for permitting the start of the automatic guided vehicle 2.

When the controller 21 determines in step S118 that the voltage value of the battery 5 is not within the rechargeable voltage range, the controller 21 outputs a contact failure notification signal (step S126). The contact failure notification signal indicates that the positive electrode charging electrode terminal 25 is not in normal contact with the positive electrode power receiving unit 37, or the negative electrode charging electrode terminal 26 is not in normal contact with the negative electrode power receiving unit 38. It is a signal for notifying. At this time, the controller 21 outputs, for example, a contact failure notification signal to a display unit (not shown) of the host system or the charging device 4.

Here, the expansion / contraction control unit 45 executes the above procedures S111 to S116, S120 to S122, and S124. The charge control unit 46 executes the above steps S117 to S123. The command notification unit 47 executes the above procedures S117, S118, S120 to S122, S125, and S126.

In the charging system 1 as described above, if the automatic guided vehicle 2 is requested to charge the battery 5 while the automatic guided vehicle 2 is running, the automatic guided vehicle 2 stops in front of the charging device 4 in the charging area A. .. Then, the telescopic boom 28 of the charging device 4 extends laterally, so that the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 of the electrode portion 27 approach the power receiving unit 6 of the automatic guided vehicle 2.

Then, when the positive electrode charging electrode terminal 25 is pressed against the positive electrode power receiving portion 37 and the negative electrode charging electrode terminal 26 is pressed against the negative electrode power receiving portion 38, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 resist the urging force of the spring 33. The electrode portion 27 is retracted to the proximal end side. Therefore, the expansion of the expansion / contraction boom 28 is stopped.

Next, when the voltage value of the battery 5 detected by the voltage sensor 19 is within the rechargeable voltage range, the charger 22 starts charging the battery 5. After that, when the state in which the voltage value of the battery 5 detected by the voltage sensor 19 is equal to or higher than the charging completion voltage continues for a specified time, the charging of the battery 5 by the charger 22 is completed.

Then, as the expansion / contraction boom 28 contracts, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are separated from the power receiving unit 6. Next, in the charging device 4, the start permission command signal is transmitted via the communication unit 20. Then, in the automatic guided vehicle 2, the start permission command signal from the charging device 4 is received via the communication unit 9. Therefore, the automatic guided vehicle 2 resumes traveling along the traveling route 3.

By the way, since the automatic guided vehicle 2 carries the cargo, the stopping accuracy of the automatic guided vehicle 2 varies depending on the inertia of the cargo, the road surface condition of the traveling route 3, and the like. Therefore, when the automatic guided vehicle 2 stops in front of the charging device 4 in the charging area A, the position and posture of the power receiving unit 6 of the automatic guided vehicle 2 with respect to the electrode portion 27 of the charging device 4 may shift. The displacement of the position and posture of the automatic guided vehicle 2 with respect to the charging device 4 includes the displacement X in the traveling direction, the displacement Y in the lateral direction, the displacement Z in the height direction, and the attitude displacement θ. being classified.

As shown in FIG. 9, the misalignment X in the traveling direction corresponds to the amount of misalignment between the center of the power receiving unit 6 in the traveling direction and the center of the electrode portion 27 in the traveling direction. As shown in FIG. 9, the lateral misalignment Y corresponds to the amount of misalignment between the traveling path 3 and the center of the automatic guided vehicle 2 in the vehicle width direction. As shown in FIG. 10, the misalignment Z in the height direction corresponds to the amount of misalignment between the center of the power receiving unit 6 in the height direction and the center of the electrode portion 27 in the height direction. As shown in FIG. 11, the posture deviation θ corresponds to the deviation angle between the traveling path 3 and the line extending in the front-rear direction of the automatic guided vehicle 2.

FIG. 12 is a perspective view schematically showing an electrode portion and a power receiving unit as comparative examples. In the electrode portion 51 of this comparative example, as shown in FIG. 12A, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are arranged in the traveling direction (X direction). In the power receiving unit 52 of this comparative example, as shown in FIG. 12B, the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 are arranged in the traveling direction.

With such a configuration, it is difficult to absorb the displacement of the automatic guided vehicle 2 with respect to the charging device 4 in the traveling direction. Therefore, the probability that the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively, is low with respect to the positional deviation of the automatic guided vehicle 2 with respect to the charging device 4 in the traveling direction. As a result, there is a high possibility that a charging failure of the battery 5 will occur.

In response to such a problem, in the present embodiment, when the automatic guided vehicle 2 stops in the charging area A where the charging device 4 is installed, the telescopic boom 28 is directed toward the automatic guided vehicle 2 by the drive motor 16 and the drive mechanism 29. By extending in the lateral direction (Y direction) perpendicular to the traveling direction, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively. Then, the charger 22 and the battery 5 are electrically connected, and the battery 5 is charged by the charger 22. Here, since the telescopic boom 28 extends laterally toward the automatic guided vehicle 2, the lateral displacement of the automatic guided vehicle 2 with respect to the charging device 4 is absorbed. Further, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are arranged in the height direction (Z direction) perpendicular to the traveling direction and the lateral direction. Further, the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 are arranged in the height direction and extend in the traveling direction. Therefore, the contact range between the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 and the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 becomes wider in the traveling direction. Therefore, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are likely to come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 in the traveling direction, respectively. As a result, the displacement of the automatic guided vehicle 2 with respect to the charging device 4 in the traveling direction is absorbed. As a result, the probability that the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively, is improved, so that the charging failure rate of the battery 5 can be reduced.

Further, in the present embodiment, the charging device 4 includes wheels 30 that are rotatably supported by the electrode portion 27 via the elastic body 36 and receive the load of the electrode portion 27 in the height direction. Therefore, since the load of the electrode portion 27 is supported by the wheels 30, the misalignment of the automatic guided vehicle 2 with respect to the charging device 4 in the height direction is absorbed. Further, the elastic body 36 facilitates the vertical movement (reciprocating movement) of the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 in the height direction. Therefore, the displacement of the automatic guided vehicle 2 with respect to the charging device 4 in the height direction is further absorbed. As a result, the charging failure rate of the battery 5 can be further reduced.

Further, in the present embodiment, the wheel 30 is a free wheel that can move in all directions. Therefore, as shown in FIG. 13, the telescopic boom 28 tends to bend along the traveling direction with the base end portion of the telescopic boom 28 as a fulcrum, so that the electrode portion 27 easily moves along the traveling direction. As a result, the displacement of the automatic guided vehicle 2 with respect to the charging device 4 in the traveling direction is further absorbed. Further, the posture deviation of the automatic guided vehicle 2 with respect to the charging device 4 is also absorbed. As a result, the charging failure rate of the battery 5 can be further reduced.

Further, in the present embodiment, the electrode portion 27 has a tapered housing 31 whose length dimension in the height direction becomes smaller toward the tip, and the power receiving unit 6 is fitted with the housing 31. It has a unit body 39. Therefore, when the telescopic boom 28 extends laterally toward the automatic guided vehicle 2, the housing 31 fits into the unit body 39, so that the position of the automatic guided vehicle 2 with respect to the charging device 4 is further displaced in the height direction. Be absorbed.

Further, in the present embodiment, a wall portion 42 extending in the traveling direction is provided so as to project between the positive electrode power receiving portion 37 and the negative electrode power receiving portion 38 on the tip surface 39d of the unit main body 39, and the housing 31. A groove 34 that fits with the wall portion 42 is provided between the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 on the tip surface 31d. Therefore, even if metal fragments, water, or the like adhere to the unit body 39, the wall portion 42 made of an insulator prevents a short circuit between the positive electrode power receiving portion 37 and the negative electrode power receiving portion 38.

Further, in the present embodiment, the telescopic boom 28 extends laterally toward the unmanned transport vehicle 2, so that the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively. Then, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 retreat to the proximal end side of the housing 31 against the urging force of the spring 33. Therefore, the impact when the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 come into contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively, is absorbed, so that the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are damaged, etc. Is prevented.

Further, in the present embodiment, the limit switch 18 for detecting whether the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 have retracted to the proximal end side of the housing 31 against the urging force of the spring 33 is used. Therefore, it is possible to easily and inexpensively detect whether or not the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are in contact with the positive electrode power receiving unit 37 and the negative electrode power receiving unit 38, respectively.

Further, in the present embodiment, since the charging device 4 is mounted on the road surface of the traveling path 3, the installation equipment of the charging device 4 can be simplified.

FIG. 14 is a schematic configuration diagram showing a modified example of the automatic guided vehicle 2 and the charging device 4 shown in FIG. In the automatic guided vehicle 2 of this modified example, the power receiving unit 6 is attached to the bottom of the vehicle body 11 as shown in FIG. 14 (a). The positive electrode power receiving unit 37 and the negative electrode power receiving unit 38 of the power receiving unit 6 are arranged in the lateral direction (Y direction). The lateral direction corresponds to a third direction perpendicular to the traveling direction (X direction), which is the first direction.

As shown in FIG. 14B, the charging device 4 of this modified example is installed in a state of being embedded in the ground. The positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 of the charging device 4 are arranged in the horizontal direction. The telescopic boom 28 of the charging device 4 can be expanded and contracted in the height direction (Z direction). The height direction corresponds to the second direction perpendicular to the traveling direction and the lateral direction. At this time, the wheels 30 of the charging device 4 roll in the height direction along the wall surface 49.

In this modification, since the charging device 4 is installed in the ground, the operator can perform the work without paying much attention to the charging device 4.

The present invention is not limited to the above embodiment. For example, in the above embodiment, in the electrode portion 27, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 are fixed to the holding body 32, and the telescopic boom 28 is fixed to the housing 31, but the embodiment is particularly limited. Instead, the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 may be fixed to the housing 31, and the telescopic boom 28 may be fixed to the holding body 32.

Further, in the above embodiment, the positive electrode charging electrode terminal 25 is arranged on the upper side of the electrode portion 27, and the negative electrode charging electrode terminal 26 is arranged on the lower side of the electrode portion 27. The charging electrode terminal 25 may be arranged below the electrode portion 27, and the negative electrode charging electrode terminal 26 may be arranged above the electrode portion 27. In this case, the positive electrode power receiving unit 37 is arranged on the lower side of the power receiving unit 6, and the negative electrode power receiving unit 38 is arranged on the upper side of the power receiving unit 6.

Further, in the above embodiment, one spring 33 for urging the positive electrode charging electrode terminal 25 and the negative electrode charging electrode terminal 26 toward the tip end side of the housing 31 is arranged between the housing 31 and the holding body 32. However, the number of springs 33 is not particularly limited to one, and may be a plurality.

Further, in the above embodiment, it is detected whether or not the automatic guided vehicle 2 has reached the charging area A by using the light emitter 8 provided in the automatic guided vehicle 2 and the light receiver 17 provided in the charging device 4. However, the form is not particularly limited, and it may be detected whether or not the automatic guided vehicle 2 has reached the charging area A by using a contact sensor, a position sensor, or the like. Further, it may be detected whether or not the automatic guided vehicle 2 has reached the charging area A by a notification signal or the like from the host system.

Further, in the above embodiment, the wheel 30 is a free wheel that can move in all directions, but the wheel to be used is not particularly limited to the free wheel, and may be a normal wheel that rolls in one direction. Good.

Further, the above embodiment is a charging system for charging the battery 5 mounted on the automatic guided vehicle 2, but the present invention is not particularly limited to the automatic guided vehicle 2, and the movement traveling along the traveling route is not particularly limited. It can be applied to any traveling body such as a robot.

1 ... Charging system, 2 ... Unmanned transport vehicle (traveling body), 3 ... Traveling path, 4 ... Charging device, 5 ... Battery, 6 ... Power receiving unit, 8 ... Light emitter (arrival detection unit), 16 ... Drive motor (drive) Part), 17 ... Receiver (arrival detection part), 18 ... Limit switch (contact detection part), 22 ... Charger, 25 ... Positive charge electrode terminal, 26 ... Negative charge electrode terminal, 27 ... Electrode part, 28 ... Expansion and contraction Boom (expandable member), 29 ... Drive mechanism (drive unit), 30 ... Wheels, 31 ... Housing, 31d ... Tip surface, 32 ... Holder, 33 ... Spring, 34 ... Groove, 36 ... Elastic body, 37 ... Positive electrode Power receiving unit, 38 ... Negative electrode power receiving unit, 39 ... Unit body, 39d ... Tip surface, 42 ... Wall part, 45 ... Expansion and contraction control unit, A ... Charging area.

Claims (7)

In a charging system provided with a charging device installed on a traveling path on which a traveling body travels and charging a battery mounted on the traveling body.
The charging device is
A charger for charging the battery and
An electrode portion having a positive electrode charging electrode terminal and a negative electrode charging electrode terminal electrically connected to the charger,
An elastic member attached to the electrode portion and expandable and contractible in a second direction perpendicular to the first direction corresponding to the traveling direction of the traveling body.
It is provided with a drive unit for expanding and contracting the expansion and contraction member.
The positive electrode charging electrode terminal and the negative electrode charging electrode terminal are arranged in a third direction perpendicular to the first direction and the second direction.
The traveling body includes a power receiving unit that is electrically connected to the battery and has a positive electrode power receiving unit that contacts the positive electrode charging electrode terminal and a negative electrode power receiving unit that contacts the negative electrode charging electrode terminal.
A charging system in which the positive electrode power receiving unit and the negative electrode power receiving unit are arranged in the third direction and extend in the first direction. The charging system according to claim 1, wherein the charging device is rotatably supported by the electrode portion via an elastic body, and further includes a wheel that receives the load of the electrode portion in the third direction. The charging system according to claim 2, wherein the wheel is a free wheel that can move in all directions. The electrode portion has a tapered housing in which the length dimension in the third direction decreases toward the tip.
The positive electrode charging electrode terminal and the negative electrode charging electrode terminal project from the front end surface of the housing.
The power receiving unit has a unit body that fits with the housing, and has a unit body.
The charging system according to any one of claims 1 to 3, wherein the positive electrode power receiving unit and the negative electrode power receiving unit are arranged inside the unit body. A wall portion extending in the first direction is provided so as to project between the positive electrode power receiving portion and the negative electrode power receiving portion on the tip surface of the unit body.
The wall portion is formed of an insulator, and the wall portion is formed of an insulator.
4. The fourth aspect of the present invention, wherein a groove portion extending in the first direction and fitting with the wall portion is provided between the positive electrode charging electrode terminal and the negative electrode charging electrode terminal on the front end surface of the housing. Charging system. The electrode portion is arranged between the holding body arranged inside the housing and the housing and the holding body, and the positive electrode charging electrode terminal and the negative electrode charging electrode terminal are placed on the tip end side of the housing. Has a spring that urges the body
The positive electrode charging electrode terminal and the negative electrode charging electrode terminal are fixed to one of the holding body and the housing.
The charging system according to claim 4 or 5, wherein the telescopic member is fixed to the other of the holding body and the housing. An arrival detection unit that detects whether or not the traveling body has reached the charging area in which the charging device is installed.
A contact detection unit that detects whether or not the positive electrode charging electrode terminal is in contact with the positive electrode power receiving portion and the negative electrode charging electrode terminal is in contact with the negative electrode power receiving unit.
When the arrival detection unit detects that the traveling body has reached the charging area, the drive unit is controlled so as to extend the telescopic member, and then the contact detection unit causes the positive electrode charging electrode terminal to move. When it is detected that the negative electrode charging electrode terminal comes into contact with the negative electrode power receiving portion while in contact with the positive electrode power receiving portion, the driving unit is controlled so as to stop the extension of the telescopic member, and then the charger is used. When the charging of the battery is completed, the expansion / contraction control unit that controls the drive unit so as to contract the expansion / contraction member is further provided.
The contact detection unit is provided in the charging device, and is a sensor that detects whether or not the positive electrode charging electrode terminal and the negative electrode charging electrode terminal have retracted to the base end side of the housing against the urging force of the spring. The charging system according to claim 6.

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