JP2882505B2 - Power supply for mobile vehicles - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention
Frame is provided to be projecting and retracting movement by the moving operation means relative thereto, said frame, projecting transfer of the frame
The present invention relates to a power supply device for a mobile vehicle provided with a movable-side electrode coupled to a fixed-side electrode unit provided on the ground side or the mobile vehicle side with movement.

[0002]

2. Description of the Related Art In many cases, the above-mentioned power supply device for a mobile vehicle is mounted, for example, on an automatic guided vehicle in a factory automation or an automatic warehouse. In particular, it is not preferable for a versatile automatic guided vehicle that can cope with various constructions to travel with power supplied from rails, wiring, and the like. The battery is charged by receiving power from an electrode unit or the like provided in the battery.

[0003] The connection between the electrode on the vehicle side and the electrode on the ground side related to the charging of the battery is performed by the vehicle traveling by itself to a specific station provided with the electrode unit on the ground side, The electrode is stopped at a fixed position determined so that the electrode on the ground and the electrode on the ground side face each other, and in this state, the frame that is moved in and out is projected and moved. At this time, the electrode provided on the frame, that is, the movable electrode, even if the moving vehicle is stopped at a position shifted to some extent, the other electrode,
That is, it is necessary that a certain degree of position adjustment be performed at the time of coupling so that coupling to the fixed electrode is reliably performed. Particularly, in a general-purpose trackless moving vehicle, it is extremely difficult to stop the moving vehicle at a fixed position so that both electrodes are completely opposed only by improving the traveling accuracy and stopping accuracy. Therefore, it is indispensable that the movable-side electrode has a certain tolerance of the coupling position.

Therefore, conventionally, in this type of power supply device for a mobile vehicle, the supporting structure of the movable-side electrode is such that a linear guide formed of, for example, a guide rail and a roller bearing is orthogonal to each other. A pivot structure comprising, for example, a bearing and a pivot shaft is provided in two stages, and the movable-side electrode is provided in two directions orthogonal to each other in a direction intersecting with the extending / retracting direction of the frame. (Hereinafter referred to as “X direction” and “Y direction”), and
The frame was configured to be movable in a rotation in a plane intersecting with the retreating direction of the frame (hereinafter, referred to as “θ rotation”).

[0005]

However, according to the above prior art, the movable electrode is moved in the X direction, the Y direction and
Since a two-stage linear guide and a pivot shaft are provided to support movably in the θ rotation, the support structure is very large and has a large number of components, resulting in a complicated structure. There has been an inconvenience that the power supply device of the mobile vehicle cannot be made simple and compact.
Moreover, in the above conventional configuration, the movable electrode is fixed
After coupling with the electrode unit, the movable electrode and frame
Is in a relatively fixed position,
In the coupled state, for example, the body of a mobile car vibrates or
Indicates that the position is slightly shifted with respect to the bonding direction.
In this case, the movable side electrode and the fixed side electrode
There was also a possibility that it could not be performed well. An object of the present invention is to eliminate the above-mentioned conventional disadvantages.

[0006]

The first characterizing feature of a mobile vehicle power supply device according to the invention According to an aspect of the said frame, the mobile
A first frame portion moved and operated by the operation means;
Resiliently supports the first frame portion so as to be capable of being displaced elastically.
And a second frame portion to be held .
A support plate that supports the movable electrode and is slidably supported on the two frame portions in a state in which the movable electrode can be moved in a plane that intersects with a direction in which the frame moves in and out and rotated in the plane. When the biasing means returning biasing the support plate in position and the predetermined rotational angle is provided, the first
2 frame parts are set amount to the first frame part
Detecting means for detecting whether the retreating is provided, before
The movement operation means is provided by the detection means,
When it is detected that the
The operation of projecting and moving the first frame portion is stopped.
The point is that it is configured.

The second, third, and fourth characteristic configurations of the power supply device for a mobile vehicle according to the present invention specify a preferred specific configuration for implementing the first characteristic configuration. A characteristic configuration is that the support plate is supported by the frame via a steel ball.

[0008] A third characteristic configuration is that the biasing means includes a plurality of elastic members interposed between the support plate and the frame in a state in which component forces in arbitrary directions within the plane are balanced. In that it consists of

A fourth characteristic configuration is that the support plate is provided with a rod-shaped engaging member which is engaged with a concave portion formed in the ground-side electrode unit and has a tapered tip. It is in.

[0010]

According to the first feature of the present invention, the frame
Slidably supported on a rotary movably in a plane movement and said plane in a direction crossing the projecting and retracting direction of that for
And a predetermined position and a predetermined rotation position by the urging means.
The movable side electrode is supported by the support plate that is urged to return to the phase.
Therefore, unlike the related art, it is not necessary to use a two-stage linear guide, a pivot shaft, or the like to support the movable electrode so as to be movable in the X direction, the Y direction, and the θ rotation. Also, the movable side electrode and the fixed side electrode unit are connected
To move the frame
The moving operation means moves the first frame portion to move the first frame portion.
Further moving operation after the electrode contacts the fixed side electrode unit
And the second frame portion supporting the movable electrode
The set amount has been elastically retracted relative to the first frame.
Is detected by the detection means,
Stop the move operation. Therefore, its stopped state (combined
State), the movable-side electrode moves with respect to the fixed-side electrode unit.
Since it is held in a state of being elastically pressed,
Due to the vibration or displacement of the vehicle body,
Separation can be avoided as much as possible.

According to the second feature, since the support plate is supported by the frame via the steel ball, the steel ball acts as a bearing, so that the X and Y directions of the support plate and θ The sliding in rotation can be made smooth.

[0012] According to a third characteristic configuration, the urging means includes a plurality of elastic members interposed between the support plate and the frame in such a manner that component forces in arbitrary directions within the plane are balanced. Therefore, an elastic member for urging the support plate to return to the predetermined position and the predetermined rotation phase can be provided so as to be located along the plane on the side of the support plate.

According to the fourth characteristic configuration, since the support plate is provided with the engaging member, even when the moving vehicle is stopped at a position shifted to some extent, the frame protrudes to move and the engaging member is moved. When the mating member is engaged with the recess, the support plate slides, and the position of the movable electrode relative to the fixed electrode is adjusted.

[0014]

According to the first characteristic configuration of the present invention, a two-stage linear guide, a pivot shaft, and the like are provided for supporting the movable electrode in the X direction, the Y direction, and the θ rotation. There is no need to use it, so it is simple and compact .
And the movable electrode is fixed
After coupling with the unit,
The movable electrode and fixed electrode are separated from each other regardless of displacement.
Power supply work as much as possible.
It is possible to provide a power supply device for a mobile vehicle that can be used.

According to the second characteristic configuration, since the steel balls function as bearings, the sliding of the support plate in the X direction, the Y direction, and the θ rotation can be made smooth. Thus, it is possible to provide a power supply device for a mobile vehicle, which is compact and capable of securely coupling the movable-side electrode to the fixed-side electrode.

According to the third feature, since the elastic member can be provided on the side of the support plate so as to be along the plane, the elastic member has a simple structure, and in particular, the direction in which the frame is extended and retracted. Therefore, a compact (thin) power supply device for a mobile vehicle can be provided.

According to the fourth characteristic configuration, even when the moving vehicle is stopped at a position shifted to some extent, the position of the movable electrode relative to the fixed electrode is adjusted by the engagement member. It is possible to provide a power supply device for a mobile vehicle that has a simple structure and is reliably connected to electrodes without applying excessive force or generating friction.

[0018]

Embodiments of the present invention will be described below with reference to the drawings. 3 and 4 show a power supply device for a mobile vehicle provided below the vehicle body V of the mobile vehicle. The power supply device includes a frame F that moves up and down with respect to a vehicle body V of a moving vehicle, a plate A serving as a support plate supported by the frame F, and a plate A provided on the ground side. And the movable side electrode 1 coupled to the fixed side electrode 9 of the fixed side electrode unit G.

A base bracket 2 for supporting the present power supply device is provided on the lower surface of the vehicle body V. The frame F is attached to the base bracket 2 and the frame F
Linear guide 2a for guiding the movement of
And a drive motor 3 for moving the robot back and forth.

The frame F has a plate-like base portion 4 formed parallel to the ground, a bracket portion 5 standing upright from the base portion 4 at substantially the center of the base portion 4, and a base portion. Shafts 6 provided at both left and right ends of 4
And a plate supporting frame 7 supported below the base portion 4 in parallel with the base portion 4. The bracket portion 5 is provided with a rack gear 5a to which the linear guide 2a is attached and which is engaged with a pinion gear 3a driven by the drive motor 3. An and pinion mechanism is configured. Base part 4
The linear bush 4a which supports the shaft 6 slidably in the up-down direction with respect to the base portion 4
Is provided. The shaft 6 has a head 6a at an end located on the upper side, and penetrates the linear bush 4a from above. The plate support frame 7 includes a shaft 6
Is attached to the lower end in a state parallel to the base portion 4. A spring 8 is interposed between the base portion 4 and the plate support frame 7 so as to be wound around the shaft 6.

As shown in FIGS. 2 and 3, the plate A is supported by the plate supporting frame 7 with both left and right edges inserted into an internal space 7a formed in the plate supporting frame 7. . The movable electrode 1 combined with the fixed electrode 9 provided on the fixed electrode unit G is provided on the plate A.
And a bar-shaped engaging member 11 having a tapered tip for engagement with a concave portion 10 formed in the fixed-side electrode unit G, and steel balls provided on both upper and lower surfaces of both right and left edges. And a steel ball support plate 12 for supporting 12a. The steel ball 12a is rotatably supported by the steel ball support plate 12, and functions as a bearing for slidably supporting the plate A with respect to the plate support frame 7, as shown in FIG. Therefore, the plate A is slidably supported on the frame F in a state in which the plate A can move in a plane crossing the direction in which the plate F moves and rotate in the plane.

As shown in FIGS. 1 and 2, four springs are provided between the plate A and the plate support frame 7 as urging means for urging the plate A to return to a predetermined position and a predetermined rotation phase. 13 are provided. The four springs 13 are attached radially from the four corners of the plate A along the plane of movement of the plate A, so that the components of the plate A and the frame F can be balanced in any direction within the plane. A plurality of elastic members interposed are configured.

Accordingly, when the frame F is lowered with respect to the vehicle body V and the tapered tip of the engaging member 11 is engaged with the concave portion 10, the plate A is slid in the plane. The position of the movable electrode 1 with respect to the fixed electrode 9 is adjusted.

Next, a control mechanism for controlling the movement of the frame F with respect to the vehicle body V will be described. 3 and 4
As shown in FIG.
On the right side of the figure, a photo interrupter type upper limit photo sensor 14 and a lower limit photo sensor 15 are provided. Further, the base bracket 2 of the vehicle body V is provided with an upper limit dog 16 as a shielding plate for blocking light rays of the upper limit photo sensor 14, and the lower end photo sensor 15 is provided on the head 6 a of the shaft 6 on the right side. A lower limit dog 17 is provided as a shielding plate for blocking light rays.

FIG. 3A shows a power supply device for a mobile vehicle in which the frame F is located at a position where the frame F is most raised (retracted) with respect to the vehicle body V. Upper limit photo sensor 14
The upper limit dog 16 is provided with its position adjusted so that the upper limit dog 16 blocks the light beam of the upper limit photo sensor 14 in this state. Therefore, the frame F is moved by the rack and pinion mechanism 3a, 5a to the vehicle body V.
, And as the light beam of the upper limit photo sensor 14 is blocked by the upper limit dog 16, the upward movement of the frame F is stopped.

FIG. 3B shows that the frame F is moved downward (projected) with respect to the vehicle body V, the engaging member 11 is engaged with the concave portion 10 of the fixed electrode unit G, and the movable electrode 1 1 shows a power supply device of a mobile vehicle in which the power supply device is coupled to the fixed-side electrode 9. The frame F continues to be lowered for a while after the movable electrode 1 comes into contact with the fixed electrode 9, so that the head 6 a of the shaft 6 is in a state of rising upward from the upper end of the linear bush 4 a. The lower limit photo sensor 15 and the lower limit dog 17 are arranged such that the lower limit dog 17 blocks the light beam of the lower limit photo sensor 15 in this state.
The position is adjusted. Accordingly, the frame F is moved downward with respect to the vehicle body V, and the lower limit photo sensor 1
The lowering movement of the frame F is stopped as the fifth light ray is blocked by the lower limit dog 17. In this state, the movable electrode 1 is set by the spring 8 interposed between the base portion 4 and the plate support frame 7 according to the relative mounting position between the lower limit photo sensor 15 and the lower limit dog 17. It is configured to be coupled at a predetermined height while being pressed against the fixed-side electrode 9. Therefore, the base part 4 and
Drive motor as moving operation means by bracket 5
3 constitutes a first frame portion to be moved and operated,
Elastic with respect to the first frame part by the plate support frame 7
The second frame part which is supported so as to be able to freely retreat
Is done. And the lower limit photo sensor 15 is
Two frame parts are set back from the first frame part
Functioning as a detecting means for detecting whether or not the displacement has occurred
become.

[Alternative Embodiment] In FIG. 3, the fixed electrode unit G is embedded in the ground so that the upper surface of the fixed electrode unit G is flat with respect to the surrounding ground. Alternatively, the fixed type electrode unit G may be placed on the ground as it is, and the upper surface of the fixed side electrode unit G may be located at a position higher than the surrounding ground. Frame F
The lowering movement of the lower limit photo sensor 15 and lower limit dog 1
Since the movable side electrode 1 is configured to be stopped in a state of being pressed with a predetermined strength set by the relative mounting position with respect to the fixed electrode unit 7, the fixed side electrode unit G located at an arbitrary height is also supported. It is configured to be able to.

The frame F to be moved back and forth is not limited to the one provided at the lower part of the vehicle body V, but is provided at the side or above the vehicle body V, and is moved to the side or upward. It may be something.

Further, the power supply device for a mobile vehicle according to the present invention includes:
The fixed-side electrode is provided on the moving vehicle side, and the movable-side electrode is provided on the ground side, that is, on the ground side, there is provided a frame F which is moved back and forth with respect to the frame F, The present invention may be applied to a power supply device for a mobile vehicle provided with a movable-side electrode coupled to a fixed-side electrode unit provided on the mobile vehicle side.

An upper limit sensor 14 and a lower limit sensor 15 provided in a control mechanism for controlling the movement of the frame F in and out.
Is not limited to a photo-interrupter-type photo sensor, and may be configured by, for example, a limit switch. In the above embodiment, the upper dog 16 and the lower dog 1
7 and two photo sensors 14, 1 respectively corresponding to
5 is provided, but if the upper limit dog 16 and the lower limit dog 17 are provided on the same axis along the retreating direction of the frame F, it is constituted by one photo sensor for detecting both dogs 16 and 17. It is also possible.

The movable side electrode 1 provided on the moving vehicle side or the fixed side electrode provided on the moving vehicle side is not limited to one for charging the battery for traveling of the moving vehicle, but is provided on the moving vehicle V. The power may be supplied to a robot or the like, or may be supplied from the mobile vehicle to the ground electrode unit. The power supply is not limited to power supply to a driving device or the like, but may be power supply related to transmission of electronic information to an information processing device or the like.

The number of springs 13 interposed between the plate A and the frame F is not limited to four, but may be any number as long as it is one or more. The plurality of elastic members 13 interposed between the plate A and the frame F are not limited to springs, and may be appropriately changed as long as they have elastic force. , Urethane and the like. The urging means 13 for urging the plate A to return to the predetermined position and the predetermined rotation phase is not limited to a plurality of elastic members, but may be, for example, a synthetic resin or urethane in the internal space 7a formed in the plate support frame 7. May be enclosed and provided.

Incidentally, reference numerals are written in the claims for convenience of comparison with the drawings, but the present invention is not limited to the configuration of the attached drawings by the entry.

[Brief description of the drawings]

FIG. 1 is a longitudinal sectional view showing a support structure of a support plate.

FIG. 2 is a cross-sectional view showing a support structure of a support plate.

FIG. 3 is a front view showing the retreating movement of the frame.

FIG. 4 is a plan view of a frame.

[Explanation of symbols]

Reference Signs List A Support plate F Frame G Fixed-side electrode unit V Moving vehicle 1 Moving vehicle 4, 5 First frame portion 7 Second frame portion 10 Depression 11 Engaging member 12a Steel ball 13 Elastic member (biasing means) 15 detecting means

Claims (4)

(57) [Claims] 1. A moving vehicle (V) or a frame (F) which is moved back and forth by a moving operation means on the ground side, and the frame (F) is provided on the frame (F).
A movable-side electrode (1) coupled to a fixed-side electrode unit (G) provided on the ground side or the movable vehicle side in accordance with the projecting movement of the vehicle. (F) is a moving operation by the moving operation means.
The first frame part (4, 5) to be made and the first frame
Resiliently with respect to the arm parts (4, 5)
And a second frame portion (7) to be held. The movable frame electrode (1) is provided on the second frame portion (7 ).
And a support plate (A) slidably supported in a state in which the frame (F) can move in a plane intersecting with the retreating direction of the frame (F) and rotate in the plane.
And an urging means (13) for urging the support plate (A) to return to a predetermined position and a predetermined rotation phase , wherein the second frame portion (7) is provided in the first frame portion.
Detects whether or not (4, 5) has been displaced by the set amount.
Detecting means (15), and the moving operation means is provided with the detecting means (15).
The second frame portion (7) has been displaced by the set amount.
Are detected, the first frame portion (4, 4) is detected.
5) A power supply device for a mobile vehicle configured to stop the projecting movement operation . 2. The power supply device for a mobile vehicle according to claim 1, wherein the support plate (A) is supported by the frame (F) via a steel ball (12a). 3. A plurality of biasing means (13) interposed between the support plate (A) and the frame (F) in a state where component forces in arbitrary directions within the plane are balanced. 3. The power supply device for a mobile vehicle according to claim 1, wherein the power supply device includes a plurality of elastic members. 4. A rod-shaped engaging member (1) having a tapered tip for engaging with a recess (10) formed in the ground electrode unit (G) on the support plate (A).
The power supply device for a mobile vehicle according to claim 1, wherein 1) is provided.