JP5988409B1 - Automated guided vehicle - Google Patents

Abstract

An automatic guided vehicle capable of receiving power efficiently in wireless power feeding is provided. An automatic guided vehicle 2 traveling on a traveling path G provided with a power supply line 1D is supported on a vehicle main body 2E moving on the traveling path G, and rotatably supported by the vehicle main body 2E. A plurality of wheels 22, 23, 24 arranged at intervals in the front-rear direction X of the main body 2 </ b> E, and an endless track band 21 that is hung on the plurality of wheels 22, 23, 24 and has electrical insulation, A power receiving electrode 20 is provided in the track band 21 and faces the power supply electrode 10 of the power supply line 1 </ b> D via the track band 21. [Selection] Figure 2

Description

  The present invention relates to an automatic guided vehicle that receives electric power during traveling.

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

JP 2012-175869 A

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

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

  In order to solve the above-mentioned problem, the invention according to claim 1 is an automatic guided vehicle that travels on a travel path provided with a power supply line, the vehicle main body moving on the travel path, and the vehicle main body A plurality of wheels arranged at intervals in the front-rear direction and rotatably supported, an endless track with electrical insulation hung on the wheels, and provided in the track And a power receiving electrode facing the power feeding electrode of the power feeding line through a track band.

  According to a second aspect of the present invention, in the automatic guided vehicle according to the first aspect, the power receiving electrode is constituted by an endless belt extending along the track belt.

  According to a third aspect of the present invention, in the automatic guided vehicle according to the first or second aspect, at least one of the plurality of wheels is provided on a conductive core portion and a side surface of the core portion. And a flange portion having electrical insulation.

  According to a fourth aspect of the invention, there is provided the automatic guided vehicle according to the third aspect, wherein the core portion is electrically connected to an axle to which power of a travel motor is transmitted.

  According to a fifth aspect of the present invention, in the automatic guided vehicle according to any one of the first to fourth aspects, a side cover having electrical insulation provided on a side of the track belt and the plurality of wheels. Is further provided.

  The invention described in claim 6 is the automatic guided vehicle according to any one of claims 1 to 5, further comprising a biasing mechanism that biases the track band toward the power feeding electrode. And

  The invention according to claim 7 is the automatic guided vehicle according to any one of claims 1 to 6, further comprising a pair of endless track devices provided at intervals in the left-right direction of the vehicle body, Each of the pair of endless track devices includes the plurality of wheels, the track belt, and the power receiving electrode.

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

It is a block diagram of the electric power feeding system which concerns on one Embodiment of this invention. It is a perspective view of an automatic guided vehicle and a runway concerning the embodiment. It is a disassembled perspective view of the endless track device with which the automatic guided vehicle concerning the embodiment is provided. It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on the embodiment, Comprising: (A) is a side view of an endless track apparatus, (B) is sectional drawing of the AA line part of (A). It is. It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on a modification, Comprising: It is sectional drawing of an endless track apparatus and a feed line. It is a schematic diagram which shows the driving | running | working aspect of the automatic guided vehicle which concerns on another modification, Comprising: It is sectional drawing of an endless track apparatus and a feed line.

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

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

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

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

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

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

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

  The induction sensor 2J of the present embodiment is configured by a magnetic sensor, and the automatic guided vehicle 2 detects the magnetism of the induction line 3 embedded in the traveling path G and magnetized by the induction sensor 2J. Drive along line 3.

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

  As shown in FIG. 2, the power receiving mechanism 2 </ b> A includes a pair of endless track devices 2 </ b> H and 2 </ b> I that are spaced apart from each other in the left-right direction Y. One endless track device 2H is provided on the right feed line 1R, and the other endless track device 2I is provided on the left feed line 1L. Hereinafter, with reference to FIG. 3 and FIG. 4, the structure which concerns on the endless track apparatuses 2H and 2I is demonstrated in detail. Since the endless track devices 2H and 2I have the same configuration, only one of the endless track devices 2H and 2I is shown in FIGS. 3 and 4, and the other is not shown.

  FIG. 3 is an exploded perspective view showing a state in which the endless track devices 2H and 2I shown in FIG. 2 are disassembled. 4A is a side view showing the endless track devices 2H and 2I as viewed from the left side, and FIG. 4B is a cross-sectional view taken along the line AA in FIG. 4A. It is. In FIG. 4, the configuration shown in FIGS. 2 and 3 is simplified. Moreover, the arrow B in the figure indicates the outside of the vehicle body 2E, and the arrow C in the figure indicates the inside of the vehicle body 2E.

  As shown in FIG. 3, the endless track devices 2H and 2I are respectively provided with a power receiving electrode 20, an endless track band 21, a plurality of wheels 22, 23 and 24, side covers 25 and 26, and an urging force. A mechanism 27 and tension adjusting mechanisms 28 and 29 are provided.

  The power receiving electrode 20 is constituted by an endless belt extending along the track band 21 and is embedded in the track band 21. The power receiving electrode 20 is formed of a metal that is a conductive material. The power receiving electrodes 20 included in each of the endless track devices 2H and 2I form a pair, and the pair of power receiving electrodes 20 are provided at intervals in the left-right direction Y (see FIG. 2).

  The track belt 21 is configured by a flat belt having electrical insulation. The track belt 21 is made of, for example, urethane rubber. The orbital belt 21 is hung between the wheels 22 and 23 by being hung on the wheels 22, 23 and 24. The track band 21 has an outer peripheral surface 21A that abuts on the power supply line 1D (see FIG. 2) and an inner peripheral surface 21B that abuts on the wheels 22, 23, and 24. The inner peripheral surface 21B constitutes a raceway surface on which the wheels 22, 23, 24 roll.

  The plurality of wheels 22, 23, 24 are arranged at intervals in the front-rear direction X and are rotatably provided. The wheel 22 is an activated wheel to which power is transmitted from the traveling motor 2C (see FIG. 1). The wheel 22 rolls on the inner peripheral surface 21 </ b> B of the track band 21, and winds the track band 21 and sends it forward. The wheel 22 includes a core portion 22A on which the raceway band 21 is hung, and flange portions 22B and 22C provided on the side surface of the core portion 22A. The core portion 22A has conductivity by being formed of metal. The core portion 22A has an outer side surface 22D directed outward from the vehicle body 2E and an inner side surface 22E directed toward the inner side of the vehicle body 2E (see FIG. 4B). The flange portions 22B and 22C have electrical insulation, and are formed of a resin material such as nylon 6 (PA6), for example. One flange portion 22B is provided on the outer side surface 22D of the core portion 22A, and the other flange portion 22C is provided on the inner side surface 22E of the core portion 22A. An insertion hole 22G is formed in the flange portion 22C, and an axle shaft 22F connected to the core portion 22A is inserted through the insertion hole 22G. The axle 22F is a power shaft through which the power of the traveling motor 2C is transmitted. The axle 22F is made of metal and has electrical conductivity, and electrically connects the core portion 22A and the rectifier circuit 2B (see FIG. 1) provided in the vehicle body 2E. The wheel 23 is a guide wheel provided in front of the wheel 22 and is formed of a cylindrical body. The wheel 23 rolls on the inner peripheral surface 21 </ b> B of the track band 21 while laying the track band 21 sent from the wheel 22 on the feed line 1 </ b> D (see FIG. 2). The wheel 24 is a wheel provided between the wheels 22 and 23, and is constituted by a cylindrical body that rolls on the inner peripheral surface 21 </ b> B of the raceway band 21.

  The side covers 25 and 26 have electrical insulation and cover the side surfaces of the wheels 22, 23 and 24. One side cover 25 is provided to the right of the track belt 21 and the wheels 22, 23, 24, and the other side cover 26 is provided to the left of the track belt 21 and the wheels 22, 23, 24. The side covers 25 and 26 are formed of a resin material such as nylon 6 similarly to the flange portions 22B and 22C. The side cover 25 is provided with three bearing portions 25A, 25B, and 25C, and the side cover 26 is provided with three bearing portions 26A, 26B, and 26C that are paired therewith. The bearing portions 25A and 26A support the wheel 22 rotatably, the bearing portions 25B and 26B support the wheel 23 rotatably, and the bearing portions 25C and 26C support the wheel 24 rotatably.

  The urging mechanism 27 includes a compression coil spring 27A and an urging plate 27B. The compression coil spring 27A is provided between the bottom of the vehicle main body 2E (see FIG. 2) and the urging plate 27B, and the urging plate 27B is provided at the front ends of the side covers 25 and 26. The urging mechanism 27 uses the restoring force of the compression coil spring 27A to press the front end portions of the side covers 25 and 26 downward with the urging plate 27B. The urging mechanism 27 urges the track band 21 toward the power feeding electrode 10 (see FIG. 4) by pressing the side covers 25 and 26 downward.

  The tension adjusting mechanisms 28 and 29 adjust the tension of the track band 21. The tension adjustment mechanism 28 includes a front flange 28A and a rear flange 28B provided on one side cover 25, and an adjustment bolt 28C that adjusts the distance between the front flange 28A and the rear flange 28B facing each other in the front-rear direction X. . The tension adjustment mechanism 29 includes a front flange 29A and a rear flange 29B provided on the other side cover 26, and an adjustment bolt 29C that adjusts the distance between the front flange 29A and the rear flange 29B facing each other in the front-rear direction X. . The tension adjusting mechanisms 28 and 29 change the distance between the wheel 22 and the wheel 23 by changing the distance between the front flange 28A and the rear flange 28B and the distance between the front flange 29A and the rear flange 29B. The tension of the belt 21 is adjusted.

  The automatic guided vehicle 2 (see FIG. 2) rotates the track 22 on the power supply line 1D (see FIG. 2) by rotating the wheel 22, and the track belt in the direction in which the wheels 22, 23, and 24 roll. Travel while laying 21. That is, the automatic guided vehicle 2 travels when the wheels 22, 23, 24 roll on the track belt 21. At this time, the automatic guided vehicle 2 travels while receiving power from the power feeding electrode 10 with the power receiving electrode 20.

  As shown in FIG. 4, when the automatic guided vehicle 2 travels, the power receiving electrode 20 provided in the track band 21 faces the power supply electrode 10 via the track band 21 extending in the front-rear direction X. It faces the core portion 22 </ b> A of the wheel 22 through a track band 21 hung on the wheel 22. The power receiving electrode 20 receives AC power from the power feeding electrode 10, and the AC power received by the power receiving electrode 20 passes through the core portion 22 </ b> A of the wheel 22, the axle 22 </ b> F, and the rectifier circuit 2 </ b> B to the traveling motor 2 </ b> C. And supplied to the steering motor 2D. Therefore, the vehicle body 2 </ b> E moves in a state where the power receiving electrode 20 receives power from the power feeding electrode 10.

In the present embodiment, the following effects can be obtained.
(1) The automatic guided vehicle 2 has a plurality of wheels 22, 23, 24 arranged at intervals in the front-rear direction X, and an endless shape having electrical insulation hung on the plurality of wheels 22, 23, 24. Track band 21 and a power receiving electrode 20 provided on the track band 21 and facing the power supply electrode 10 of the power supply line 1D via the track band 21. According to this configuration, the static electricity formed between the power supply electrode 10 and the power reception electrode 20 is compared with a configuration in which the power reception electrode is provided in one circular tire that rolls on the power supply line 1D. The electric capacity can be increased, and electric power can be efficiently received by the power receiving electrode 20 while the automatic guided vehicle 2 is traveling.

  (2) The power receiving electrode 20 is constituted by an endless belt extending along the track band 21. According to this configuration, the capacitance formed between the power supply electrode 10 and the power reception electrode 20 can be increased as compared with the case where the power reception electrode 20 is configured by an endless wire.

  (3) One wheel 22 out of the plurality of wheels 22, 23, 24 includes a conductive core portion 22A and electrically insulating flange portions 22B, 22C provided on the side surface of the core portion 22A. It is configured. According to this configuration, since the side surface of the core portion 22A is covered with the flange portions 22B and 22C, it becomes difficult to touch the core portion 22A, and safety can be improved.

  (4) The core portion 22A is electrically connected to the axle 22F to which the power of the traveling motor 2C is transmitted. According to this configuration, the axle 22F has a function of transmitting the power of the traveling motor 2C to the wheels 22, and a function of electrically connecting the core portion 22A and the electric circuit (rectifier circuit 2B) in the vehicle body 2E. Can be combined.

  (5) The endless track devices 2H and 2I include side covers 25 and 26 having electrical insulation provided on the sides of the track band 21 and the plurality of wheels 22, 23 and 24. According to this configuration, it becomes difficult to put a hand into the endless track band 21, and safety can be improved.

  (6) The endless track devices 2 </ b> H and 2 </ b> I include a biasing mechanism 27 that biases the track band 21 toward the feeding electrode 10. According to this configuration, the orbital belt 21 and the power supply line 1D can be reliably brought into close contact with each other.

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

  As long as the vehicle body 2E can move while the power receiving electrode 20 is receiving power from the power feeding electrode 10, the configurations of the endless track devices 2H and 2I may be changed as appropriate. For example, the urging mechanism 27 and the tension adjusting mechanism 28 may be omitted.

  As long as power can be supplied to the automatic guided vehicle 2, the configurations of the power supply electrode 10 and the power reception electrode 20 may be changed. For example, as shown in FIG. 5, the upper surface of the power supply electrode 10 may not be covered with the electrode cover 11. Further, as shown in FIG. 6, the power receiving electrode 20 may be constituted by a plurality of conductive wires.

  The orbital band 21 may not be provided between the power receiving electrode 20 and the core portion 22A. Specifically, the power receiving electrode 20 may be provided on the inner peripheral surface 21B of the track band 21, and the core portion 22A and the power receiving electrode 20 may be in contact with each other and electrically connected. That is, the power receiving electrode 20 may not be embedded in the orbital zone 21.

  The endless track device 2H and the endless track device 2I may have different configurations. For example, the power receiving electrode 20 of one endless track device 2H may be configured by a conductive belt, and the power receiving electrode 20 of the other endless track device 2I may be configured by a plurality of endless wires.

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

  Only one of the side covers 25 and 26 may have electrical insulation. In this case, it is preferable that the side cover 25 provided outside the vehicle body 2E has electrical insulation. From the viewpoint of improving safety, it is preferable that both the side covers 25 and 26 have electrical insulation.

  Only one of the flange portions 22B and 22C may have electrical insulation. In this case, it is preferable that the flange portion 22B provided on the outer surface 22D of the core portion 22A has electrical insulation. From the viewpoint of improving safety, it is preferable that both the flange portions 22B and 22C have electrical insulation.

  ・ The driving method can be changed. For example, the traveling motor 2C may rotate the wheels 2F and 2G without driving the endless track devices 2H and 2I in order to move the vehicle body 2E. That is, the axle 22 </ b> F may not be a power shaft but may be any shaft that can rotate with the wheel 22 and supports a load acting on the wheel 22. Further, for example, the moving direction of the vehicle body 2E may be changed without using the steering motor 2D by making the rotational speeds of the wheels 22 of the endless track devices 2H and 2I different.

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

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

DESCRIPTION OF SYMBOLS 1 Feeding device 1A AC power supply 1D Feeding line 1L Left feeding line 1R Right feeding line 2 Automatic guided vehicle 2A Power receiving mechanism 2C Traveling motor 2E Vehicle main body 2H, 2I Endless track device 3 Induction line 10 Feeding electrode 11 Electrode cover 20 Power receiving electrode 21 Track belt 22, 23, 24 Wheel 22A Core part 22B, 22C Flange part 22D, 22E Side face 22F Axle 25, 26 Side cover 27 Energizing mechanism 28, 29 Tension adjusting mechanism G Traveling path S Feeding system X Front-rear direction Y Left-right direction Z Vertical direction

Claims (7)

An automated guided vehicle that travels on a travel path provided with a power supply line,
A vehicle body moving on the travel path;
A plurality of wheels arranged at intervals in the front-rear direction of the vehicle body and rotatably supported;
An endless track with electrical insulation hung on the plurality of wheels;
An automatic guided vehicle comprising: a power receiving electrode provided in the track band and facing the power supply electrode of the power supply line via the track band. The automatic guided vehicle according to claim 1, wherein the power receiving electrode is configured by an endless belt extending along the track belt. The at least one wheel among the plurality of wheels is configured by a conductive core portion and an electrically insulating flange portion provided on a side surface of the core portion. The automatic guided vehicle according to 1 or 2. The automatic guided vehicle according to claim 3, wherein the core portion is electrically connected to an axle to which power of a travel motor is transmitted. The automatic guided vehicle according to any one of claims 1 to 4, further comprising a side cover having electrical insulation provided on a side of the track belt and the plurality of wheels. The automatic guided vehicle according to any one of claims 1 to 5, further comprising an urging mechanism that urges the track belt toward the power feeding electrode. A pair of endless track devices provided at intervals in the left-right direction of the vehicle body,
Each of the pair of endless track devices is constituted by the plurality of wheels, the track belt, and the power receiving electrode. The unmanned conveyance according to any one of claims 1 to 6 car.

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