JP5990135B2 - Contactless charging system for automated guided vehicles - Google Patents

Description

  The present invention relates to a contactless charging system for an automated guided vehicle, and more particularly to a contactless charging system for an automated guided vehicle that pulls and transports a freight car.

  As a system for charging a power storage device of an automatic guided vehicle (AGV) that travels on a transport path, a power receiving coil that is provided in the automatic transport vehicle and supplies power to the power storage device is provided along the transport path. There is known a system including a power feeding coil that transmits power to a power receiving coil in a non-contact manner.

  Regarding the arrangement of the above-described system, for example, an arrangement in which the power supply coils are closely arranged on the traveling path of the vehicle or the power supply coils are spaced apart is used (Patent Document 1).

JP 2011-244532 A

  In Patent Document 1, when power feeding coils are closely arranged on a traveling road, it is necessary to install many power feeding coils, and a large amount of coil wire is required. In addition, when the power supply coils are arranged at an interval, the number of power supply coils can be reduced, but there may be a section where the power reception coil cannot receive power from the power supply coil, or the power reception coil receives power from the power supply coil. As a result, the power storage device may not be sufficiently charged.

  The present invention provides a contactless charging system for an automated guided vehicle that can reduce power feeding coils provided along a conveyance path while sufficiently charging a power storage device and can reduce the use of coil wire rods as a whole system. The purpose is to do.

  A contactless charging system for an automated guided vehicle according to the present invention includes a power storage device and a power receiving coil that receives power from the outside and supplies power to the power storage device, and is configured on a transport path determined by the power stored in the power storage device. Non-contact automatic guided vehicle equipped with a traveling automatic guided vehicle, a plurality of power supply coils that are provided in the conveyance path and transmit electric power to the power receiving coil in a non-contact manner, and a freight car that is pulled on the conveyance path by the automatic guided vehicle The freight car includes a plurality of power receiving coils that receive power from a power feeding coil in a contactless manner and supply power to the power storage device, and are densely provided along a traveling direction of the automatic guided vehicle. At least one coil is provided for the length from the power receiving coil of the automatic guided vehicle to the power receiving coil at the tail end of the freight car towed by the automatic guided vehicle.

  In the contactless charging system for an automated guided vehicle of the present invention, the plurality of power receiving coils provided in the freight car move up and down between a retracted position whose lower end is higher than that of the automated guided vehicle and a receiving position where the power from the power feeding coil can be received. Even if it is possible, it is preferable.

  In the contactless charging system for an automatic guided vehicle of the present invention, the automatic guided vehicle is a submersible towed automatic guided vehicle that moves to a connecting place while traveling under the freight car when connected to the freight car to pull the freight car. In addition, the plurality of power receiving coils provided in the freight car are preferably moved to the retreat position when the automatic guided vehicle and the freight car are not connected.

  In the non-contact charging system for automatic guided vehicles, the present invention can reduce the number of power feeding coils provided along the transport path while sufficiently charging the power storage device, thereby reducing the use of coil wires as the entire system. There is an effect that can be.

It is a figure which shows the non-contact charge system for automatic guided vehicles of embodiment of this invention. It is a figure which shows the case where it connects with the case where the automatic guided vehicle and a freight car are not connected in the non-contact charge system for automatic guided vehicles of other embodiment of this invention.

  Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a contactless charging system 10 for an automatic guided vehicle according to this embodiment. The contactless charging system 10 for an automated guided vehicle includes an automated guided vehicle 30 that can travel on a specified conveyance path 20 and a freight car 40 that is pulled on the conveyance path 20 by the automated guided vehicle 30. . As shown in FIG. 1, the automated guided vehicle 30 includes a secondary battery 31 that is a power storage device, and a power receiving coil 32 that receives power from the outside and charges the secondary battery 31. The power receiving coil 32 is provided in the lower part of the automatic guided vehicle 30 so that the axis extends in a direction perpendicular to the surface of the conveyance path 20. Further, as shown in FIG. 1, a coupler 33 is provided behind the automatic guided vehicle 30. The automatic guided vehicle 30 is enabled to run by driving a driving wheel by operating a motor (not shown) with electric power stored in the secondary battery 31.

  As shown in FIG. 1, the freight car 40 has a plurality of cargos 41 placed on a shelf, and is used to move the cargo 41 to a destination by being pulled by the automated guided vehicle 30. As shown in FIG. 1, the freight car 40 includes a plurality of power receiving coils 42 that receive electric power from the outside without contact. The power receiving coil 42 is densely provided in the traveling direction of the automatic guided vehicle 30 (left-right direction in FIG. 1), and is provided so that the axis extends in a direction perpendicular to the surface of the conveyance path 20. It is supported by the support base 43. The wagon 40 is connected to the automatic guided vehicle 30 by a coupler 33 of the automatic guided vehicle 30 and is electrically connected to the automatic guided vehicle 30 by a conductive cable (not shown). The freight car 40 does not have a driving force and can travel on the conveyance path 20 by being pulled by the automatic guided vehicle 30. Further, as shown in FIG. 1, the freight cars 40 are connected by a connector 44 and are electrically connected by a conductive cable (not shown).

  As shown in FIG. 1, a feeding coil 21 that transmits power to the power receiving coil 32 and the power receiving coil 42 in a non-contact manner is provided in the conveyance path 20. The power feeding coil 21 is connected to an AC power source (not shown) and transmits AC power to the power receiving coils 32 and 42. The feeding coil 21 is provided such that the axis extends in a direction orthogonal to the surface of the transport path 20 and is provided at a position close to the surface of the transport path 20. As shown in FIG. 1, the feeding coil 21 is connected to the connected automatic guided vehicle 30 and the freight car 40 with respect to the length from the power receiving coil 32 of the automatic guided vehicle 30 to the power receiving coil 42 at the tail end of the freight car 40. One is provided, and is arranged at equal intervals in the conveyance path 20 even in a place (not shown).

  As shown in FIG. 1, the power receiving coils 32, 42 are densely provided in the traveling direction of the automatic guided vehicle 30 between the power receiving coil 32 and the tail end of the power receiving coil 42, and pass through the power feeding coil 21. It is provided at a receiving position where the power from the feeding coil 21 can be received. The power received by the power receiving coils 32 and 42 from the power feeding coil 21 is AC power. Therefore, the automatic guided vehicle 30 includes a rectifier 34 for charging the secondary battery 31 by converting AC power into DC power.

  As described above, in the automatic guided vehicle 30 and the freight car 40 connected to the contactless charging system 10 for the automatic guided vehicle according to the present embodiment, the power feeding coil 21 is connected to the tail end of the freight car 40 from the power receiving coil 32. One power receiving coil 42 is provided between the power receiving coils 42 and the power receiving coils 32 and 42 are densely provided in the traveling direction of the automatic guided vehicle 30. As a result, since any one of the power receiving coils 32 and 42 can receive AC power from the power feeding coil 21, the secondary battery 31 of the automatic guided vehicle 30 can be always charged, and the transport path 20 The number of power supply coils 21 provided can be reduced, and the use of coil wires can be reduced as a whole system.

  Further, the AC power received by the power receiving coil 42 of the freight car 40 is sent to the rectifier 34 of the automatic guided vehicle 30 and converted into DC power to charge the secondary battery 31, so that the freight car 40 has a rectifier or a secondary battery. Even if it is not provided, the contactless charging system 10 for automatic guided vehicles can be operated.

  Next, another embodiment of the present invention will be described with reference to FIG. The same reference numerals are assigned to configurations that function in the same manner as the above-described embodiment, and descriptions thereof are omitted.

  FIG. 2 is a schematic diagram showing a contactless charging system 50 for an automatic guided vehicle according to the present embodiment. FIG. 2A shows a case where the automatic guided vehicle 60 and the freight car 70 are not connected. FIG. 2B shows a case where the automatic guided vehicle 60 and the wagon 70 are connected or released, and FIG. 2C shows a case where the automatic guided vehicle 60 and the wagon 70 are connected. For the sake of explanation, FIG. 2 shows the height of the automatic guided vehicle 60, the position of the lower shelf of the freight car 70, and the like in a different balance from the actual one.

  As shown in FIG. 2, the contactless charging system 50 for an automated guided vehicle includes an automated guided vehicle 60 that can travel on the conveyance path 20 and a freight car 70 that can be pulled by the automated guided vehicle 60. The automatic guided vehicle 60 of the present embodiment is a submersible towed automatic guided vehicle, and travels in the lower part of the wagon 70 from the right to the left in FIG. While moving to the connection place.

  As shown in FIG. 2, the freight car 70 has a plurality of cargos 41 placed on a shelf and is disposed on the conveyance path 20 of the automatic guided vehicle 60. As shown in FIG. 2, the support stand 71 provided in the freight car 70 has a lower part between a retracted position higher than the automatic guided vehicle 60 and a receiving position where the power receiving coil 42 can receive power from the power feeding coil 21. It has been made movable.

  As shown in FIG. 2A, when the automatic guided vehicle 60 and the freight car 70 are not connected, the support base 71 on which the power receiving coil 42 of the freight car 70 is supported is moved to the retracted position.

  As shown in FIGS. 2B and 2C, the automatic guided vehicle 60 includes a connecting pin 61 that can be extended and contracted in the vertical direction from the automatic guided vehicle 60. As shown in FIGS. 2B and 2C, the freight car 70 includes a connecting portion 72 that forms a recess that receives the extended connecting pin 61 and can be connected to the connecting pin 61. As shown in FIGS. 2B and 2C, the automatic guided vehicle 60 that has moved to the connection location extends the connection pin 61 upward and is connected to the connection portion 72 so that the freight car 70 can be pulled.

  As shown in FIG. 2B, when the automatic guided vehicle 60 and the freight car 70 are connected, in other words, immediately after the connection, the support base 71 is maintained in the state of being moved to the retracted position. When the automatic guided vehicle 60 and the freight car 70 are connected, the automatic guided vehicle 60 and the freight car 70 are electrically connected to each other by a conductive cable (not shown), and the motor (not shown) that drives the support base 71 and the freight car 70 are provided. Electric power can be supplied from the secondary battery 31 to a sensor (not shown). The sensor of the freight car 70 is provided in order to detect whether the automatic guided vehicle 60 exists below each support stand 71. The sensor of the freight car 70 that has been supplied with electric power and is operable detects whether or not the automatic guided vehicle 60 exists under each support base 71. For example, as shown in FIG. 2B, the sensor of the freight car 70 detects that the automatic guided vehicle 60 exists under the first and second support bases 71 from the left end of the freight car 70. Based on the detection result of the sensor, the motor is driven such that the automatic guided vehicle 60 moves the support base 71 that is not below from the retracted position to the receiving position.

  As shown in FIG. 2C, the support base 71 with the automatic guided vehicle 60 underneath is maintained in the state of being moved to the retracted position, and the motor is driven with respect to the support base 71 without the automatic guided vehicle 60 underneath. Is moved to the receiving position. As shown in FIG. 2C, the power receiving coils 32 and 42 arranged at the receiving position are densely provided between the power receiving coil 32 and the power receiving coil 42 at the tail end of the freight car 70. One is provided. That is, any one of the power receiving coils 32 and 42 can receive AC power from the power feeding coil 21.

  The automatic guided vehicle 60 pulls the freight car 70 and moves to the destination, and then releases the connection with the freight car 70. After the connection between the automatic guided vehicle 60 and the freight car 70 is released, if the support base 71 of the freight car 70 remains moved to the reception position, the automatic guided vehicle 60 is used when the automatic guided vehicle 60 tries to pull the freight car 70 again. 60 cannot run under the freight car 70. Therefore, when releasing the connection, the support base 71 that has been moved to the receiving position by receiving power from the secondary battery 31 is moved to the retracted position in FIG. Thereafter, the automatic guided vehicle 60 stores the connection pin 61 to release the connection with the freight car 70 and moves to the next work place.

  As described above, according to the contactless charging system 50 for the automatic guided vehicle according to the present embodiment, in addition to the effects in the above-described embodiment, the support base 71 is provided in accordance with the connection state of the automatic guided vehicle 60 and the freight car 70. Since it moves to the retracted position and the receiving position, the power receiving coil 42 can appropriately receive power from the power feeding coil 21 without hindering the movement of the automatic guided vehicle 60 even when the automatic guided vehicle is a submersion type. Can do.

  In the embodiment described above, the secondary battery and the rectifier are collectively provided in the automatic guided vehicle. However, the power supply device may be provided in the freight car. By installing a power supply device on the wagon, the support base can be moved along with the passage of the automatic guided vehicle, and the support base can be moved from the receiving position to the retracted position even after the connection between the automatic guided vehicle and the wagon is released. It is possible to increase the degree of freedom in connecting and releasing the automatic guided vehicle and the freight car.

  In each embodiment described above, one feeding coil is provided in the length from the receiving coil of the automatic guided vehicle to the receiving coil at the tail end of the freight car, but two or more feeding coils may be provided. By increasing the number of power supply coils per length, for example, an automatic guided vehicle can pull more freight cars, and even when power consumption increases, the necessary power can be supplied. Can prevent the battery from running out of charge.

  In each of the above-described embodiments, FIG. 1 and FIG. 2 show two connected freight cars, but the number of freight cars may be changed within a range of one or more. When the number of wagons is changed, the length from the receiving coil of the automated guided vehicle to the receiving coil at the tail end of the freight car is also changed, so the distance between the feeding coils is also changed according to the changed length between the receiving coils. By doing so, the secondary battery of the automatic guided vehicle can be always charged.

  DESCRIPTION OF SYMBOLS 10 Contactless charging system for automatic guided vehicles, 20 Carriage path, 21 Feeding coil, 30 Automatic guided vehicle, 31 Secondary battery, 32 Power receiving coil, 33 Coupler, 34 Rectifier, 40 Freight car, 41 Cargo, 42 Power receiving coil, 43 Support stand, 44 coupler.

Claims (3)

An automatic guided vehicle that includes a power storage device and a power receiving coil that receives power from the outside and supplies power to the power storage device, and is capable of traveling on a transport path determined by the power stored in the power storage device;
A plurality of power supply coils that are provided in the conveyance path and transmit power to the power reception coil in a non-contact manner;
A freight car towed on the transport path by an automated guided vehicle;
A contactless charging system for an automated guided vehicle comprising:
The freight car receives power from the power supply coil in a non-contact manner and supplies power to the power storage device, and includes a plurality of power receiving coils that are densely provided along the traveling direction of the automated guided vehicle.
At least one feeding coil is provided for the length from the power receiving coil of the automatic guided vehicle to the power receiving coil at the tail end of the freight car towed by the automatic guided vehicle. It is a non-contact charging system for automatic guided vehicles according to claim 1,
The plurality of power receiving coils provided in the freight car are provided so that the lower end thereof is movable up and down between a retracted position where the lower end is higher than that of the automatic guided vehicle and a receiving position where the power from the power feeding coil can be received. Non-contact charging system for cars. It is a non-contact charging system for automatic guided vehicles according to claim 2,
The automatic guided vehicle is a submersible towed automatic guided vehicle that moves to the connecting place while traveling under the freight car when connected to the freight car to pull the freight car.
The non-contact charging system for an automatic guided vehicle, wherein the plurality of power receiving coils provided in the wagon are moved to a retracted position when the automatic guided vehicle and the freight car are not connected.

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