JPH0678410A - Automated guided vehicle equipment - Google Patents

Abstract

PURPOSE:To obtain automated guided vehicle equipment which is charged by a transfer station and for which a transfer operation can be executed even in the process of charging. CONSTITUTION:A charging device 6 having a stabilizing power source 10 is provided for a transfer station. An automated guided vehicle 1 is stopped at the transfer station and a battery 2 is charged by the charging device 6, while a drive part 16 of the automated guided vehicle 1 is connected to the stabilizing power source 10 of the charging device 6 by a selector switch 17. Since a transfer device is made to operate by the stabilizing power source 10 in the process of charging of the battery 2 of the automated guided vehicle, according to this constitution, a charging current is not consumed and fluctuation lessens. Thereby movement of the automated guided vehicle for charging is dispensed with, a transfer operation can be executed in the course of charging, a rate of operation is improved, the fluctuation of the charging current is little and a charging operation is made efficient.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automated guided vehicle apparatus which is arranged in an automatic production line or the like and is driven by a battery for carrying and transferring articles.

[0002]

2. Description of the Related Art FIG. 16 shows, for example, Japanese Utility Model Laid-Open No. 62-1615.
It is a figure which shows the conventional automatic guided vehicle apparatus shown by the 02 gazette, and is a side view which shows notionally an automatic guided vehicle and a charging device. In the figure, (1) is an automated guided vehicle traveling on a predetermined route, (2) is a battery for driving provided in the automated guided vehicle (1), (3) is an article provided in the automated guided vehicle (1) Transfer device for loading and unloading (not shown), (4) is an automated guided vehicle (1)
It is configured to be able to move up and down with a charging plug provided on the. (5) is a ceiling of a building provided with a predetermined path, (6) is a battery (2) charging device having a plug receiver corresponding to the plug (4), and the ceiling (5 )
It is provided in.

The conventional automated guided vehicle apparatus is constructed as described above, and the automated guided vehicle (1) is moved along a predetermined path by using the battery (2) mounted therein as a power source and stopped at a transfer station (not shown). Transfer device that is then energized by the battery (2)
According to (3), automatic work such as transfer of required goods is performed. Then, when it is necessary to charge the installed battery (2), the vehicle travels to the evacuation station where the charging device (6) is installed and stops, and the charging plug (4) is raised. The charging device (6) is fitted with a plug receiver for charging.

FIG. 17 is a view showing another conventional automatic guided vehicle apparatus, and is a side view conceptually showing the automatic guided vehicle and the charging apparatus. In the figure, (1) is an automated guided vehicle traveling on a predetermined route, (2) is a battery for driving provided in the automated guided vehicle (1), (4) is a charge provided in the automated guided vehicle (1) It is a movable electrode for use with a well-known mechanism driven by an electric motor (22) and a screw mechanism (23). (6) is a charging device for a battery (2) having a stationary electrode (24) corresponding to the moving electrode (4) and a charger (25), which is arranged at a position facing a predetermined route of the automatic guided vehicle (1). ing.

In the conventional automatic guided vehicle apparatus configured as shown in FIG. 17, the automatic guided vehicle (1) is moved along a predetermined path by using a battery (2) mounted on the automatic guided vehicle (1) as a power source and a transfer station (not shown). Although the detailed description is omitted by stopping at), automatic work such as transfer of required articles is performed. And when it is necessary to charge the installed battery (2), the charging device (6)
After moving to the position and stopping, move the charging moving electrode (4) forward and connect to the stationary electrode (24) of the charging device (6) to connect the charger (25)
It is designed to be charged by.

[0006]

In the conventional automatic guided vehicle apparatus as described above, the automatic guided vehicle (1) is provided with the charging device (6) for charging the battery (2) mounted therein. Since it is necessary to travel to the evacuation station, the transfer work cannot be performed during charging, and the efficiency of the automatic work becomes low. Even if a charging device is provided in the transfer station to perform the transfer operation during charging, the transfer current of the automatic guided vehicle during charging causes the charging current to fluctuate and consumes much of the charging current. Therefore, there is a problem that the charging efficiency is deteriorated.

Further, in the conventional automatic guided vehicle apparatus as shown in FIG. 17, the impact when connecting both the moving electrode (4) for charging and the stationary electrode (24) is large and causes the life of both of them to be shortened. . Further, the contact force is small if the both are simply brought into contact with each other, and a spark is blown just before they are brought into contact with each other, and oxidation of the electrode surface proceeds. Due to these factors, there is a problem in that the resistance at the contact points of both of the above becomes large, the charging efficiency is lowered, and the seizure of the electrodes is caused.

Furthermore, if a voltage is constantly applied to the stationary electrode (24), there is a risk that a short circuit may occur when a metal piece or the like comes into contact with the stationary electrode (24) at a time other than during charging, and the electrode rod of the stationary electrode (24). However, there is a problem that workers are given a psychological anxiety of electric shock due to the exposure.

The present invention has been made to solve the above problems, and a first object of the present invention is to provide a charging device in a transfer station so that an automated guided vehicle travels to an evacuation station. Another object of the present invention is to obtain an automatic guided vehicle device that does not need to be charged and that can be charged as required even while the automatic guided vehicle is being transferred. A second object of the present invention is to obtain an automated guided vehicle device with less adverse effects when connecting both the moving electrode (4) for charging and the stationary electrode (24). A third object of the present invention is to provide a stationary electrode (2
To obtain an automated guided vehicle device that prevents accidents in 4).

[0010]

In an automatic guided vehicle apparatus according to a first aspect of the present invention, a battery, a drive unit connected to the battery, a control unit connected to the battery for controlling the drive unit, And an unmanned transporting vehicle that is provided with a transfer device that is driven by a drive unit, moves along a predetermined path, stops at the transfer station, and performs an item transfer operation by the transfer device, and is provided in the transfer station. A charger having a + pole and a − pole, a regulated power source having a − pole connected to the + pole and the − pole of the charger, and a first connected to the + pole of the charger.
Consists of a stationary coupler disposed at a position facing the automatic guided vehicle, provided with a second plug receiver connected to the negative pole of the charger and the charger and a third plug receiver connected to the positive pole of the stabilized power source. And a second plug connected to the + pole of the battery and a + pole of the drive unit, which is configured to be able to move forward and backward by being installed in the automatic guided vehicle And a moving coupler which is provided at a position facing the stationary coupler and which is fitted to the stationary coupler at the time of charging by the charging device, and a + pole of the driving unit provided at the unmanned guided vehicle and charged by the charging device. Is provided on the third plug side of the moving coupler.

Further, in the unmanned guided vehicle apparatus according to the second aspect of the present invention, the unmanned guided vehicle which is driven by the drive unit connected to the battery and moves along the predetermined path, and the stationary coupler having the electrode rod. And a charging device disposed opposite to a predetermined path, and equipped with an electrode rod that is equipped so as to be able to advance and retreat to an unmanned guided vehicle and moves forward when the battery of the unmanned guided vehicle is charged to connect to a stationary coupler of the charging device. A moving coupler and a spring mechanism for biasing the electrode rods provided on at least one of the stationary coupler and the moving coupler in the projecting direction and always holding the electrode rod at a predetermined position are provided.

Further, in the automatic guided vehicle apparatus according to the third aspect of the present invention, the unmanned guided vehicle which is driven by the drive unit connected to the battery and moves on the predetermined route, and the stationary coupler having the electrode rod. And a charging device disposed opposite to a predetermined path, and equipped with an electrode rod that is equipped so as to be able to advance and retreat to an unmanned guided vehicle and moves forward when the battery of the unmanned guided vehicle is charged to connect to a stationary coupler of the charging device. The moving coupler and a spring mechanism that holds the electrode rod provided in at least one of the stationary coupler and the moving coupler in a protruding direction and normally holds it at a predetermined position, and the stationary coupler that operates by connecting the both And a connection detector electrically connecting the charger to the charger of the charging device.

Further, in the automatic guided vehicle apparatus according to the fourth aspect of the present invention, the unmanned guided vehicle which is driven by the drive unit connected to the battery and moves on the predetermined route, and the stationary coupler having the electrode rod. And a charging device disposed opposite to a predetermined path, and equipped with an electrode rod that is equipped so as to be able to advance and retreat to an unmanned guided vehicle and moves forward when the battery of the unmanned guided vehicle is charged to connect to a stationary coupler of the charging device. A space is formed in the stationary coupler where the movable coupler and the electrode rod of the stationary coupler fit together, and it is urged in the forward direction from this stationary coupler and held at a position advanced from the front end of the stationary coupler electrode rod. And an electrode cover that is pushed back by the moving coupler that moves forward and moves backward.

[0014]

The unmanned guided vehicle of the unmanned guided vehicle apparatus according to the first aspect of the present invention configured as described above can perform the transfer operation during battery charging. Further, during the transfer operation during charging of the battery, power is supplied to the drive unit from the stabilized power supply.

Further, in the automatic guided vehicle of the automatic guided vehicle apparatus according to the second aspect of the present invention constructed as described above, the electrode rod is pressed by the spring mechanism when both the stationary coupler and the moving coupler are connected. Contact in the open state.

Further, in the automatic guided vehicle of the automatic guided vehicle apparatus according to the third aspect of the present invention configured as described above, the electrode rod is pressed by the spring mechanism when both the stationary coupler and the moving coupler are connected. Contact in the open state. Also,
By the connection of the both, the stationary coupler is electrically connected to the charger of the charging device via the connection detector.

Further, in the automatic guided vehicle of the automatic guided vehicle apparatus according to the fourth aspect of the present invention configured as described above, the electrode rod of the stationary coupler is arranged after the electrode cover except during charging.

[0018]

EXAMPLES Example 1. 1 to 4 are views showing an embodiment of the present invention, FIG. 1 is a side view of an automated guided vehicle, and FIG. 2 is FIG.
Front view of the transfer station corresponding to the automatic guided vehicle of FIG. 3, FIG. 3 is an explanatory view showing the charging state of the automatic guided vehicle of FIG. 1, FIG. 4 is a concept of the automatic guided vehicle of FIG. 1, and the charging device of FIG. It is a schematic electric circuit diagram. In the figure, (1) is an automated guided vehicle traveling on a predetermined route, (2) is a battery for driving provided in the automated guided vehicle (1), (3) is an article provided in the automated guided vehicle (1) (7) is a transfer device for loading and unloading, and (4) is a plug device for charging provided in the automated guided vehicle (1) and is configured to be movable back and forth.

(8) is a transfer station provided along the route of the automatic guided vehicle (1), and (6) is a charging device provided in the transfer station (8), which has a positive pole and a negative pole. Charger (9) which has +
A regulated power supply (10) having a pole, a-pole-the pole connected to the-pole of the charger (9), and a first connected to the + pole of the charger (9)
The plug receiver (11) and the second plug receiver (12) connected to the negative pole of the charger (9) and the third connected to the positive pole of the stabilized power supply (10).
The stationary coupler (14) is provided with a plug receiver (13) and is arranged at a position facing the plug device (4) of the automatic guided vehicle (1).

(15) is a control unit of the automated guided vehicle (1), (16) is a drive unit of the automated guided vehicle (1), and (17) is a changeover switch provided at the + pole of the drive unit (16). When it is closed to the contact a side, it is connected to the positive (+) pole of the battery (2), and when it is closed to the contact b side, it is connected to the third plug of the moving coupler described later. (18)
Is a moving coupler provided in the plug device (4),
Driven when the first plug (19) connected to the (+) pole of (2), the second plug (20) connected to the (-) pole of the battery (2), and the changeover switch (17) are turned to the b side. Third connected to the + pole of the part
A plug (21) is provided and arranged at a position facing the stationary coupler (14), and the stationary coupler (1
It is a moving coupler that fits in 4).

In the automatic guided vehicle apparatus constructed as described above, when the battery (2) of the automatic guided vehicle (1) does not require charging, the changeover switch (17) is turned on to the contact a side. . Further, the plug device (4) is held in the retracted position, the control unit (15) and the drive unit (16) are urged by the battery (2), and the automatic guided vehicle (1) is automatically transported and transferred as required. Do the work.

When the battery (2) is exhausted and needs to be charged, the automatic transfer vehicle (8) is installed in an appropriate transfer station (8).
(1) is stopped, plug device (4) is moved forward, stationary coupler (14)
The moving coupler (18) is fitted in. This allows the stationary coupler
A first plug (19) of the moving coupler (18) is attached to the first plug receiver (11) of (14), and a second plug (19) of the moving coupler (18) is attached to the second plug receiver (12) of the stationary coupler (14). 20) is the third of the stationary coupler (14)
The third plugs (21) of the moving coupler (18) are connected to the plug receivers (13), respectively. Further, the changeover switch (17) is turned on to the contact b side, and the drive unit (16) of the automatic guided vehicle (1) is charged by the charging device (6).
Connected to the stabilized power source (10), the drive unit (16) is energized by the stabilized power source (10).

In this way, in the automatic guided vehicle (1), the battery (2) is charged from the charging device (6) in the transfer station (8), and the stabilizing power source (10) is used during charging. The automatic transfer vehicle (1) performs the required automatic transfer work by urging the transfer device (3). Therefore, the automated guided vehicle (1) has the purpose of charging the battery (2) onboard the charging device.
It is not necessary to travel to the evacuation station provided with (6), and it is possible to prevent a reduction in automatic work efficiency due to the automated guided vehicle (1). The transfer operation during charging of the battery (2) is performed by supplying power from the stabilizing power supply (10) to the drive unit (16). For this reason, it is possible to obtain a stable and efficient charging action with little fluctuation in the charging current during charging of the battery (2).

Example 2. 5 to 10 are views showing another embodiment of the present invention, FIG. 5 is a side view conceptually showing an automated guided vehicle and a charging device, and FIG. 6 is a diagram showing an operating state of a moving coupler of the automated guided vehicle. FIG. 7, FIG. 7 is a diagram for explaining the charging status of the automatic guided vehicle, FIG. 8 is an enlarged vertical cross-sectional view of portion A of FIG. 5, FIG. 9 is a cross-sectional plan view of FIG. 8, and FIG. 10 is control of the apparatus of FIG. It is a block diagram. In the figure, (1) is an automatic guided vehicle moving on a predetermined route, and (2) is a drive battery provided in the automatic guided vehicle (1).

Reference numeral (18) is a moving coupler for charging provided in the automatic guided vehicle (1), which is configured to be movable back and forth by a well-known mechanism driven by an electric motor (22) and a screw mechanism (23) and separated from each other. A large diameter portion (27) is formed on the support plate (26) arranged as a support plate (26) outside the moving coupler (18).
An electrode rod (28) arranged to face the inner surface and movably fitted to the support plate (26), one end having a large diameter portion (27) and the other end having an anti-large diameter portion.
A spring mechanism (29) consisting of a compression coil spring supported by a support plate (26) on the (27) side, an operating piece () provided at the end of the electrode rod (28) on the side opposite to the large diameter portion (27). 30), anti-large diameter part of actuating piece (30)
A retreat detector consisting of a terminal (31) provided at the end on the (27) side, and a switch provided on the fixed part and operated by the retreating operation of the electrode rod (28) being pressed by the operating piece (30) ( 32).

Reference numeral (33) is a movement detector connected to the control unit (15) of the automatic guided vehicle (1), which is composed of a switch provided on the fixed portion of the automatic guided vehicle (1), and (34) is a moving coupler ( The pressing piece is provided at the moving part of 18) and faces the movement detector (33). (6)
Is a stationary coupler (14) and charger corresponding to the mobile coupler (18)
A battery (2) charging device having (25), an automated guided vehicle (1)
Is arranged at a position opposed to the predetermined path. Although not shown, the stationary coupler (14) includes a moving coupler (18).
An electrode rod facing the electrode rod (28) is provided. (35)
Is a connection detector composed of a switch provided in the charging device (6) and operated by being pressed by the moving coupler (18).

In the automatic guided vehicle apparatus constructed as described above, the movable coupler (18) is held in the retracted position and housed in the automatic guided vehicle (1) as shown in FIG. In this state, the automated guided vehicle (1) uses the installed battery (2) as a power source to move along a predetermined path and stop at a transfer station (not shown) to omit a detailed description, but transfer the required articles. Carry out automatic work such as loading. Then, when it is necessary to charge the installed battery (2), the vehicle travels to the installation position of the charging device (6) and stops, and the control unit (15) energizes the electric motor (22). The movement of the lever mechanism (23) advances the moving coupler (18). As a result, when the movement detector (33) is pressed by the pressing piece (34), the control of the electric motor (22) is temporarily stopped, and then the control is switched to the PWM control.

Then, the moving coupler (18) is controlled by the PWM control.
Is pressed against the stationary coupler (14) of the charging device (2). As a result, the electrode rod (28) comes into contact with the electrode rod of the stationary coupler (14) and retracts, so that the retracting detector (32) of the moving coupler (18) causes the working piece (30) of the electrode rod (28). Operated by being pressed by. By the operation of the backward movement detector (32), the electric motor (22) is braked and the moving coupler (18) is held in a state of being pressed against the stationary coupler (14). Further, the moving coupler (18) is pressed against the stationary coupler (14), and the connection detector (35) operates, whereby it is detected that the electrode rod (28) contacts the electrode rod of the stationary coupler (14). It As a result, the charger (25) applies a voltage to the stationary coupler (14) to start charging.

FIG. 10 is a block diagram showing the control by the control unit (15) in the charging operation of the battery (2) of the automatic guided vehicle (1) described above. That is, the forward or reverse rotation of the electric motor (22) is input to the electric motor (22) drive circuit as a command signal, and the electric motor (22) drive circuit drives the electric motor (22) according to the instruction. Then, when the movement detector (33) operates, the motor (2
2) Issue a command to stop the control. Also, after a fixed time delay, switch to PWM control, drive the electric motor (22), press the moving coupler (18), and when the reverse detector (32) operates, the electric motor (22) is braked and control ends. Move to charging operation.

As described above, when the stationary coupler (14) and the moving coupler (18) are both connected, the electrode rod (28) is brought into contact with the spring mechanism (29) while being pressed, and after the both are connected. Are held in a pressed state against each other. Furthermore, charging is started after the above both are connected. Therefore, the impact at the time of connecting both of them can be buffered, and both of them can have a long life. In addition, the two are connected with a required contact force and sparks fly just before the two come into contact with each other, oxidation of the electrode surface progresses, the resistance at the contact point between the both increases, the charging efficiency decreases, and the seizure of the electrode occurs. It will be eliminated as a cause. Further, when the stationary coupler (14) is always in a voltage-applied state, it is possible to prevent a risk of a short circuit caused by contact with a metal piece or the like except during charging.

Example 3. 11 to 15 are also views showing another embodiment of the present invention, and FIG. 11 is a front view of a stationary coupler,
FIG. 12 is a vertical cross-sectional side view of the mounting portion of the electrode cover of FIG.
FIG. 13 is a vertical cross-sectional side view of the mounting position of the electrode rod of FIG.
4 is a diagram for explaining a facing state of the stationary coupler and the moving coupler of FIG. 11, FIG. 15 is a diagram for explaining a connection state of the stationary coupler and the moving coupler of FIG. 11, and the above-mentioned diagrams other than FIGS. 11 to 15. It is constructed in the same manner as in No. 5.

In the figure, (14) is a stationary coupler provided in the charging device (6), which is a support plate (3) arranged apart from each other.
6), a large diameter part (37) is formed, and this large diameter part (37) is arranged facing the inner surface of the support plate (36) outside the stationary coupler (14) and is movable to the support plate (36). A spring mechanism (compression coil spring), which is supported by an electrode rod (38) fitted to a large diameter part (37) and one end supported by a support plate (36) on the side of the anti-large diameter part (37). 39), the terminal (40) provided at the end of the electrode rod (38) on the side opposite to the large diameter part (37)
It is composed by.

Reference numeral (41) is an electrode cover arranged on the front surface of the stationary coupler (14), and an electrode rod (38) which forms a void and is opposed to the electrode rod (38) of the stationary coupler (14). A fitting hole (42) having a diameter larger than the diameter of the large diameter portion (43) is formed, and the large diameter portion (43) faces the inner surface of the outer support plate (36) of the stationary coupler (14). The large diameter part (3
The sliding bar (44) whose end on the 7) side is fastened to the electrode cover (41),
Support plate (36) with one end on the large diameter part (43) and the other end on the side opposite to the large diameter part (43)
Spring mechanism consisting of compression coil springs supported by each
It is composed of (45). (18) is a moving coupler, which corresponds to each of the electrode rods (38) of the stationary coupler (14)
(28) is provided.

In the automatic guided vehicle apparatus constructed as described above, the moving coupler (18) is held in the retracted position and housed in the automatic guided vehicle (1) as shown in FIG. In this state, the automated guided vehicle (1) uses the installed battery (2) as a power source to move along a predetermined path and stop at a transfer station (not shown) to omit a detailed description, but transfer the required articles. Carry out automatic work such as loading. Further, the electrode cover (41) is arranged on the front surface of the stationary coupler (14) of the charging device (6) and is urged in the forward direction by the spring mechanism (45) to move the electrode rod (38) of the stationary coupler (14). It is held at a position before the front end.

When it is necessary to charge the battery (2) of the automatic guided vehicle (1) installed, the charging device (6)
The unmanned guided vehicle (1) runs to the installation position of the
The moving coupler (18) advances in the state shown in FIG. Due to the forward movement of the moving coupler (18), the electrode cover (41) is pressed and retracts, and the electrode rod (38) is fitted into the fitting hole (42), so that the moving coupler (18) moves. The electrode rod (28) is connected to the electrode rod (38) of the stationary coupler (14). As a result, a voltage is applied to the stationary coupler (14) by the charger (25) and charging is performed.

As described above, the electrode rod (38) of the stationary coupler (14) is arranged on the rear side of the electrode cover (41) except when the automatic guided vehicle (1) is charged. Therefore, it is possible to prevent an accident such as a risk that a metal piece or the like comes into contact with the electrode rod (38) of the stationary coupler (14) and a short circuit occurs except when charging. In addition, since the electrode rod (38) of the stationary coupler (14) is exposed, it is possible to eliminate the psychological anxiety of an electric shock accident that occurs in workers and the like.

[0037]

As described above, according to the first aspect of the present invention, the drive section connected to the battery, the control section connected to the battery for controlling the drive section, and the transfer section driven by the drive section. A device is provided to move on a predetermined route, and is provided in the transfer station, and an automatic guided vehicle that stops at the transfer station and performs the transfer operation of the article by the transfer device,
Charger having positive and negative poles, stabilized power source having positive pole connected to positive pole and negative pole of charger, and first plug receiver connected to positive pole of charger and negative pole of charger And a second charger connected to the stabilized power source and a third charger connected to the positive pole of the stabilized power supply, the charging device including a stationary coupler arranged at a position facing the automatic guided vehicle, and the automatic guided vehicle. The vehicle is provided with a first plug connected to the positive pole of the battery, a second plug connected to the negative pole of the battery, and a third plug corresponding to the positive pole of the drive unit. A moving coupler, which is arranged at a position facing the stationary coupler and is fitted into the stationary coupler when charging by the charging device, and a driving unit provided on the automatic guided vehicle when the charging device is charging.
And a changeover switch for connecting the pole to the third plug side of the moving coupler.

As a result, the automatic guided vehicle is stopped at the transfer station provided with the charging device and the battery can be charged, and the efficiency of automatic work of the automatic guided vehicle caused by charging is prevented from being lowered. There is. In addition, the automatic guided vehicle can perform the transfer operation during charging of the battery, and since the driving power is supplied to the drive unit from the stabilizing power supply during the transfer operation during charging of the battery, the charging current is stable and efficient. It has the effect of obtaining a charging effect.

As described above, the invention according to claim 2 of the present invention is provided with the automatic guided vehicle which is driven by the drive unit connected to the battery and moves on the predetermined route, and the stationary coupler having the electrode rod. A moving coupler having a charging device disposed opposite to a predetermined path, and an electrode rod that is equipped so as to be capable of advancing and retreating in an automatic guided vehicle and that moves forward when charging the battery of the automatic guided vehicle and connects to a stationary coupler of the charging device. And a spring mechanism, which is provided on at least one of the stationary coupler and the movable coupler and urges the electrode rod equipped in the protruding direction to normally hold the electrode rod at a predetermined position.

As a result, when the stationary coupler and the moving coupler are both connected, the electrode rods are brought into contact with each other while being pressed by the spring mechanism. Therefore, the shock at the time of connecting the both is buffered, and the spark is blown just before the both are connected with a required contact force to make contact with each other, and the oxidation of the electrode surface proceeds, The resistance is not increased, the charging efficiency is not lowered, and the seizure of the electrode is not caused, and the effects of prolonging the life of both are provided.

As described above, the invention according to claim 3 of the present invention is provided with an automatic guided vehicle which is driven by a driving unit connected to a battery and moves on a predetermined path, and a stationary coupler having an electrode rod. A moving coupler having a charging device disposed opposite to a predetermined path, and an electrode rod that is equipped so as to be capable of advancing and retreating in an automatic guided vehicle and that moves forward when charging the battery of the automatic guided vehicle and connects to a stationary coupler of the charging device. And a spring mechanism that is provided in at least one of both the stationary coupler and the moving coupler and urges the electrode rod in the projecting direction to hold it in a fixed position at all times, and operates by connecting the two to charge the stationary coupler. And a connection detector electrically connected to the charger of the device.

As a result, when the stationary coupler and the moving coupler are both connected, the electrode rods are brought into contact with each other while being pressed by the spring mechanism. Further, the stationary coupler is electrically connected to the charger of the charging device through the connection detector by the connection of the both. Therefore, the shock at the time of connection of the both is buffered, and the spark is blown just before the both are connected with a required contact force to make contact with each other and oxidation of the electrode surface progresses, or the contact position of the both The resistance is not increased, the charging efficiency is not lowered, and the seizure of the electrode is not caused, and the effects of prolonging the life of both are provided. In addition, no voltage is applied to the stationary coupler except when the two are connected,
This has the effect of preventing the risk of foreign matter coming into contact with the battery when it is not being charged.

As described above, the invention according to claim 4 of the present invention is provided with an automatic guided vehicle which is driven by a drive unit connected to a battery and moves on a predetermined path, and a stationary coupler having an electrode rod. A moving coupler having a charging device disposed opposite to a predetermined path, and an electrode rod that is equipped so as to be capable of advancing and retreating in an automatic guided vehicle and that moves forward when charging the battery of the automatic guided vehicle and connects to a stationary coupler of the charging device. And, provided in the stationary coupler to form a cavity into which the electrode rod of the stationary coupler fits, is held in a position advanced from the front end of the electrode rod of the stationary coupler by being urged in the forward direction from this stationary coupler, An electrode cover that is pushed back by the moving coupler that moves forward and moves backward is provided.

As a result, the electrode rod of the stationary coupler is arranged on the rear side of the electrode cover except when charging the automatic guided vehicle.
Therefore, it is possible to prevent an accident that a foreign object comes into contact with the electrode rod of the stationary coupler except during charging, and the electrode rod of the stationary coupler is exposed. It has the effect of eliminating such anxiety.

[Brief description of drawings]

FIG. 1 is a side view of an automated guided vehicle showing a first embodiment of the present invention.

2 is a front view of a transfer station corresponding to the automatic guided vehicle of FIG. 1. FIG.

FIG. 3 is an explanatory diagram showing a charging status of the automatic guided vehicle of FIG. 1.

FIG. 4 is a conceptual electric circuit diagram of the automated guided vehicle of FIG. 1 and the charging device of FIG.

FIG. 5 is a conceptual side view of the automatic guided vehicle and the charging device showing the second embodiment of the present invention.

FIG. 6 is a diagram illustrating an operating state of a moving coupler of the automated guided vehicle of FIG.

FIG. 7 is a diagram illustrating the charging status of the automated guided vehicle of FIG.

FIG. 8 is an enlarged vertical sectional view of a portion A in FIG.

9 is a cross-sectional plan view of the main part of FIG.

10 is a control block diagram of the apparatus shown in FIG.

FIG. 11 is a front view of the stationary coupler of the charging device, showing the third embodiment of the present invention.

FIG. 12 is a vertical cross-sectional side view of a mounting portion of the electrode cover of FIG.

FIG. 13 is a vertical sectional side view of a mounting portion of the electrode rod of FIG.

FIG. 14 is a view for explaining a facing state of the stationary coupler and the moving coupler of FIG. 11.

FIG. 15 is a diagram illustrating a connection state between the stationary coupler and the moving coupler in FIG. 11.

FIG. 16 is a view showing a conventional automated guided vehicle apparatus, and is a side view conceptually showing the automated guided vehicle and the charging apparatus.

FIG. 17 is a view showing another conventional automated guided vehicle apparatus, which is a side view conceptually showing the automated guided vehicle and the charging apparatus.

[Explanation of symbols]

 1 Automated guided vehicle 2 Battery 3 Transfer device 6 Charging device 7 Article 8 Transfer station 9 Charger 10 Stabilized power supply 11 First plug receiver 12 Second plug receiver 13 Third plug receiver 14 Stationary coupler 15 Controller 16 Drive Part 17 Changeover switch 18 Moving coupler 19 First plug 20 Second plug 21 Third plug 25 Charger 28 Electrode rod 29 Spring mechanism 35 Connection detector 38 Electrode rod 41 Electrode cover 42 Vacancy

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor Ikuo Fukao 1 Hishimachi, Inazawa City Mitsubishi Electric Engineering Co., Ltd. Inazawa Office

Claims (4)

[Claims] 1. A battery, a drive unit connected to the battery, a control unit connected to the battery for controlling the drive unit, and a transfer device driven by the drive unit are provided to move along a predetermined path. An automatic guided vehicle that stops at a transfer station and carries out an article transfer operation by the transfer device, a charger provided in the transfer station and having a + pole and a − pole, a + pole and the charge Power supply having a negative pole connected to the negative pole of the charger, and a first plug receptacle connected to the positive pole of the charger and a second connected to the negative pole of the charger.
A charging device including a plug receiver and a third plug receiver connected to the + pole of the stabilized power source, the charging device being configured by a stationary coupler arranged at a position facing the automatic guided vehicle, and provided in the automatic guided vehicle. A first plug connected to the positive pole of the battery, a second plug connected to the negative pole of the battery, and a third plug corresponding to the positive pole of the drive unit. The moving coupler, which is arranged at a position facing the stationary coupler and is fitted into the stationary coupler during charging by the charging device, and the + pole of the driving unit, which is provided in the automatic guided vehicle and is charged by the charging device, are An automated guided vehicle device including a changeover switch connected to the third plug side of the moving coupler. 2. An automatic guided vehicle which is driven by a drive unit connected to a battery and moves on a predetermined path, and a charging device which is provided with a stationary coupler having an electrode rod and is arranged to face the predetermined path. At least both of the stationary coupler and the movable coupler, which is equipped in the unmanned guided vehicle so as to be able to move forward and backward and advances when charging the battery of the unmanned guided vehicle to connect to the stationary coupler of the charging device. An automatic guided vehicle apparatus comprising: a spring mechanism that is provided on one side and urges the electrode rod in a protruding direction and always holds the electrode rod at a predetermined position. 3. An automatic guided vehicle which is driven by a drive unit connected to a battery and moves on a predetermined path, and a charging device which is provided with a stationary coupler having an electrode rod and is arranged to face the predetermined path. At least both of the stationary coupler and the movable coupler, which is equipped in the unmanned guided vehicle so as to be able to move forward and backward and advances when charging the battery of the unmanned guided vehicle to connect to the stationary coupler of the charging device. A spring mechanism that is provided on one side and urges the electrode rod in the projecting direction to hold it in a predetermined position at all times, and the stationary coupler is operated electrically by connecting the both, and electrically connects the stationary coupler to the charger of the charging device. An automated guided vehicle device having a connection detector for connection. 4. An automatic guided vehicle which is driven by a drive unit connected to a battery and moves on a predetermined path, and a charging device which is provided with a stationary coupler having an electrode rod and is arranged to face the predetermined path. The movable coupler equipped on the automatic guided vehicle to move forward and backward when the battery of the automatic guided vehicle is charged and has an electrode rod connected to the stationary coupler of the charging device, and the electrode rod of the stationary coupler are fitted to each other. A void is formed and provided in the stationary coupler, and is urged in a forward direction from the stationary coupler to be held at a position advanced from the front end of the electrode rod of the stationary coupler, and is pressed by the forward moving coupler. An automated guided vehicle device having a retractable electrode cover.