JPH0799882B2 - Mobile vehicle equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION (a) Field of Industrial Application The present invention relates to a mobile vehicle in which the transfer means of the main body of the mobile vehicle is driven by power supply from a power supply means provided in the transfer area via a cord. It is suitable for a mobile work robot.

(B) Conventional Technique As a first conventional device of this type, as disclosed in Japanese Patent Laid-Open No. 59-20115, a transfer means (for example, a motor) of a robot main body is driven by an on-board battery so as to operate itself. Run
Further, there is a robot which operates the working means provided on the robot body by the onboard battery.

As a second conventional apparatus, as disclosed in Japanese Patent Laid-Open No. 60-106302, a power outlet is provided for each station for operating the working means provided in the robot main body, and the robot main body is provided in this station. There is a robot in which the power receiving plug is connected to a power outlet to charge a mounted battery for moving the robot main body, and at the same time when the robot main body is in a stationary state, the working means is operated by electric power from the power outlet.

(C) Problems to be Solved by the Invention In the first conventional device described above, since the transfer means and the working means of the robot body are operated by the on-board battery, the operating time is short and the on-board battery is charged frequently. Will increase. A large capacity battery may be mounted to reduce the charging frequency, but the robot main body has a heavy weight and is large in size.

Further, in the above-mentioned second conventional apparatus, the working means of the robot main body operates only at the station where the battery mounted on the robot main body is charged, so that there is a drawback that the working range of the working means is extremely limited. .

The present invention has been made in view of the above points, and can reduce the capacity of an on-board battery, expand the working range of the working means, and provide a moving vehicle main body for the power feeding means provided in the working area. An object of the present invention is to provide a mobile vehicle device that holds the connection of the provided power receiving plugs.

(D) Means for Solving Problems In order to solve the problems, the present invention provides working means,
A mobile vehicle device comprising: a travel control device, an internal power supply device having a secondary battery, a power feeding connection means, an external power distribution means, and a command means, wherein the travel control device is an external power distribution means or an internal power distribution means. Electric power is supplied from the power supply device, the power feeding connecting means has a cord capable of being sent out and wound up, and a hooking means for hooking the hooking portion of the power feeding means at one end thereof,
It has a power receiving means provided with a releasing means for releasing the latching by the latching means, and can be connected to one of a plurality of one or a plurality of power feeding means provided in the transition region, and the other end is an external power source. The external power distribution unit is connected to the distribution unit, and the power from the power supply unit can be arbitrarily distributed to the internal power supply device, the working unit, and the travel control device. It is driven by electric power and self-propelled to a predetermined power feeding means to output a command signal for connecting the power receiving means to the power feeding means, and at the same time, the traveling control device is driven by electric power from the external power distribution means to self-propelled to the power feeding means. The power receiving means is housed in the side surface recess and then self-propelled in a direction away from the power feeding means to output a command signal for separating the power receiving means from the power feeding means. Hang the stop means on the hook of the power supply means. It is one in which to release the locking by the locking means operates the release means when separating from the power supply means.

(E) Operation According to the present invention, when the traveling control device is driven by the electric power of the internal power supply device and self-propelled to the predetermined power feeding means and the power receiving means is connected to the power feeding means, external power from the power feeding means is generated. Work means and the travel control device are activated. Then, by the operation of the travel control device, the moving vehicle body is self-propelled, the cord of the power feeding connecting means is extended, self-propelled in the power feeding state, and the working means is activated.

Further, when the moving vehicle body is self-propelled by the external power from the power feeding means, the power receiving means is securely connected to and held by the power feeding means by the hooking means of the power receiving means and the hooking portion of the power feeding means. Does not come off from the power supply means.

Further, by operating the releasing means of the power receiving means, the hooking means of the power receiving means and the hooking portion of the power feeding means are released, and the power receiving means is easily separated from the power feeding means by the traveling of the main body of the moving vehicle.

(F) Embodiment An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a model principle diagram of a mobile vehicle, and FIG. 2 is a model diagram for explaining a working state of the mobile vehicle.

In these drawings, 1 is a moving vehicle main body of the moving vehicle apparatus, and the moving vehicle main body 1 has a working means 4, a traveling control device 21 having a transition means 2 and a control means 10, a secondary battery 3 and a charging circuit. An internal power supply device 22 having a means 9, an operating circuit means 8 as an external power distribution means, a command means 12,
The search sensor 11 of the power feeding means 7 and the like are mounted.

The transfer means 2 has four wheels 2a and a first motor 2b for driving two driving wheels of the wheels 2a via reduction gears, and this motor is driven by a secondary battery 3 or a power supply means 7 described later. It is driven by power supply.

The working means 4 is a floor cleaner in this embodiment, and includes a dust collecting fan 4a and a second motor 4b for driving the dust collecting fan 4a, and the motor is driven by power feeding from the power feeding means 7.

The cord adjusting means 5 is provided in the transition area of the mobile vehicle main body 1, that is, in the wall surface 6 of the work place, etc., and is connected to a power outlet 7a constituting a power feeding means 7 connected to a commercial power source, and a power receiving plug 5a and a power receiving plug. Cord 5b connected to 5a
And a reel mechanism 5c, a drive device 5d for feeding and winding or at least winding the cord 5b wound around the reel mechanism, and a hooking means 5e for holding the connection state of the power receiving plug 5a and the power outlet 7a. And the means for releasing the lock
With 5f. The power receiving plug 5a is coupled to the power feeding means 7 when the vehicle body 1 approaches the power feeding means 7. This connection state is held by the hooking means 5e.

The cord 5b is connected to the actuating circuit means 8, and the electric power from the cord 5b is converted into an alternating current or a direct current through the actuating circuit means 8, and the second motor 4b of the working means 4 and the transfer means 2 are converted. It is supplied to the secondary battery 3 and the like via the first motor 2b and the charging circuit means 9. Further, the drive device 5d has a winding motor in the embodiment, and is connected to the reel mechanism 5c via a one-way clutch.

The moving vehicle main body 1 has a control means 10, and this control means moves the moving vehicle body 1 to the position of the power feeding means 7 based on the output of the sensor 11 which searches for the power feeding means 7. The connection state of the first motor 2b and the secondary battery 3 is controlled.

The search sensor 11 detects an induction signal to the power feeding means 7, and the induction signal may be a radio wave, light, or the like radiated from a position close to the power feeding means 7, and a light reflection provided on the floor surface. It may be reflected light from the tape or a magnetic field from an electromagnetic induction wire arranged on the floor.

Reference numeral 12 is a command means provided in the main body of the moving vehicle, and has a manual command section and an automatic command section, and the control means 10 and the operating circuit means 8 are operated by a command from either command section. The manual command unit manually inputs the charging start time of the battery 3 or the working start time of the working means, the work range, the work order, etc., and based on the input, a command signal and a signal for storing the automatic command unit. Is output. Further, the automatic command section automatically controls the control means 10 based on the data stored in advance.
And actuating the operating circuit means 8.

The power supply means 7 is composed of a power supply outlet 7a connected to a commercial power supply, and when an information signal is added to the power supply line of the commercial power supply, the code 5b transmits the information signal together with the commercial power to the mobile vehicle body. .

In the above configuration, when the working means 4 starts working based on the command from the command means 12, the search sensor 11 detects the guidance signal to the power feeding means 7 and the moving vehicle body 1
The control means 10 is controlled so as to approach the power supply means 7.
That is, using the battery 3 as a power source, the first motor of the transfer means 2
Drive 2b. When the moving vehicle body 1 approaches the power feeding means 7 at a predetermined position by the operation of the shifting means 2, the power receiving plug 5a is connected to the power feeding means 7. This connection state is held by the hooking means 5e.

In this connected state, the electric power from the cord 5b is supplied to the transfer means 2 and the working means 4 etc. via the actuation circuit means 8. Therefore, the operation of the transfer means 2 causes the moving vehicle main body 1 to move while sending out the cord 5b from the reel mechanism 5c, and when the moving vehicle main body 1 enters the work area, the working means 4 is operated based on the command of the command means 12. Operates to clean the floor surface while the moving vehicle body 1 moves. Power receiving plug like this
In the state in which 5a is connected to the power feeding means 7, the working means 4 mainly operates for a long period of time, so at least during this transition operation, the battery 3 is floating-charged by the electric power from the cord 5b via the charging circuit means 9.

When the operation of the work means 4 in the work area is completed, the search sensor 11 automatically detects the guidance signal to the power feeding means 7 and moves the moving vehicle body 1 to a position near the power feeding means 7. During this movement, the drive device 5d operates to wind up the cord 5b. This drive is operated by electric power from the cord 5b.

Thus, when the moving vehicle body 1 approaches the power feeding means 7 in a predetermined state while winding the cord 5b, the hanging state of the hanging means 5e is released by the operation of the releasing means 5f, and the moving vehicle body 1 moves. The power receiving plug 5a is separated from the power feeding means 7.

Next, the relationship between the power outlet 7a and the power receiving plug 5a will be described with reference to FIGS. 3 and 4.

FIG. 3 is an exploded perspective view of the power receiving plug. In this drawing, the power receiving plug 5a has upper and lower cases 13a and 13b, and the lower case 13a has a pair of plug blades 14 and 1 connected to a cord 5b.
The rocking rod 15 which is attached with 4 and constitutes the hooking means 5e
Is pivoted by pivot pin 16. The swing bar 15 has a latching claw 15a at its tip, and the latching claw is located on the upper and lower frames 17a and 17b projecting from the upper and lower cases 13a and 13b, and the tip 15b of the latching claw 15a.
Is protruding from the window 17c of the upper frame 17b.

A coil spring 18 is installed between the rear portion 15c of the pivot pin 16 and the upper case 13b of the swing rod 15 so as to urge the tip 15b of the latch claw 15a to project further from the window 17c. There is. Further, in the lower case 13a that opposes the rear portion 15c,
A through hole 13c (see FIG. 5C) is provided. still,
The upper and lower cases 13a and 13b are joined by a known connecting means such as a screw.

Next, FIG. 4 is a front view of the power outlet 7a. In this drawing, there is a pair of plug blade receivers 19 made of a U-shaped elastic metal fitting that holds each plug blade 14 in the vertical direction. The pair of plug blade receivers are located deep inside the horizontal insertion opening 20. At the center of this insertion opening, upper and lower frames 17a and 17b and a hook claw are provided.
It has an engaging window 21 at the tip 15b of 15a. The width A of the plug blade receiver 19 facing the insertion opening 20 is larger than the width B of each plug blade 14, and even if the center of each plug blade does not coincide with the center of the plug blade receiver, Can be combined with 19. Therefore, the width C of the engagement window 21 is larger than the width D of the upper and lower frames 17a and 17b by the amount corresponding to the difference between the widths A and B. Each plug blade receiver 19 is connected to the commercial power line 22.

Next, connect the power receiving plug 5a and the power outlet 7a to the fifth
It will be described with reference to the drawings. FIGS. 5A, 5B, and 5C are cross-sectional views of a main part before, during, and after the connection of the two. In these drawings, the hooks are
A tip 15b of 15a is biased upward by a coil spring 18. In this state, when the upper and lower frames 17a and 17b of the power receiving plug 5a are inserted into the engagement window 21 of the power outlet 7a, the tip 15b
Is pushed downward by the upper edge of the engagement window 21 and the coil spring 18
Falls against the elasticity of. When the power receiving lamp 5a is further inserted, the tip end 15b is hooked by the hooking opening 23 as a hooking portion provided on the upper surface of the engagement window 21 by the elasticity of the coil spring 18.

Thus, the power receiving plug 5a and the power outlet 7a are connected and held, and each plug blade 14 is connected and held to each plug blade receiver 19.

As shown in FIG. 6 which is a side view of the mobile vehicle body 1, the power receiving plug 5a is located in the side surface recess 24 of the mobile vehicle body 1, and this side surface recess is the power supply outlet 7a. Since the mobile vehicle main body 1 is close to the power supply outlet 7a, the power receiving plug 5a is naturally coupled to the power supply outlet 7a because it is at the same height position as.

After the work of the mobile vehicle body 1 is finished, winding the cord 5b,
When the vehicle body 1 approaches the power outlet 7a, the power receiving plug 5a is housed in the side surface recess 24. In this state, the movable piece 25a of the electromagnetic plunger 25 constituting the releasing means 5f moves the rear portion 15c of the rocking rod 15 upward against the elasticity of the coil spring 18 through the through hole 13c of the power receiving plug 5a. Since it is biased to, the latch of the latch claw 15a is released. In this state, the mobile vehicle body 1 is moved away from the power outlet 7a, so that the power receiving plug 5a is separated from the power outlet 7a.

In the above-described embodiment, the hooking means 5e is composed of the rocking rod 15 having the hooking claw 15a, but the hooking means 5e is not limited to this and may be composed of, for example, an electromagnetic plunger. In this case, the releasing means 5f can be configured by a signal giving circuit that releases the locked state of the electromagnetic plunger.

(G) Effect of the Invention As described above, according to the present invention, the internal power supply device may have a battery capacity for operating the traveling control device when the power receiving means of the power supply connecting means is not connected to the power supplying means. As compared with the conventional device, the size and weight are smaller, and the work means can be operated when the main body of the moving vehicle is moved due to the extension of the cord, so that the work area is wider than that of the conventional device.

Further, when the moving vehicle body is self-propelled by the external power from the power feeding means, the power receiving means is securely connected to and held by the power feeding means by the hooking means of the power receiving means and the hooking portion of the power feeding means. Is not disengaged from the power supply means, and at the end of work or when the transition area is changed, the release means operates to release the engagement between the power receiving means and the power supply means. Thus, the power receiving means can be easily separated from the power feeding means.

[Brief description of drawings]

The drawings show an embodiment of the present invention, FIG. 1 is a model principle diagram of a mobile vehicle, FIG. 2 is a model diagram illustrating a working state of the mobile vehicle,
FIG. 3 is an exploded perspective view of the power receiving plug, FIG. 4 is a front view of the power outlet, and FIGS. 5 (a), (b), and (c) are explanatory views of the connection of the power receiving plug and the power outlet. It is a principal part sectional drawing in the middle of connection and after connection. FIG. 6 is a side view of the mobile vehicle. 1 ... Mobile vehicle main body, 2 ... Driving means, 3 ... Battery, 4 ...
... Working means, 5 ... Code adjusting means, 5a ... Power receiving plug, 5b ... Cord, 5e ... Latching means, 5f ... Release means,
7 ... Power supply means, 7a ... Power supply outlet, 23 ... Hooking part.

 ─────────────────────────────────────────────────── ─── Continuation of front page (72) Inventor Naoto Tojo 2-18, Keihanhondori, Moriguchi-shi, Osaka Sanyo Electric Co., Ltd. (56) Reference JP 62-262604 (JP, A) JP 62 -247702 (JP, A) JP-A-62-268305 (JP, A)

Claims (1)

[Claims] 1. A mobile vehicle apparatus comprising: a working means, a travel control device, an internal power supply device having a secondary battery, a power feeding connection means, an external power distribution means, and a command means. The device is supplied with electric power from the external power distribution means or the internal power supply device, and the power feeding connecting means has a cord capable of being sent out and wound up, and has a hook which is hooked at a hook portion of the power feeding means at one end thereof. The power receiving means is provided with a means and a releasing means for releasing the locking by the locking means, and the power receiving means is connectable to one of the one or a plurality of power feeding means provided in the transition region, and the other end. Is connected to the external power distribution means, and the external power distribution means can arbitrarily distribute the power from the power feeding means to the internal power supply device, the working means, and the travel control device, and the command means internalizes the travel control device. Driven by the power of the power supply unit Of the power supply means to output a command signal for connecting the power reception means to the power supply means, and to drive the traveling control device with the electric power from the external power distribution means to cause the power supply means to self-run and the power reception means to be concave. After being stored in a place, it is self-propelled in a direction away from the power feeding means and outputs a command signal for separating the power receiving means from the power feeding means. A mobile vehicle device that is hooked on a hooking part and that when it is separated from the power feeding means, the releasing means is actuated to release the hooking by the hooking means.