JPS59108283A - Automatic battery replacement mechanism - Google Patents
Automatic battery replacement mechanismInfo
- Publication number
- JPS59108283A JPS59108283A JP57218897A JP21889782A JPS59108283A JP S59108283 A JPS59108283 A JP S59108283A JP 57218897 A JP57218897 A JP 57218897A JP 21889782 A JP21889782 A JP 21889782A JP S59108283 A JPS59108283 A JP S59108283A
- Authority
- JP
- Japan
- Prior art keywords
- battery
- unmanned vehicle
- stopper
- descends
- moves
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
- H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
- H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
- H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
- B60L50/64—Constructional details of batteries specially adapted for electric vehicles
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02E60/10—Energy storage using batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Transportation (AREA)
- Life Sciences & Earth Sciences (AREA)
- General Chemical & Material Sciences (AREA)
- Electrochemistry (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Power Engineering (AREA)
- Chemical Kinetics & Catalysis (AREA)
- Aviation & Aerospace Engineering (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
- Secondary Cells (AREA)
Abstract
Description
【発明の詳細な説明】
本発明は電源としてバッテリーを搭載し、走行路に設け
られた誘導線に導かれて自動走行する無人車両における
上記バッテリーの自動バッテリー交換機構に関するもの
である。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an automatic battery exchange mechanism for an unmanned vehicle that is equipped with a battery as a power source and that automatically travels guided by a guide line provided on a running route.
無人車両Ｋ ｒ（’、１通常電源としてバッテリーが搭
載されているが、無人車両を移動させるとバッテリー内
の電気容量が低下する為５次の稼動をさす為にはバッテ
リーを充電又は既に充電済みのバッテリーと交換をする
必要がある。このバッテリーの充電又はバッテリー交換
の方法として、現在数種類の方法が用いられている。つ
まシ、電気容量の低下したバッチリーラ人手により無へ
車両より取りはすして充電して充電が終了したら上記無
人車両に人手で搭載するＡ方法、電気容量の低下したバ
ッテリーを人手により無人車両より取りはずし、あらか
じめ充電しておいたバッテリーヲ上記無人車両に搭載し
たままで、人手で充電器と接読して充電するＣ方法、無
人車両本体に充電用自動連結コネクタを設け、上記無人
車両に搭載したノくツテリーの電気容量が低下した場合
、上記無人車両運行線路中の充電ステー７ョンに上記無
人車固自らが走行して行き、充電コネクタを、地上側の
給電コネクタと自動連結して充電を行なうＤ方法などが
あるが、それぞれ以下のような欠、ａを有している。上
記六方法及びＢ方法はバッチリーラ充電のたびに人手て
無人車両よりの取り出し、無人車両への取り伺はを行な
わなければならず、手間がかかＱ、才たンステムとして
の無人運転が不可能である。また、上記六方法では充電
を行なって−る間無人車両（佳稼動出来ず、非常に不経
済である。上記Ｃ方法及び上記り方法は上記六方法及び
上記Ｂ方法のバッテリーの無人車両からの取り出し、無
人車両への取Ｖ付けの手間を痛論た方法であるが、上記
Ｃ方法に結局バッテリーと充電器を接続するのに人手が
かかり、無人運転をしているとはいえな込。上記り方法
は上記Ｃ方法を完全自動化したものであるが、無人車両
のバッテリー充電中は上記無人車両は稼動できず、非常
に不経済である○−また、この欠点は嶋然上記Ｃ方法で
も有して因る。Unmanned vehicle K r(', 1 A battery is installed as a normal power source, but when the unmanned vehicle is moved, the electric capacity in the battery decreases, so in order to perform the 5th operation, the battery must be charged or already charged. It is necessary to replace the battery with a new one.Several methods are currently used to charge or replace the battery. Method A involves manually loading the battery onto the unmanned vehicle after charging is complete.The battery whose electrical capacity has decreased is manually removed from the unmanned vehicle, and the previously charged battery remains mounted on the unmanned vehicle. Method C, in which an automatic connection connector for charging is provided on the unmanned vehicle body, and if the electric capacity of the battery mounted on the unmanned vehicle decreases, charging while on the unmanned vehicle operating line is performed. There is method D, in which the unmanned vehicle itself runs to the station and automatically connects the charging connector with the power supply connector on the ground side to perform charging, but each method has the following shortcomings and a. The above six methods and method B require manual removal of the batch reel from the unmanned vehicle and interrogation of the unmanned vehicle each time the battery charger is charged, which is time-consuming and requires unmanned operation as a sophisticated system. In addition, with the above six methods, the unmanned vehicle cannot be operated while charging, which is extremely uneconomical. This method takes the trouble of taking out the battery from the unmanned vehicle and attaching the V to the unmanned vehicle, but in the end, the above method C requires more labor to connect the battery and charger, so it is not possible to operate the battery unmanned. Although the above method is a fully automated version of the above method C, the unmanned vehicle cannot operate while its battery is being charged, making it extremely uneconomical. This also applies to Method C above.
以上述べたように無人車両搭載の電気容量の低下したバ
ッテリーの充電又は交換の方法（ζ上記Ａ〜Ｄ方法を代
表として数種類用いられているが、それぞれ欠点を有し
ており、無人車のバッテリー交換・充電の完全無人化を
行ない、かつ経済的な方法と−うのは用いられて−なり
というのが現状である。As mentioned above, there are several methods for charging or replacing batteries with reduced electrical capacity mounted on unmanned vehicles (ζ methods A to D above are representative), but each has its own drawbacks. The current situation is that replacement and charging are completely unmanned and economical methods are being used.
この発明は以上の欠点を除去すべくなされたもので、無
人車両に搭載の放電バッテリーの取り出し、充電済みの
バッテリーの上記無人車両への取っ付け、また上記無人
車両より取り出したバッテリーを充電する一連の操作全
完全に自動化し、かつ簡単な方法で行なえるような構造
の自動バッテリー交換機構を提供すること？目的とした
ものである。This invention was made to eliminate the above-mentioned drawbacks, and includes a series of steps for removing a discharged battery mounted on an unmanned vehicle, attaching a charged battery to the unmanned vehicle, and charging the battery taken out from the unmanned vehicle. To provide an automatic battery exchange mechanism structured such that the operation of the battery can be completely automated and performed in a simple manner. This is the purpose.
以下１図面に基づいて本発明の実施例を具体的に説明す
る。Embodiments of the present invention will be specifically described below based on one drawing.
第１図〜第４図は本発明に係る自動バッテリー交換機構
全般けた無人車両と自動バッテリー充電・交換装置の位
置関係を表わした概略図である。1 to 4 are schematic diagrams showing the overall automatic battery exchange mechanism according to the present invention, the positional relationship between the unmanned vehicle and the automatic battery charging/exchanging device.
１は無人車両で、走行路に設けられた誘導線２に導かれ
て、制御センターからの指令により自動走行する。３は
引出し誘導線で、上記無人車両２全自動バツテリー充電
・交換装置４に平行に接続できるように敷設されて層る
。（５−ａ）に充電済みバッテリー、（５−ｂ）は充電
中バッテリー、 （５−ｃ）は放電バッテリーでそれ
ぞれバッテリーケース５に内蔵されている。６，６′は
上記バッテリーケース５を収納するためのそれぞれ車両
側スペース、自動バッテリー充電・交換装置側スペース
である。Reference numeral 1 denotes an unmanned vehicle that is guided by a guide line 2 provided on a driving path and automatically travels according to commands from a control center. Reference numeral 3 denotes a lead-out guide wire, which is laid and layered so that it can be connected in parallel to the fully automatic battery charging/exchanging device 4 of the unmanned vehicle 2. (5-a) is a charged battery, (5-b) is a charging battery, and (5-c) is a discharged battery, each of which is built into the battery case 5. Reference numerals 6 and 6' designate spaces on the vehicle side and spaces on the side of the automatic battery charging/exchanging device, respectively, for housing the battery case 5.
′７は上記無人車両ｌが上記自動バッテリー充電・交換
装置４に正しく位置決め完了したことを検知する車両検
出器で、上記無人車両上が上記自動バッテリー充電・交
換装置４に正しく接続したことを検知できる位置の床面
に設置されており、該車両検出器７は自動バッテリー充
電・交換装置を制御するコントローラ８を介して上記自
動バッチ１゛−充電・交換装置４と結ばれている。９ｉ
１１移動板で上記スペース６′を有している。第１図は
無人車両１が自動バッテリー充電・交換装置４に到着し
た時の図、第２図は無人車両１の放電バッチＩＪ ＋（
５−ｃ）を自動バッテリー充電・交換装置４に移し終っ
た時の図、第３図は自動バッテリー充電・交換装置４が
作動して充電済みバッテリー （５−ａ） ｆ ’
無人車両１側へ移す準備が終了した時の図、第４図は無
人車両ＩＫ充電済みバッチ’Ｊ −（５−ａ）の搭載を
終えた時の図である。'7 is a vehicle detector that detects that the unmanned vehicle l has been correctly positioned to the automatic battery charging/exchanging device 4, and detects that the unmanned vehicle has correctly connected to the automatic battery charging/exchanging device 4. The vehicle detector 7 is connected to the automatic battery charging/exchanging device 4 via a controller 8 that controls the automatic battery charging/exchanging device. 9i
11 moving plates have the above-mentioned space 6'. FIG. 1 is a diagram when the unmanned vehicle 1 arrives at the automatic battery charging/exchanging device 4, and FIG. 2 is a diagram showing the discharge batch IJ + (
5-c) is transferred to the automatic battery charging/replacing device 4, Figure 3 shows the automatic battery charging/exchanging device 4 operating and the charged battery (5-a) f'
FIG. 4 is a diagram when preparations for transferring to the unmanned vehicle 1 side are completed, and FIG. 4 is a diagram when loading of the unmanned vehicle IK charged batch 'J-(5-a) is completed.
次に本発明による自動バッテリー交換機構の構成を第５
図及び第６図に基づいて説明する。Next, the configuration of the automatic battery exchange mechanism according to the present invention will be explained in the fifth section.
This will be explained based on the diagram and FIG.
無人車両１にはバッテリーを内蔵したバッチＩＪ ＋ケ
ース５を自由に出し入れできるように、一方の側面に出
入り口１０を設けである。１１ハ取手で上記バッテリー
ケース５の一方の側面に取り付けである。１２ｆｌ’ｉ
自由回転ローラーで上記バッテリーケース５が上記無人
車両１の進行方向と直角の方向に水平移動できるように
上記無人車両１の床面１３に等ピッチで複数個配列され
て因る。１４にストツノく−て上記無人車両の床面１３
に穴をあけて、はめ込まれており、上下方向に移動可能
な後横をなし、上昇時にはその先端部が上記バッテリー
ケース５に当り、該バッテリーケース５を固定する。そ
して、このストッパー１４ハ水平の受力画工４ａ ｖｃ
下向きの外力を受けると降下する。１５ははねて上記ス
トッパー１４ヲ上昇させる復元力を有し、下端部は一定
レベルに固定され、上記受力面１４ａに外力が与えられ
ない状態では上端部が上昇状態にある。The unmanned vehicle 1 is provided with an entrance 10 on one side so that a batch IJ+ case 5 containing a battery can be freely taken in and taken out. 11 is attached to one side of the battery case 5 with a handle. 12fl'i
A plurality of battery cases 5 are arranged at equal pitches on the floor surface 13 of the unmanned vehicle 1 so that the battery cases 5 can be horizontally moved in a direction perpendicular to the traveling direction of the unmanned vehicle 1 using freely rotating rollers. 14 and the floor surface 13 of the unmanned vehicle.
A hole is made in the hole and the battery case 5 is fitted into the battery case 5. When the battery case 5 is raised, its tip touches the battery case 5 and fixes the battery case 5 in place. And this stopper 14ha horizontal force painter 4a vc
It descends when it receives a downward external force. 15 has a restoring force to spring and raise the stopper 14, the lower end is fixed at a constant level, and the upper end is in a raised state when no external force is applied to the force receiving surface 14a.
１吋ストッパーガイドで床面と垂直に上記ストツバ−１
４の下面に取っ付けられており、上記ストツバ−１４の
上下移動に伴′りて上下移動する。１′７は上記無人車
両１の主電源のスイッチで、上記ストッパーガイド１６
が下降した時スイッチが押されるように上記無人車両１
に取付けである。工８はノリンダーで上記無人車上が自
助バッテリー充電・交換装置４に位置決めされた状態に
て当該無人車両１のストッパー１４の近傍に配置される
。１９ハバンテリーストソパー開金具で上記ンリンダー
１８の可動バー１８ａの先端に固定され、該可動バー１
８ａの上昇状態にお論で、その可動バー１８ａの先端下
面が上記ストッパー１４の受力面１４ａに若干の余裕を
有して対向している。第１図〜第４図Ｖこおける移動板
９は上記無人車両１の床面１３と水平になるような位置
にピストン２１の先端の可動バー２．ｌ ａと該可動バ
ーの左右に一対設けた部材２０１／１ｍよって支持され
、移動可能となって込る。２２はレールで上記部材２０
とかみ合うように上記無人車両１の進行方向と平行に設
置されて上記移動板を案内している。Place the above stopper 1 perpendicular to the floor using the 1 inch stopper guide.
4, and moves up and down as the stop bar 14 moves up and down. 1'7 is the main power switch of the unmanned vehicle 1, and the stopper guide 16
When the unmanned vehicle 1 is lowered, the switch is pressed.
It is installed on. The worker 8 is a Norinder and is placed near the stopper 14 of the unmanned vehicle 1 with the top of the unmanned vehicle positioned at the self-help battery charging/exchange device 4. 19 is fixed to the tip of the movable bar 18a of the unlinder 18 with a Habanterist soper opening fitting, and the movable bar 1
In the raised state of the movable bar 8a, the bottom surface of the tip of the movable bar 18a faces the force receiving surface 14a of the stopper 14 with some margin. The movable plate 9 shown in FIGS. 1 to 4 is placed on the movable bar 2 at the tip of the piston 21 so that it is parallel to the floor 13 of the unmanned vehicle 1. It is supported by a pair of members 201/1m provided on the left and right sides of the movable bar, and is movable. 22 is a rail and the above member 20
It is installed parallel to the traveling direction of the unmanned vehicle 1 so as to mesh with the moving plate, and guides the moving plate.
１２′は自由回転ローラで上記バッテリーケース５カ上
記バツテリースペース６′に来た時、上記無人車両１の
進行方向と直角の方向に移動しやすいように移動板９に
等ピンチで複数個配列されている。Reference numeral 12' denotes freely rotating rollers, and a plurality of rollers are arranged in a pinch on the moving plate 9 so that when the five battery cases come to the battery space 6', they can easily move in a direction perpendicular to the traveling direction of the unmanned vehicle 1. ing.
２４はハンドで、支持棒２４１Ｃ支持されてピストン２
５の可動バー２５ａの先端に取り付けである。また、該
ハンド２３Ｕバツテリーケース５の取手上１をつかみ、
上記バッテリーケース５を水平方向に移動できるような
構造をなしている。２６はバッテリー側コネクタ、２６
′は車両側コネクタ、２６″ｌｌ：ｌ：自動バッテリー
充電・交換装置側コネクタで、上記バッテリー側コネク
ク２６ハバソテリーケース５に取り付けられており、こ
のコネクタ２６は両側に突起部２６ａ、２６ｂ ’％７
有して込る。上記コネクタ２６′は上記突起部２６ａ’
ｉ接続できる端子を有し、この端子は上記無人車両ｌと
つながっており、上記無人車両１内にバッテリーが存在
する時、上記車両側コネクタ２６′とバッテリー側コネ
クタ２６が接続できる位置に設置されてＡる。上記自動
バッテリー充電・変換装置側コネクタ２６″は上記突起
部２６ａを接続できる端子を有し、この端子は充電器と
つながっており、上記自動バッテリー充電・交換装置４
のバッテリースペース６′内にバッテリーが存在する時
上記自動バッテリー充電・交換装置側コネクタ２ｅｆ’
と上記バッテリー側コネクタ２６が接続できる位置に設
置されている。24 is a hand, supported by a support rod 241C, and the piston 2
It is attached to the tip of the movable bar 25a of No. 5. Also, grasp the upper handle 1 of the hand 23U battery case 5,
The structure is such that the battery case 5 can be moved horizontally. 26 is the battery side connector, 26
' is a connector on the vehicle side, 26''ll: l: a connector on the automatic battery charging/exchanging device side, which is attached to the battery side connector 26 and the battery case 5, and this connector 26 has protrusions 26a and 26b' on both sides. %7
Bring it with you. The connector 26' has the protrusion 26a'
This terminal is connected to the unmanned vehicle 1, and is installed at a position where the vehicle side connector 26' and the battery side connector 26 can be connected when a battery is present in the unmanned vehicle 1. Te Aru. The automatic battery charging/converting device side connector 26'' has a terminal to which the protrusion 26a can be connected, and this terminal is connected to a charger, and the automatic battery charging/converting device 4
When there is a battery in the battery space 6' of the automatic battery charging/exchange device side connector 2ef'
It is installed at a position where it can be connected to the battery side connector 26.
上記構成において、誘導線２に導かれて自動走行してい
る無人車両１に内蔵しているバッテリーが予定量を放電
すると、上記無人車両１は中央コントローラーの指示に
より通常の、運行ルートをはずれ引出し誘導線３に導か
れて自動バッテリー充電・交換装置４に平行に接続して
、所定の個所に停止する。停止すると車両検出器ツて上
記無人車両１が上記自動バッテリー充電・交換装置４に
副面したこと全検出し、コントローラ８に知らせ。In the above configuration, when the built-in battery of the unmanned vehicle 1 that is automatically traveling guided by the guide wire 2 discharges the scheduled amount, the unmanned vehicle 1 deviates from its normal operating route and pulls out according to instructions from the central controller. It is guided by a guide wire 3, connected in parallel to an automatic battery charging/exchanging device 4, and stopped at a predetermined location. When the vehicle stops, the vehicle detector detects that the unmanned vehicle 1 is approaching the automatic battery charging/exchanging device 4, and notifies the controller 8.
該コントローし−８の指令により上記自動バッテリー充
電・交換装置４の動作が開始する。っ捷り上記無人車両
１のバッテリーケース５と自動バッチｊＪ −充電・交
換装置４のバッテリースペース６′の位置が第１図に示
すように並列になると、上記コントローラー８から指令
がでて第５図におけるピストン１８が作動し、可動バー
１８ａが下降し、これに伴ってバッテリーストッパー開
金具１９が下降して、バッテリーストッパー１４の受力
面１４ａに下方への力が加えられ、上記バッテリースト
ッパー１４が下降して、これにょクバッテリーケース５
はストッパーが解除され、移動可能になる。また、上記
バッテリーストッパー１４が下降することにより、これ
に伴ってストッパーガイド１６が下降し。The operation of the automatic battery charging/exchanging device 4 is started by the command from the controller-8. When the battery case 5 of the unmanned vehicle 1 and the battery space 6' of the automatic batch charging/exchanging device 4 are aligned in parallel as shown in FIG. The piston 18 in the figure operates, the movable bar 18a descends, the battery stopper opening fitting 19 descends accordingly, a downward force is applied to the force receiving surface 14a of the battery stopper 14, and the battery stopper 14 lowers and the battery case 5
The stopper is released and movement becomes possible. Furthermore, as the battery stopper 14 descends, the stopper guide 16 descends accordingly.
スイッチ１７ヲ押し、該ツイツチが切れて上記無人亀岡
１内の主電源がワれる０次に上記コントローラー８の指
令でピストｖ２５が作動し、可動バー２５ａが支持棒２
４に導かれて上記無人車画工の方向へ移動し、これに伴
ってハンド２３が上記無人車両１方向Ｎ進み、上記無人
車両１側のバッテリーケース５に付属して因る取手１１
ヲつがみ、この動作が終了すると、上記ハンド２３は元
の位置へもどる方向へ移動を始め、これに伴ってバッテ
リーケース５は移動し、このバッテリーケース５が自動
バッテリー充電・交換装置のバッテリースペース６′へ
来ると、上記ハンド２３ハ上記取手１１と外れる。また
上記バッテリーケース５の移動により、バッテリｍ個コ
ネクタ２６１′ｉ車両側コネクク２６′と外れ、上記ハ
ツチＩＪ −））−ス５が上記バッテリースペース６′
の位置に来ると上記バッテリー側コネクタ２６は自動バ
ッテリー充電・交換装置側コネクタ２６“と接続して放
電バッテリ” （５−ｃ）に充電器から給電を開始す
る。つまり第２図で示すようになると、コントローラー
８の指令によりピストン２１が作動し、可動バー２１ａ
が移動し、これによ、り移動板９ｔｄレール２２に導か
れて第３図に示されるように。When the switch 17 is pressed, the switch is turned off and the main power supply inside the unmanned Kameoka 1 is turned off.Next, the piston v25 operates according to the command from the controller 8, and the movable bar 25a moves to the support rod 2.
4, the unmanned vehicle moves in the direction of the unmanned vehicle artist, and along with this, the hand 23 moves in the direction N of the unmanned vehicle 1, and the handle 11 attached to the battery case 5 on the unmanned vehicle 1 side moves.
When this operation is completed, the hand 23 starts to move back to its original position, and the battery case 5 moves accordingly, and the battery case 5 is placed in the battery space of the automatic battery charging/exchanging device. 6', the hand 23 separates from the handle 11. Also, due to the movement of the battery case 5, the m battery connectors 261'i are disconnected from the vehicle side connectors 26', and the hatch IJ-))-s 5 is disconnected from the battery space 6'.
When the battery-side connector 26 reaches the position , the battery-side connector 26 is connected to the automatic battery charging/replacement device-side connector 26", and power supply from the charger to the discharge battery" (5-c) is started. In other words, when the state shown in FIG. 2 is reached, the piston 21 operates according to the command from the controller 8, and the movable bar 21a
moves, thereby guiding the moving plate 9td rail 22 as shown in FIG.
無人車両上のバッテリースペース６と自動バッテリー充
電・交換装置４の充電済みバッテリー （５−ａ）が並
列になる位置寸で移動する。すると上記コントローラー
８の指令によりピストン２５が作動し、可動バー２５ａ
が支持棒２４に導かれて上記無人車両１の方向へ移動し
、これに伴ってハンド２３が移動し、上記充電済みバッ
チ！Ｊ −（５−ａ）のバッテリーケース５の取手１１
ヲつがみ、上記バッテリーケース５を伴って上記無人車
１の方向へ進み、上記ノ、（ツテリーケース５は上記無
人車両１内のス６−ス６におさする。この動作が終了す
ると上記ハンド２３ハ上記取手１１ヲ離し、上記自動バ
ッテリー充電・交換装置４にもどる。この動作の後、上
記コントローラー８の指令によりピストン１８が作動シ
、可動バー１８ａが上昇し、これに伴ってバッテリース
トッパー開金具１９が上昇してバネ１５の復元力でスト
ッパー１４４ｒ上昇させ、上記バッテリーケース５は上
記無人車両１に固定される。また、上記ストッパー１４
の上昇に伴ってストッパーガイド１６が上昇し、スイッ
チ１７ヲ押さえるの？やめ、上記スイッチ１７が入って
上記無人車両の主電源が入る。Move to a position where the battery space 6 on the unmanned vehicle and the charged battery (5-a) of the automatic battery charging/exchanging device 4 are parallel to each other. Then, the piston 25 operates according to a command from the controller 8, and the movable bar 25a
is guided by the support rod 24 and moves in the direction of the unmanned vehicle 1, and the hand 23 moves accordingly, and the charged batch! Handle 11 of battery case 5 of J-(5-a)
Hold on, move towards the unmanned vehicle 1 with the battery case 5, and place the battery case 5 into the seat 6 inside the unmanned vehicle 1. When this operation is completed, The hand 23 releases the handle 11 and returns to the automatic battery charging/exchanging device 4. After this operation, the piston 18 is actuated by a command from the controller 8, the movable bar 18a is raised, and the battery The stopper opening fitting 19 rises and the restoring force of the spring 15 causes the stopper 144r to rise, and the battery case 5 is fixed to the unmanned vehicle 1.
Does the stopper guide 16 rise with the rise of the switch 17? The switch 17 is turned on and the main power of the unmanned vehicle is turned on.
また、上記バッテリーケース５の上記無人車両１側への
移動により車両側コネクタ２６は自動バッテリー充電・
交換装置側コネクタ２６“と外れ、上記バッテリー交換
２５が上記無人車両１に固定されると、上記バッテリー
側コネクタ２６は車両側コネクタ２６′と接続して、上
記無人車両１に上記充電済みバッテリーから電流が流れ
る。以上の動作により上記無人車両１はバッテリー交換
を終了する０なお、バッテリー交換終了時のバッテリー
及びバッテリースペースの位置関係は第４図のようにな
る。次に中央コントローラーの指令により上記無人車両
１は動き出し、引出し誘導線３に導かれて誘導線２へ戻
る。なお、本実施例では無人車両が２個のバッテリーを
搭載している場合について述べたが、１個寸たば３個以
とのバッテリーを搭載している場合でも同様の構成・動
作で利用できる。Furthermore, as the battery case 5 is moved toward the unmanned vehicle 1 side, the vehicle side connector 26 is connected to the automatic battery charging terminal.
When the replacement device side connector 26'' is disconnected and the battery replacement 25 is fixed to the unmanned vehicle 1, the battery side connector 26 is connected to the vehicle side connector 26', and the charged battery is connected to the unmanned vehicle 1. Current flows.With the above operations, the unmanned vehicle 1 completes battery replacement.The positional relationship of the battery and battery space at the end of battery replacement is as shown in Figure 4.Next, the central controller commands the above-mentioned The unmanned vehicle 1 starts moving and is guided by the pull-out guide wire 3 to return to the guide wire 2.In this embodiment, the case where the unmanned vehicle is equipped with two batteries has been described, but if the unmanned vehicle is equipped with two batteries, Even if it is equipped with more than one battery, it can be used with the same configuration and operation.
以上説明したように本発明の自動バッテリー交換機構に
よれば、無人車両に搭載の放電バッテリー交換機構によ
れば、無人車両に搭載の放電バッテリーの取り出し、充
電済みバッテリーの無人車両への取り付け、無人車両よ
り取シ出した放電バッテリーの充電という一連の操作を
完全に自動化することができ、また簡単な方法ですみや
かにバッテリー交換が行なえるため、無人車両システム
全体として完全自動化もでき、従来のように充電中は無
人車両の稼動が不可能であったという欠点も取り除くこ
とができる。As explained above, according to the automatic battery exchange mechanism of the present invention, the discharge battery exchange mechanism mounted on an unmanned vehicle can take out a discharged battery mounted on an unmanned vehicle, attach a charged battery to an unmanned vehicle, The series of operations of charging the discharged battery taken out from the vehicle can be completely automated, and since the battery can be replaced quickly and easily, the entire unmanned vehicle system can be fully automated, making it possible to completely automate the process of charging the discharged battery taken out from the vehicle. This also eliminates the disadvantage that unmanned vehicles cannot operate while charging.
第１図〜第４図は、本発明に係る自動バッテリー交換機
構を設けた無人車両と自動バッテリー充電・交換装置の
位置関係概略図で、第１図に無人車両が自動バッテリー
充電・交換装置に到着した時の概略図、第２図は無人車
両の放電バッテリーを自動バッテリー充電・交換装置に
移し終った時の概略図、第３図は自動バッテリー充電・
交換装置が作動して充電済みバッテリーを無人車両側へ
移す準備が終了した時の概略図、第４図は無人車両に充
電済みバッテリーの搭載を終えた時の概略図、第５図１
ｄ第１図におけるＡ−Ａ断面図、第６図は第５図におけ
るＢ−Ｂ断面図である。
１・・・無人車両 ２・・・誘導線４・・・自動バ
ッテリー充電・交換装置（５−ａ）、 （５−ｂ）、
（５−ｃ） ・・・バッテリー５’ａａ＊スペース
９０１．移動板１０・−リ出入、！ｌ）口 １
４・・やストッパー１５・・−ハネ１６＠・・ストッパ
ーガイド１′７１−スイッチ １８Ｉ１１１−ピス
トン１９・・−可動バー ２１−−・ピストン２３
ｅ＠−ハンド ２５・・・ピストン２６／／ 、
−コネクタ
出願人 神鋼電機株式会社
代理人 弁理士 蒼藤春弥
第 ２ 図Figures 1 to 4 are schematic diagrams of the positional relationship between an unmanned vehicle equipped with an automatic battery exchange mechanism according to the present invention and an automatic battery charging/exchanging device. A schematic diagram upon arrival; Figure 2 is a schematic diagram after the unmanned vehicle's discharged battery has been transferred to the automatic battery charging/replacement device; Figure 3 is a schematic diagram of the automatic battery charging/replacement device.
A schematic diagram when the exchange device is activated and preparations for transferring the charged battery to the unmanned vehicle are completed, Figure 4 is a schematic diagram when the loading of the charged battery to the unmanned vehicle is completed, and Figure 5 1
dA sectional view taken along line AA in FIG. 1, and FIG. 6 a sectional view taken along line BB in FIG. 1... Unmanned vehicle 2... Guide line 4... Automatic battery charging/exchanging device (5-a), (5-b),
(5-c) ...Battery 5'aa* space
901. Moving board 10.-Remove and exit! l) Mouth 1
4...stopper 15...-spring 16@...stopper guide 1'71-switch 18I111-piston 19...-movable bar 21--piston 23
e@-hand 25...piston 26//,
-Connector applicant Shinko Electric Co., Ltd. agent Patent attorney Haruya Aoto Figure 2
Claims (1)
導線に導かれて自動走行する無人車両におい一０１該無
人車両に搭載したバッテリーを自由に取り出せる出入り
口と、上記くくツテリーを上記無人車両に固定する下向
きの外力を受けると降下するストッパーと該ストッパー
を上昇させる復元力を有するバネと、上記ストッパーの
上下移動に伴って移動するストッパーガイドと、該スト
ッパーガイドの上下動によって開閉するスイッチ手段を
無人車両に設け、上記ストッパーに力を加える可動バー
と該可動バーを動かすピストンと、上記無人車両より取
り出したバッチリーラ充電するためのスペースを有する
移動板と該移動板を移動させるピストンと、上記無人車
両に搭載のバッテリーを水平移動するハンドと、該ハン
ドを移動させるピストンと、上記移動板上にバッテリー
が存在する時、該バッテリーと充電器を接続するコネク
タ全自動バッテリー充電・交換装置に設けた自動バッテ
リー交換機構。An unmanned vehicle that is equipped with a battery pack as an N source and runs automatically guided by a guide line provided on a running route.101 An entrance and exit from which the battery mounted on the unmanned vehicle can be freely taken out, and the above-mentioned bracket are fixed to the unmanned vehicle. A stopper that descends when subjected to a downward external force, a spring having a restoring force that raises the stopper, a stopper guide that moves as the stopper moves up and down, and a switch that opens and closes by the up and down movement of the stopper guide. A movable bar that is installed on a vehicle and applies force to the stopper, a piston that moves the movable bar, a movable plate that has a space for charging a batch reel taken out from the unmanned vehicle, and a piston that moves the movable plate, and the unmanned vehicle. A hand that horizontally moves the battery mounted on the board, a piston that moves the hand, and a connector that connects the battery to the charger when the battery is on the moving board. Battery exchange mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57218897A JPS59108283A (en) | 1982-12-13 | 1982-12-13 | Automatic battery replacement mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP57218897A JPS59108283A (en) | 1982-12-13 | 1982-12-13 | Automatic battery replacement mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS59108283A true JPS59108283A (en) | 1984-06-22 |
| JPH059904B2 JPH059904B2 (en) | 1993-02-08 |
Family
ID=16727016
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP57218897A Granted JPS59108283A (en) | 1982-12-13 | 1982-12-13 | Automatic battery replacement mechanism |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS59108283A (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03109268U (en) * | 1990-02-22 | 1991-11-11 | ||
| JPH0421101U (en) * | 1990-06-12 | 1992-02-21 | ||
| JPH0684702U (en) * | 1993-05-19 | 1994-12-02 | 東洋運搬機株式会社 | Battery mounting mechanism for electric vehicles |
| CN103140393A (en) * | 2011-01-31 | 2013-06-05 | 日本电产三协株式会社 | Battery-replacing robot |
| JP2019026041A (en) * | 2017-07-28 | 2019-02-21 | ダイハツ工業株式会社 | Battery charge/exchange device of vehicle |
| WO2020007603A1 (en) * | 2018-07-02 | 2020-01-09 | Audi Ag | Method for producing a vehicle traction battery |
| JP2023173648A (en) * | 2022-05-26 | 2023-12-07 | Ｊｆｅエンジニアリング株式会社 | Control apparatus for battery replacement device, battery replacement device, and battery replacement method |
| JP2024002433A (en) * | 2022-06-24 | 2024-01-11 | Ｊｆｅエンジニアリング株式会社 | Control device for battery exchange device and battery exchange device |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53156018U (en) * | 1977-05-13 | 1978-12-07 | ||
| JPS5562102U (en) * | 1978-10-25 | 1980-04-26 | ||
| JPS5721487A (en) * | 1980-07-14 | 1982-02-04 | Agency Of Ind Science & Technol | Conversion of heavy asphalic material into light product |
-
1982
- 1982-12-13 JP JP57218897A patent/JPS59108283A/en active Granted
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS53156018U (en) * | 1977-05-13 | 1978-12-07 | ||
| JPS5562102U (en) * | 1978-10-25 | 1980-04-26 | ||
| JPS5721487A (en) * | 1980-07-14 | 1982-02-04 | Agency Of Ind Science & Technol | Conversion of heavy asphalic material into light product |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03109268U (en) * | 1990-02-22 | 1991-11-11 | ||
| JPH0421101U (en) * | 1990-06-12 | 1992-02-21 | ||
| JPH0684702U (en) * | 1993-05-19 | 1994-12-02 | 東洋運搬機株式会社 | Battery mounting mechanism for electric vehicles |
| CN103140393A (en) * | 2011-01-31 | 2013-06-05 | 日本电产三协株式会社 | Battery-replacing robot |
| CN103140393B (en) * | 2011-01-31 | 2015-07-15 | 日本电产三协株式会社 | Battery-replacing robot |
| JP2019026041A (en) * | 2017-07-28 | 2019-02-21 | ダイハツ工業株式会社 | Battery charge/exchange device of vehicle |
| WO2020007603A1 (en) * | 2018-07-02 | 2020-01-09 | Audi Ag | Method for producing a vehicle traction battery |
| JP2023173648A (en) * | 2022-05-26 | 2023-12-07 | Ｊｆｅエンジニアリング株式会社 | Control apparatus for battery replacement device, battery replacement device, and battery replacement method |
| JP2024002433A (en) * | 2022-06-24 | 2024-01-11 | Ｊｆｅエンジニアリング株式会社 | Control device for battery exchange device and battery exchange device |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH059904B2 (en) | 1993-02-08 |
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