WO2017148436A1 - 自动搬运车充电装置 - Google Patents

自动搬运车充电装置 Download PDF

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Publication number
WO2017148436A1
WO2017148436A1 PCT/CN2017/075593 CN2017075593W WO2017148436A1 WO 2017148436 A1 WO2017148436 A1 WO 2017148436A1 CN 2017075593 W CN2017075593 W CN 2017075593W WO 2017148436 A1 WO2017148436 A1 WO 2017148436A1
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WIPO (PCT)
Prior art keywords
frame
bracket
trolley
current collector
fixed
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PCT/CN2017/075593
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English (en)
French (fr)
Inventor
杨宏伟
糜卫强
丁以忠
江华
唐安
康波
甘茂椿
张海炜
沈建新
Original Assignee
无锡市百宏传动电器有限公司
上海振华重工(集团)股份有限公司
厦门义兰德机电工程有限公司
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Application filed by 无锡市百宏传动电器有限公司, 上海振华重工(集团)股份有限公司, 厦门义兰德机电工程有限公司 filed Critical 无锡市百宏传动电器有限公司
Publication of WO2017148436A1 publication Critical patent/WO2017148436A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B66—HOISTING; LIFTING; HAULING
    • B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
    • B66C13/00—Other constructional features or details
    • B66C13/12—Arrangements of means for transmitting pneumatic, hydraulic, or electric power to movable parts of devices

Definitions

  • the present invention relates to an apparatus for automatic charging power source transmission, and more particularly to an automatic truck charging apparatus.
  • the automatic truck charging device is a device that provides automatic power transmission of the AGV (ie, automatic truck) device at high speed. Its function is to automatically detect the charging area, automatically connect the charging power, and automatically when the charging power is supplied to the AGV.
  • the unattended automatic charging system which is out of the charging power supply, is mainly used for automatic charging and unmanned operation automation systems for large ports, warehouses and freight AGV equipment.
  • the current such AGV charging devices have a complicated structure and fixed point charging (static charging), which reduces the utilization rate of the AGV equipment.
  • the object of the present invention is to overcome the deficiencies in the prior art and to provide an automatic truck charging device which is simple and reliable in structure, small in size and easy to install.
  • the automatic truck charging device includes a current collector assembly and an accompanying trolley assembly;
  • the current collector assembly comprises a current collector frame, a collector housing, an electric telescopic boom, a four-link bracket, a stroke bracket, a contact bracket, a contact group, a horizontal wheel group, a walking bead group, a walking wheel group, and a trolley.
  • a lock seat, a power distribution control box and a contact bracket slider a collector housing and a power distribution control box are fixed on the current collector frame, a telescopic boom is mounted on the current collector frame, and a rear fixed is fixed on the current collector frame a four-link bracket is mounted on the rear mount, the telescopic boom is matched with the four-link bracket, and a front mount is mounted on the front end of the four-link bracket, and a travel bracket is fixed on the front mount.
  • a contact bracket slider is slidably mounted in the stroke bracket, and a contact bracket is fixed on the contact bracket slider, and a contact group, a trolley lock seat and a walking top bead group are fixed on the contact bracket, and the contact bracket is fixed on the contact bracket
  • the horizontal wheel set and the walking wheel set are installed, and the axis of the horizontal wheel set is perpendicular to the axis of the walking wheel set; when working, the telescopic boom is used to drive the four-link bracket so that the contact group translates in the horizontal direction;
  • the accompanying trolley assembly includes a C-track, a frame travel pulley, a traveling trolley frame, a trolley inner buckle, a conductive copper bar, a striker, a trolley outer lock seat, a drag chain guide groove, a collector template, and a trolley.
  • the pulley bracket has a frame traveling pulley mounted on the pulley bracket, and the frame walking pulley cooperates with the C-shaped rail, and the drag chain guide groove is installed at the bottom end portion of the accompanying small frame, and the notch of the drag chain guide groove faces upward.
  • a drag chain is arranged in the drag chain guide slot, one end of the drag chain is connected to the accompanying small frame, the other end of the drag chain is connected to the outer frame, and a guiding segment is fixed at the right end of the accompanying small frame, the guiding The segment is gradually increased in width from the left to the right direction, and the inner car lock is hinged on the inner side of the accompanying small frame, and the striker is fixed at the inner right end of the accompanying small frame, in the accompanying small frame.
  • a trolley outer buckle is hinged on the outer side, and a trolley outer buckle seat matched with the outer buckle of the trolley is fixed on the outer frame.
  • the four-link bracket is a rhombic body.
  • the trolley upper locking seat and the horizontal wheel set are both mounted on one side of the contact bracket, and the traveling top bead set and the traveling wheel set are both mounted on the other side of the contact bracket.
  • a protective door is provided on the collector casing.
  • a safety ruler is mounted on the pulley bracket.
  • An anti-rolling wheel is installed at the bottom end of the accompanying trolley frame, and the anti-rolling wheel is located inside the notch of the drag chain guide groove, and the axis of the anti-rolling wheel is perpendicular to the axis of the frame traveling pulley.
  • the structure of the invention is simplified, reliable, small in size, easy to install, can provide an automatic charging power source system when the AGV device is running at a high speed, and improves the endurance and working efficiency of the AGV power supply.
  • the device is installed in the AGV device and the charging system is reliable and accurate. High degree and other characteristics, suitable for (large port, warehouse, freight) AGV equipment automatic charging unmanned operation automation system.
  • Figure 1 is a front elevational view of a current collector assembly of the present invention.
  • Figure 2 is a left side elevational view of the current collector assembly of the present invention.
  • Figure 3 is a plan view of the current collector assembly of the present invention.
  • Fig. 4 is a cross-sectional view taken along line A-A of Fig. 1;
  • Fig. 5 is a cross-sectional view taken along line BB of Fig. 1;
  • Fig. 6 is a cross-sectional view taken along line C-C of Fig. 1;
  • FIG. 7 is a schematic view showing the structure of the accompanying trolley assembly of the present invention.
  • Figure 8 is a cross-sectional view taken along line D-D of Figure 7;
  • Figure 9 is a cross-sectional view taken along line E-E of Figure 7;
  • Figure 10 is an enlarged view of a portion I of Figure 9.
  • the automatic truck charging device comprises a current collector assembly 1 and an accompanying trolley assembly 2;
  • the current collector assembly 1 includes a current collector frame 1.1, a current collector housing 1.2, an electrical telescopic boom 1.3, a four-link bracket 1.4, a stroke bracket 1.6, a contact bracket 1.7, a contact group 1.8, a horizontal wheel set 1.9, and a walking Top bead group 1.10, walking wheel group 1.11, trolley locking seat 1.12, power distribution control box 1.13 and contact bracket slider 1.14; collector housing 1.2 and distribution control box 1.13 are fixed on collector frame 1.1, in collector A telescopic boom 1.3 is mounted on the frame 1.1, a rear fixing seat is fixed on the current collector frame 1.1, and a four-link bracket 1.4 is mounted on the rear fixing seat.
  • the telescopic boom 1.3 cooperates with the four-link bracket 1.4.
  • the front end of the four-link bracket 1.4 is provided with a front fixing seat, and the stroke bracket 6 is fixed on the front fixing seat.
  • the contact bracket slider 1.14 is slidably mounted in the stroke bracket 6, and the contact bracket slider 1.14 is fixedly touched.
  • the head bracket 1.7 is fixed with a contact group 1.8, a trolley lock seat 1.12 and a walking top bead group 1.10 on the contact bracket 1.7, and a horizontal wheel set 1.9 and a walking wheel set 1.11 are mounted on the contact bracket 1.7, and the horizontal wheel set is mounted.
  • the axis of 1.9 is perpendicular to the axis of the walking wheel set 1.11 Set; operation, four telescopic boom for driving the link bracket 1.3 1.4 1.8 contact group so that the pan in a horizontal direction;
  • the accompanying trolley assembly 2 includes a C-track 2.1, a frame walking pulley 2.2, a traveling small frame 2.3, a trolley inner buckle 2.4, a conductive copper row 2.5, a striker 2.6, a trolley outer locking seat 2.8, a drag chain guide.
  • C-type rail 2.1 is fixed on the outer frame, and the collector template 2.10 is fixed in the middle of the side wall of the accompanying trolley frame 2.3.
  • the collector template 2.10 is provided with a conductive copper row 2.5, a pulley bracket is fixed at the top end of the accompanying small frame 2.3, a frame walking pulley 2.2 is mounted on the pulley bracket, and the frame walking pulley 2.2 is matched with the C-track 2.1.
  • a drag chain guide 2.9 is installed at the bottom end of the accompanying small frame 2.3, the notch of the drag chain guide 2.9 is upward, and a drag chain 2.14 is arranged in the drag chain guide 2.9, and one end of the drag chain 2.14 is connected with the accompanying line.
  • the other end of the drag chain 2.14 is connected to the outer frame, and a guiding section 2.13 is fixed at the right end of the accompanying small frame 2.3, and the guiding section 2.13 is gradually increased in width from left to right.
  • Large setting hinged inside the trolley frame 2.3 on the inside of the trolley frame 2.3, in the accompanying
  • the inner right end of the frame 2.3 is fixed with a striker 2.6, and a small outer lock 2.11 is hinged on the outer side of the accompanying small frame 2.3, and a small outer lock seat 2.8 which is matched with the outer lock 2.11 of the trolley is fixed on the outer frame. .
  • the four-link bracket 1.4 is a rhombic body.
  • the trolley upper seat 1.12 and the horizontal wheel set 1.9 are both mounted on one side of the contact holder 1.7, and the traveling top bead set 1.10 and the traveling wheel set 1.11 are both mounted on the other side of the contact holder 1.7.
  • a protective door 1.5 is provided on the collector housing 1.2.
  • a safety ruler 2.7 is mounted on the pulley bracket.
  • An anti-rolling wheel 2.12 is installed at the bottom end of the accompanying trolley frame 2.3, and the anti-rolling wheel 2.12 is located at the drag chain guide.
  • the inside of the notch of the groove 2.9, and the axis of the anti-rolling wheel 2.12 is perpendicular to the axis of the frame travel pulley 2.2.
  • a rear fixing seat is fixed in the current collector frame 1
  • a four-link bracket 1.4 is mounted on the rear fixing seat
  • a front fixing seat and a four-link bracket are installed at the front end of the four-link bracket 1.4.
  • the front and rear fixed seats form a rhombic body
  • the stroke bracket 1.6 is fixed on the front fixing seat
  • the slider 14 of the contact bracket 1.7 is installed in the stroke bracket 1.6 (the contact bracket 1.7 can be moved up and down, left and right by the slider 1.14 A certain angle)
  • the contact group 1.8 is installed by the four sets of modules in the insulation member through the buffer up and down distance compensation
  • the contact group 1.8 is connected with the lead power cable
  • the collector is mounted on the upper end of the collector stroke bracket.
  • the boom 1.3 is powered by the stepping motor and moves along the track horizontally to push the four-link bracket 1.4, the contact bracket 1.7 and the contact group 1.8 to freely enter and exit.
  • the protective door 1.5 is a set of door frames, a set of fixed door panels, and two sets of movable doors. In the form of mutual traction, the protective door 1.5 is powered by the traction mechanism through the stepping motor to allow the two sets of movable doors to open and close the door along the guide rail.
  • the accompanying small frame 2.3 is mounted on the rear end of the guiding section 2.13, and four sets of pulleys 2.2 are mounted on both sides of the upper end of the traveling small frame 2.3 with a C-shaped rail 2.1, and the pulley 2.2 is driven in the C-shaped rail 2.1.
  • the length of the C-rail 2.1 is not limited.
  • a safety ruler 2.7 is installed at the front end of the C-rail 2.1, and the small frame 2.3 is hoisted under the pulley 2.2.
  • the collector plate module 2.10 is installed at the middle of the side wall of the accompanying small frame 2.3.
  • the lower part of the accompanying small frame 2.3 is equipped with an anti-rolling wheel 2.12.
  • the lower left end of the accompanying small frame 2.3 is equipped with a drag chain 2.14 and is equipped with a drag chain guide 2.9.
  • the drag chain 2.14 is equipped with a power cable (a towline, cable) The length can be customized according to requirements.
  • the electrical control box 2.13 is a combination of software and hardware to control the system.
  • the working principle of the invention is completed by two actions (specifically, AGV driving into automatic charging and AGV driving out automatically), wherein the AGV is automatically charged when the AGV device detects the charging signal during high speed operation, and the system starts to open.
  • the automatic exiting process of the AGV is detected by the AGV equipment when the charging end signal is detected during high-speed operation.
  • the trolley lock 2.4 reaches the safety ruler 2.7.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Current-Collector Devices For Electrically Propelled Vehicles (AREA)
  • Handcart (AREA)

Abstract

一种自动搬运车充电装置，它包括集电器总成（1）与随行小车总成（2）；集电器总成（1）包括集电器框架（1.1）、集电器外壳（1.2）、电器伸缩臂架（1.3）、四连杆支架（1.4）、行程支架（1.6）、触头支架（1.7）、触头组（1.8）、水平轮组（1.9）、行走顶珠组（1.10）、行走轮组（1.11）、小车上锁座（1.12）、配电控制箱（1.13）与触头支架滑块（1.14）；随行小车总成（2）包括C型轨（2.1）、车架行走滑轮（2.2）、随行小车架（2.3）、小车内锁扣（2.4）、导电铜排（2.5）、撞头（2.6）、小车外锁扣座（2.8）、拖链导槽（2.9）、集电器模板（2.10）、小车外锁扣（2.11）、引导段（2.13）与拖链（2.14）；所述装置结构简单可靠、体积较小、易于安装，可以在自动搬运车高速运行时提供自动充电的动力电源的系统，提高自动搬运车电源续航及工作效率，所述装置充电系统可靠、精准度高，适用于自动搬运车自动化充电无人作业自动化系统。

Description

自动搬运车充电装置 技术领域
本发明涉及一种自动充电的动力电源传输的装置，本发明尤其是涉及一种自动搬运车充电装置。
背景技术
自动搬运车充电装置是一种AGV(即自动搬运车)设备在高速运行时提供自动充电的动力电源传输的装置，其作用是为AGV提供充电电源时自动检测充电区域、自动对接充电电源、自动脱离充电电源且无人作业自动充电系统，主要用于大型港口、仓库、货运AGV设备自动化充电无人作业自动化系统。目前的此类AGV充电装置结构复杂、定点充电(静态充电)，减少了AGV设备的利用率。
发明内容
本发明的目的是克服现有技术中存在的不足，提供一种结构简单可靠、体积较小且易于安装的自动搬运车充电装置。
按照本发明提供的技术方案，所述自动搬运车充电装置，它包括集电器总成与随行小车总成；
所述集电器总成包括集电器框架、集电器外壳、电器伸缩臂架、四连杆支架、行程支架、触头支架、触头组、水平轮组、行走顶珠组、行走轮组、小车上锁座、配电控制箱与触头支架滑块；在集电器框架上固定有集电器外壳与配电控制箱，在集电器框架上安装有伸缩臂架，在集电器框架上固定有后固定座，在后固定座上安装有四连杆支架，所述伸缩臂架与四连杆支架配合，在四连杆支架的前端安装有前固定座，在前固定座上固定有行程支架，在行程支架内滑动安装有触头支架滑块，在触头支架滑块上固定有触头支架，在触头支架上固定有触头组、小车上锁座与行走顶珠组，在触头支架上安装有水平轮组与行走轮组，且水平轮组的轴线与行走轮组的轴线呈垂直设置；工作时，伸缩臂架用于驱动四连杆支架从而使得触头组在水平方向进行平移；
所述随行小车总成包括C型轨、车架行走滑轮、随行小车架、小车内锁扣、导电铜排、撞头、小车外锁扣座、拖链导槽、集电器模板、小车外锁扣、引导段与拖链；C型轨固定在外部框架上，在随行小车架的侧壁中部固定有集电器模板，在集电器模板上设有导电铜排，在随行小车架的顶端部固定有 滑轮支架，在滑轮支架上安装有车架行走滑轮，车架行走滑轮与C型轨配合，在随行小车架的底端部安装有拖链导槽，拖链导槽的槽口朝上，在拖链导槽内设有拖链，拖链的一端连接在随行小车架上，拖链的另一端连接在外部框架上，在随行小车架的右端部固定有引导段，所述引导段在从左向右的方向上呈宽度逐渐增大设置，在随行小车架的内侧上铰接有小车内锁扣，在随行小车架的内侧右端固定有撞头，在随行小车架的外侧上铰接有小车外锁扣，在外部框架上固定有与小车外锁扣相配合的小车外锁扣座。
所述四连杆支架为菱形体。
所述小车上锁座与水平轮组均安装于触头支架的一侧，行走顶珠组与行走轮组均安装于触头支架的另一侧。
在所述集电器外壳上设有防护门。
在滑轮支架上安装有安全尺。
在随行小车架的底端部安装有防摆轮，防摆轮位于拖链导槽的槽口内部，且防摆轮的轴线与车架行走滑轮的轴线呈垂直设置。
本发明结构简化可靠、体积较小、易于安装，可以在AGV设备在高速运行时提供自动充电的动力电源的系统，提高AGV电源续航及工作效率，本装置安装于AGV设备体内充电系统可靠、精准度高等特点，适用于(大型港口、仓库、货运)AGV设备自动化充电无人作业自动化系统。
附图说明
图1是本发明中集电器总成的主视图。
图2是本发明中集电器总成的左视图。
图3是本发明中集电器总成的俯视图。
图4是图1的A—A剖视图。
图5是图1的B—B剖视图。
图6是图1的C—C剖视图。
图7是本发明中随行小车总成的结构示意图。
图8是图7的D—D剖视图。
图9是图7的E—E剖视图。
图10是图9中I部分的放大图。
具体实施方式
下面结合具体实施例对本发明作进一步说明。
该自动搬运车充电装置，它包括集电器总成1与随行小车总成2；
所述集电器总成1包括集电器框架1.1、集电器外壳1.2、电器伸缩臂架1.3、四连杆支架1.4、行程支架1.6、触头支架1.7、触头组1.8、水平轮组1.9、行走顶珠组1.10、行走轮组1.11、小车上锁座1.12、配电控制箱1.13与触头支架滑块1.14；在集电器框架1.1上固定有集电器外壳1.2与配电控制箱1.13，在集电器框架1.1上安装有伸缩臂架1.3，在集电器框架1.1上固定有后固定座，在后固定座上安装有四连杆支架1.4，所述伸缩臂架1.3与四连杆支架1.4配合，在四连杆支架1.4的前端安装有前固定座，在前固定座上固定有行程支架6，在行程支架6内滑动安装有触头支架滑块1.14，在触头支架滑块1.14上固定有触头支架1.7，在触头支架1.7上固定有触头组1.8、小车上锁座1.12与行走顶珠组1.10，在触头支架1.7上安装有水平轮组1.9与行走轮组1.11，且水平轮组1.9的轴线与行走轮组1.11的轴线呈垂直设置；工作时，伸缩臂架1.3用于驱动四连杆支架1.4从而使得触头组1.8在水平方向进行平移；
所述随行小车总成2包括C型轨2.1、车架行走滑轮2.2、随行小车架2.3、小车内锁扣2.4、导电铜排2.5、撞头2.6、小车外锁扣座2.8、拖链导槽2.9、集电器模板2.10、小车外锁扣2.11、引导段2.13与拖链2.14；C型轨2.1固定在外部框架上，在随行小车架2.3的侧壁中部固定有集电器模板2.10，在集电器模板2.10上设有导电铜排2.5，在随行小车架2.3的顶端部固定有滑轮支架，在滑轮支架上安装有车架行走滑轮2.2，车架行走滑轮2.2与C型轨2.1配合，在随行小车架2.3的底端部安装有拖链导槽2.9，拖链导槽2.9的槽口朝上，在拖链导槽2.9内设有拖链2.14，拖链2.14的一端连接在随行小车架2.3上，拖链2.14的另一端连接在外部框架上，在随行小车架2.3的右端部固定有引导段2.13，所述引导段2.13在从左向右的方向上呈宽度逐渐增大设置，在随行小车架2.3的内侧上铰接有小车内锁扣2.4，在随行小车架2.3的内侧右端固定有撞头2.6，在随行小车架2.3的外侧上铰接有小车外锁扣2.11，在外部框架上固定有与小车外锁扣2.11相配合的小车外锁扣座2.8。
所述四连杆支架1.4为菱形体。
所述小车上锁座1.12与水平轮组1.9均安装于触头支架1.7的一侧，行走顶珠组1.10与行走轮组1.11均安装于触头支架1.7的另一侧。
在所述集电器外壳1.2上设有防护门1.5。
在滑轮支架上安装有安全尺2.7。
在随行小车架2.3的底端部安装有防摆轮2.12，防摆轮2.12位于拖链导 槽2.9的槽口内部，且防摆轮2.12的轴线与车架行走滑轮2.2的轴线呈垂直设置。
本发明的集电器总成1中，集电器框架1内固定有后固定座，在后固定座上安装四连杆支架1.4，四连杆支架1.4的前端安装有前固定座，四连杆支架1.4与前、后固定座组成菱形体，在前固定座上固定行程支架1.6，在行程支架1.6内安装触头支架1.7的滑块14(触头支架1.7通过滑块1.14可以上下、左右随动一定的角度)，和触头组1.8是由4组模块安装在绝缘件通过缓冲器上下距离补偿，在触头组1.8接有引出动力电缆，在集电器行程支架底座上端安装1套集电器伸缩臂架1.3由步进电机提供动力沿着轨道水平运动推动四连杆支架1.4、触头支架1.7和触头组1.8自由进出，防护门1.5是一组门框、一套固定门板、两组活动门相互牵引形式，防护门1.5由牵引机构通过步进电机提供动力电源让两组活动门沿着导轨开关门。
本发明中，随行小车架2.3是安装于引导段2.13的后端，随行小车架2.3的上端两侧安装4组滑轮2.2配有C型轨2.1，滑轮2.2在C型轨2.1内行驶，C型轨2.1的长度不受限制，在C型轨2.1的前端安装安全尺2.7，滑轮2.2下吊装随行小车架2.3，集电板模块2.10安装于随行小车架2.3的侧壁中间位置，随行小车架2.3的下部两端配有防摆轮2.12，随行小车架2.3的左下端安装拖链2.14并配有拖链导槽2.9，拖链2.14内配有动力电缆(拖链、电缆的长度可根据要求定制)，电气控制箱2.13是由软件与硬件相互结合控制本系统。
本发明的工作原理由两个动作完成(具体包括AGV驶入自动充电和AGV驶出自动脱离)，其中AGV驶入自动充电是由AGV设备在高速运行时检测到充电信号时，本系统开始打开防护门1.5，四连杆支架1.4通过集电器伸缩臂架1.3带动触头组1.8水平伸出到位，等待进入地面引导段2.13，然后进入地面引导段2.13，沿着引导段2.13进入随行小车架2.3，当到达随行小车架2.3位置内触头组1.8与集电板模块2.10相吻合时，行走轮组1.11先打开随行小车架2.3的小车下锁扣2.11，使得小车下锁扣2.11与引导段2.13的小车下锁扣座2.8脱离，小车上锁扣2.4与触头支架1.7上的小车上锁座2.12锁固定开始充电，完成AGV驶入自动充电动作；
AGV驶出自动脱离过程是由AGV设备在高速运行时检测到充电结束信号时，本系统等待驶出至触头支架1.7与随行小车架2.3脱离位置时，小车上锁扣2.4到达安全尺2.7位置时，打开小车上锁扣2.4让触头支架1.7与随 行小车架2.3脱离小车下锁扣2.11与引导段2.13的小车下锁扣座2.8锁固定，集电器触头支架1.7驶出引导段2.13)，当驶出引导段2.13时四连杆支架1.4通过集电器伸缩臂架1.3带动触头组1.8水平缩回到位，开始关闭防护门1.5，AGV驶出自动脱离完成动作。

Claims (6)

  1. 一种自动搬运车充电装置，其特征是：它包括集电器总成(1)与随行小车总成(2)；
    所述集电器总成(1)包括集电器框架(1.1)、集电器外壳(1.2)、电器伸缩臂架(1.3)、四连杆支架(1.4)、行程支架(1.6)、触头支架(1.7)、触头组(1.8)、水平轮组(1.9)、行走顶珠组(1.10)、行走轮组(1.11)、小车上锁座(1.12)、配电控制箱(1.13)与触头支架滑块(1.14)；在集电器框架(1.1)上固定有集电器外壳(1.2)与配电控制箱(1.13)，在集电器框架(1.1)上安装有伸缩臂架(1.3)，在集电器框架(1.1)上固定有后固定座，在后固定座上安装有四连杆支架(1.4)，所述伸缩臂架(1.3)与四连杆支架(1.4)配合，在四连杆支架(1.4)的前端安装有前固定座，在前固定座上固定有行程支架(6)，在行程支架(6)内滑动安装有触头支架滑块(1.14)，在触头支架滑块(1.14)上固定有触头支架(1.7)，在触头支架(1.7)上固定有触头组(1.8)、小车上锁座(1.12)与行走顶珠组(1.10)，在触头支架(1.7)上安装有水平轮组(1.9)与行走轮组(1.11)，且水平轮组(1.9)的轴线与行走轮组(1.11)的轴线呈垂直设置；工作时，伸缩臂架(1.3)用于驱动四连杆支架(1.4)从而使得触头组(1.8)在水平方向进行平移；
    所述随行小车总成(2)包括C型轨(2.1)、车架行走滑轮(2.2)、随行小车架(2.3)、小车内锁扣(2.4)、导电铜排(2.5)、撞头(2.6)、小车外锁扣座(2.8)、拖链导槽(2.9)、集电器模板(2.10)、小车外锁扣(2.11)、引导段(2.13)与拖链(2.14)；C型轨(2.1)固定在外部框架上，在随行小车架(2.3)的侧壁中部固定有集电器模板(2.10)，在集电器模板(2.10)上设有导电铜排(2.5)，在随行小车架(2.3)的顶端部固定有滑轮支架，在滑轮支架上安装有车架行走滑轮(2.2)，车架行走滑轮(2.2)与C型轨(2.1)配合，在随行小车架(2.3)的底端部安装有拖链导槽(2.9)，拖链导槽(2.9)的槽口朝上，在拖链导槽(2.9)内设有拖链(2.14)，拖链(2.14)的一端连接在随行小车架(2.3)上，拖链(2.14)的另一端连接在外部框架上，在随行小车架(2.3)的右端部固定有引导段(2.13)，所述引导段(2.13)在从左向右的方向上呈宽度逐渐增大设置，在随行小车架(2.3)的内侧上铰接有小车内锁扣(2.4)，在随行小车架(2.3)的内侧右端固定有撞头(2.6)，在随 行小车架(2.3)的外侧上铰接有小车外锁扣(2.11)，在外部框架上固定有与小车外锁扣(2.11)相配合的小车外锁扣座(2.8)。
  2. 如权利要求1所述的自动搬运车充电装置，其特征是：所述四连杆支架(1.4)为菱形体。
  3. 如权利要求1所述的自动搬运车充电装置，其特征是：所述小车上锁座(1.12)与水平轮组(1.9)均安装于触头支架(1.7)的一侧，行走顶珠组(1.10)与行走轮组(1.11)均安装于触头支架(1.7)的另一侧。
  4. 如权利要求1所述的自动搬运车充电装置，其特征是：在所述集电器外壳(1.2)上设有防护门(1.5)。
  5. 如权利要求1所述的自动搬运车充电装置，其特征是：在滑轮支架上安装有安全尺(2.7)。
  6. 如权利要求1所述的自动搬运车充电装置，其特征是：在随行小车架(2.3)的底端部安装有防摆轮(2.12)，防摆轮(2.12)位于拖链导槽(2.9)的槽口内部，且防摆轮(2.12)的轴线与车架行走滑轮(2.2)的轴线呈垂直设置。
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