JP2009213337A - Battery charging system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To directly couple and charge a load carrying vehicle that is located ahead of a charging carrier and requires charging from the charging carrier without any affection even if another load carrying vehicle that does not require charging is located ahead of the charging carrier. <P>SOLUTION: A passage space 15 is reserved which allows the charging carrier 8 to pass under the load carrying vehicle 4 by increasing the bottom surface 14 of the carrying vehicle body in the load carrying vehicle 4 by a predetermined distance from the floor surface 1. The charging carrier 8 or the load carrying vehicle 4 includes connection columns 19 that are regulated to be inactive positions allowing the load carrying vehicle 8 to pass under the vehicle in non-charging, and are protruded to the active positions reaching the load carrying vehicle 4 or charging carrier 8 in charging. The charging carrier 8 or the load carrying vehicle 4 includes connection receiving sections 21 that receive the connection columns 19 that are protruded from the charging carrier 8 or the load carrying vehicle in charging and are regulated to be electrically connected with a charging device 18 mounted on the charging carrier 8. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a battery charging system that charges a battery of a load transporting vehicle from a charging device mounted on the charging transport vehicle.

  2. Description of the Related Art In recent years, in logistics transportation in factories, for example, parts transportation in a vehicle production factory, an automated guided vehicle (Automated) that travels independently on a traveling route that is constructed using a magnetic tape or the like laid on the floor without a rail as a guide. Introduction of Guided Vehicles (hereinafter abbreviated as AGV) is in progress. Since the AGV is equipped with an electric motor and a battery as a power source, the battery needs to be charged after a certain time.

  When the operation time of the factory is short, for example, when the operation is only in the daytime, the charging of the AGV battery is performed in the non-operation time zone, for example, at night, but in a line that requires 24 hours operation, Cycle charging with a short tact is required. For this reason, there is a problem that the charging time tends to be insufficient. In addition, if the charging time is set longer, there is a problem that the operation time of the AGV decreases.

Therefore, conventionally, a method of charging a battery that is still mounted on the AGV has been developed. For example, there is a charging system in which connecting means that can exchange electric power with other AGVs are arranged in front and rear of the AGV, and two AGVs are connected to each other through the connecting means in the front-rear direction. (Patent Document 1).
JP-A-11285109

  However, in the charging system as in Patent Document 1, for example, when two AGV2s that do not require charging and AGV3 that requires charging are located in front of their own AGV1 on the same traveling track, these three units in total The AGV 1 to the AGV 3 can be charged only after the AGVs are gathered in one place and connected in a daisy chain, thereby securing an electrical feed path with the AGV 2 as an intermediate connector. For this reason, there existed a subject that the form of the applicable component conveyance path | route will be limited.

  Accordingly, an object of the present invention is to carry a load that needs to be further charged without being affected even when a load carrying vehicle that does not require charging is located in front of the charge carrying vehicle. An object of the present invention is to provide a charging system that can be directly connected to a transportation vehicle and charged from the charging transportation vehicle.

  In order to achieve the above object, the present invention provides a travel route, a transport vehicle for carrying goods and a transport vehicle for charging that travels independently on the travel route using a travel electric motor driven by a battery mounted therein as a power source. And a charging system that charges a battery of a cargo transporting vehicle from a charging device mounted on the charging transport vehicle.

  The transport vehicle for luggage transportation includes a transport vehicle main body and wheels located on both sides thereof, and the transport vehicle main body is maintained at a bottom surface higher than a floor surface by the wheels by a predetermined distance, A passing space is formed in which the charging transport vehicle can pass through along the travel route.

  The charging transport vehicle or the cargo transporting vehicle is set to a non-acting position that allows the charging transport vehicle to pass through when not charging, and the charging transport vehicle or the charging transport vehicle is charged during charging. A connecting column that protrudes to an action position that reaches the operating position, and the connecting carriage that protrudes from the charging transport vehicle or the luggage transporting vehicle at the time of charging is provided on the transporting vehicle for charging or the transporting vehicle for charging. A connection receiving portion is provided for receiving and making an electrical connection with the charging device mounted on the charging transport vehicle.

  The following two forms are included in the method of providing the connection pillar and the connection receiving portion.

  In the first mode, the charging transport vehicle is set to a low position that does not contact the bottom surface of the transport vehicle body when not charging, and is set to a high position that protrudes higher than the bottom surface of the transport vehicle body when charging. The load carrying vehicle has a pillar, and accepts the connection pillar protruding from the charge transport vehicle at the time of charging from the bottom surface, and is electrically connected to a charging device mounted on the charge transport vehicle. It has the connection receiving part which makes | forms.

  The second mode is a connection in which the load transport vehicle is in an upper position where it does not come into contact with the charge transport vehicle during non-charging, and is in a lower position that protrudes lower than the upper surface of the charge transport vehicle during charging. The charging carriage has an electrical connection with the charging device mounted on the charging carriage for receiving the connection pillar protruding from the cargo transportation carriage when charging from the upper surface. It has a connection receiving part which makes a connection.

  According to the present invention, charging is performed by connecting a charging device of a charging transport vehicle only to a load transporting vehicle that needs charging, and for other transporting vehicles that do not require charging. Makes it possible for the charging transport vehicle to travel to another load transporting vehicle that needs to be charged by passing under the load transporting vehicle.

  In addition, during charging, the charging transport vehicle can be run in synchronization with the luggage transporting vehicle, or the luggage transporting vehicle can be towed so that charging can be performed while the load transporting vehicle is traveling. Can be performed.

  Therefore, it is possible to efficiently charge the battery of the load transporting vehicle without disturbing the traveling of the load transporting vehicle.

  DESCRIPTION OF EXEMPLARY EMBODIMENTS Hereinafter, exemplary embodiments to which the invention is applied will be described with reference to the accompanying drawings.

  The charging system shown in FIG. 1 has a traveling path 2 formed in a closed loop shape by a magnetic tape (not shown) laid on the floor surface 1 for each of the processes A, B, and C for parts conveyance in the factory. These travel paths 2 are connected to each other through the relay path 3 for each of the processes A, B, and C. A baggage transporting vehicle 4 (a baggage transporting AGV) that travels on its own and travels independently is disposed on the travel route 2 of each process A, B, and C.

  The load transporting vehicle 4 and a charging transport vehicle 8 described later have a route sensor 5 (see FIGS. 2 and 3) for detecting the traveling route 2 by sensing the magnetism of the magnetic tape. The current position can be grasped.

  In addition, a charging stand 7 is connected to one of the processes A, B, and C, here the traveling path 2 of the process A, via a branch path 6, and travels from here on a charging transport vehicle 8 (AGV for charging). It can be introduced into the route 2. This charging transport vehicle 8 is only provided for each of the processes A, B, and C, and goes around all the processes.

  FIG. 2 shows the structure of the load transporting vehicle 4 and FIG. 3 shows the structure of the charging transport vehicle 8.

  As shown in FIG. 2, the load carrying vehicle 4 has a battery 9 mounted thereon, and a traveling electric motor (not shown) driven by the battery 9 mounted on the baggage 4 is used as a power source. The travel route 2 is configured to travel independently. On the other hand, as shown in FIG. 3, the charging transport vehicle 8 also has a battery 10 mounted thereon, and a traveling electric motor (not shown) driven by the battery 10 is used as a power source to drive the traveling route 2. It has a structure that runs independently.

  As shown in FIG. 2, the load transporting vehicle 4 includes a transport vehicle body 12 having a loading platform 11 and a total of four wheels 13 located on both sides thereof. The bottom surface 14 of the transport vehicle main body is maintained at a predetermined distance h1 higher than the floor surface 1 by the wheels, so that the charging transport vehicle 8 can dive along the travel path 2 on the bottom surface of the transport vehicle main body. A passing space 15 is formed.

  On the other hand, the charging transport vehicle 8 also includes a transport vehicle main body 16 and wheels 17 located on both sides thereof. However, the overall vehicle height h <b> 2 of the charging transport vehicle 8 is configured to be low so that it can pass through the passage space 15 of the load transporting vehicle 4.

  The charging transport vehicle 8 is equipped with a battery 18 a and a charging device 18 for charging the battery 9 of the load transporting vehicle 4.

  As an element of a connection structure for charging the battery 9 of the cargo transporting vehicle 4 from the charging device 18 mounted on the charging transport vehicle 8, the charging transport vehicle 8 includes a connecting column 19 having a circular cross section. (See FIG. 4) is provided so as to be movable up and down. The connecting column 19 is mounted so as to be movable up and down, and is lowered to a lower position (non-acting position) that does not contact the bottom surface 14 of the transport vehicle body when not charging, and protrudes higher than the bottom surface 14 of the transport vehicle body when charging. Raised to the upper position (action position). On the side surface of the connection column 19, a charging electrode 20 as a connection terminal is provided on the front surface as viewed in the traveling direction of the charging transport vehicle 8.

  On the other hand, the load transporting vehicle 4 receives a connection column 19 protruding from the charging transport vehicle 8 at the time of charging from the bottom surface 14 and is electrically connected to the charging device 18 mounted on the charging transport vehicle 8. A connection receiving portion 21 is provided. As shown in FIG. 4, the connection receiving portion 21 includes a circular recess 22 into which a half circumferential surface of the connection pillar 19 having a circular cross section enters, and a guide 23 including a slope that guides the connection pillar 19 to the recess 22. In the recess 22, there is provided a charging electrode 24 that is in contact with the charging electrode 20 to achieve electrical conduction.

  The shape of the connection column 19 and the connection receiving portion 21 do not necessarily have a circular column shape, and may be configured as a connection column 25 having an elliptical cross section as shown in FIG.

  A transport vehicle recognition sensor 26 comprising an optical sensor is provided in the upper front portion of the charging transport vehicle 8 in order to detect that the load transporting transport vehicle 4 on the travel route 2 is within a predetermined distance range. It is done.

  Next, the operation will be described.

  In FIG. 1, the solid line indicates the traveling direction in which the load transporting vehicle 4 circulates within the process to which it belongs, and the broken line indicates the traveling direction of the forward path and the return path in which the charging transport vehicle 8 sequentially circulates over each process. In any of the processes A to C, the charging transport vehicle 8 travels in the opposite direction to the load transporting transport vehicle 4.

  FIG. 1 shows a case where the charging vehicle 8 exists in the process A. The transporting vehicle 8 for charging and the transporting vehicle 4 for carrying goods are opposite in traveling direction, and the controller provided inside the charging transport vehicle 8 gives instructions from the control unit (not shown) of the charging system by means of communication means. In response to this, the charging transport vehicle 8 is driven to approach the load transporting vehicle 4 that needs to be charged.

  When the transport vehicle recognition sensor 26 located in the upper front portion of the charging transport vehicle 8 recognizes the load transporting vehicle 4, the controller of the charging transport vehicle 8 raises the connecting column 19 as shown in FIG. Prepare for charging. Simultaneously with the recognition of the cargo transporting vehicle 4, the driving of the charging transport vehicle 8 is stopped.

  Thereafter, the load transporting vehicle 4 approaches the charging transport vehicle 8 and the charging transport vehicle 8 enters under the load transporting vehicle 4 as shown in FIG. At this time, since the connection column 19 is in the upper position, the connection column 19 is guided into the recess 22 along the guide 23 of the connection receiving portion 21 and fits mechanically. The power of the transport vehicle 8 is cut from the time when the transport vehicle recognition sensor 26 recognizes the load transport vehicle 4 to this time, and can be freely driven. Therefore, the load transporting vehicle 4 and the charging transport vehicle 8 are relatively close to each other, and the connecting column 19 is fitted to the connection receiving portion 21 so that the charging transport vehicle 8 can be taken along by the load transporting transport vehicle 4. It becomes a state.

  Further, the connecting column 19 is provided with a charging electrode on the rear side when viewed in the traveling direction of the load transporting vehicle 4, and the connection receiving portion 21 is for charging on the front side when viewed in the traveling direction of the load transporting vehicle 4. Electrodes are provided, and the charging electrodes 20 and 24 are in close contact with each other when the charging transport vehicle 8 and the load transporting vehicle 4 are about to move away from each other. For this reason, when the connecting column 19 is fitted into the connection receiving portion 21, the charging electrode 20 and the electrode 24 are in electrical contact with each other at the same time, and the charging electrical connection is automatically completed.

  Thereafter, while the charging transport vehicle 8 is taken to the load transporting vehicle 4, the battery of the load transporting transport vehicle 4 is connected from the charging device 18 of the charging transport vehicle 8 through the connection column 19 and the connection receiving portion 21. Will be charged. After the charging is completed, the connecting column 19 is lowered to the lower position, and the charging transport vehicle 8 is driven with the completion of the lowering.

  In addition, the structure of the connection receiving part 21 for charge is an example, and when obstructing the route sensor 5 of the load transporting vehicle 4, the connection receiving part 21 may be provided near the center of the main body of the load transporting vehicle 4. Good.

  Next, the charging transport vehicle 8 moves from the process A through the relay path 3 to the next process B. While the charging transport vehicle 8 moves to the next process, the charging operation is not performed even if the charging transport vehicle 8 recognizes the luggage transporting vehicle 4. In the process B as well, as in the case of the process A, the battery of the load transportation vehicle 4 in the process B is charged.

  Next, the charging transport vehicle 8 moves from the process B via the relay path 3 to the final process C, and after charging the battery of the load transporting vehicle 4 in the process C, the first transport process A is performed. Come back. Then, the charging transport vehicle 8 moves to the charging stand 7.

  In the above, when there are a plurality of load transport vehicles 4 in one process, each load transport transport vehicle 4 is recognized, and the battery of the load transport transport vehicle 4 is charged for all of them.

  It should be noted that while the charging transport vehicle 8 moves from one step to the next of all the processes A to C, the charging operation is performed even if the charging transport vehicle 8 recognizes the load transporting vehicle 4. Does not.

  In the charging traveling operation in which the charging transport vehicle 8 makes a round, when the load transporting vehicle 4 that does not require charging is encountered during the traveling, the connecting column 19 is moved to the lower position as shown in FIG. In this state, the vehicle goes under the load transporting vehicle 4.

  The time required for the charging traveling operation that the charging transport vehicle 8 circulates in the whole process is the worst, (1) the time until the charging transport vehicle 8 meets the load transporting vehicle 4 after passing, (2) This is the sum of the time until the charging transport vehicle 8 moves to the next step and (3) the charging time. By mounting a battery having a capacity capable of traveling for more than this time on the load carrying vehicle 4, the load carrying vehicle 4 can be operated throughout the factory operation time.

  Further, by considering the travel time and charging time of the load transporting vehicle 4 and the charging transport vehicle 8, the charging transport vehicle 8 can reach the load transporting vehicle 4 before the battery is completely discharged. it can.

  In addition, when the battery of the charging transport vehicle 8 is exhausted, it is possible to recover the state in which the vehicle can travel by obtaining the power of the load transporting vehicle 4. In the above embodiment, the charging transport vehicle 8 is dragged to the load transporting vehicle 4 during charging. However, during charging, the charging transport vehicle 8 is powered by its own power. It can also be set as the form which drive | works in synchronization with speed.

  According to the charging system of the above-described embodiment, the charging transport vehicle 8 can pass through the cargo transporting vehicle 4 that does not require charging without passing through the lower portion thereof.

  Therefore, after the charging vehicle 8 completes the charging of one cargo transporting vehicle 4, it moves to the next cargo transporting vehicle 4 within a short time and starts charging the mounted battery. can do. Further, even if the charging transport vehicle 8 is present in the process, the charging transport vehicle 8 can pass under the load transporting vehicle 4, so that the operation of the load transporting vehicle 4 is not hindered.

  Further, the charging transport vehicle 8 can perform charging across a plurality of processes. For this reason, it is only necessary to prepare one charging stand 7 for a plurality of processes, and it is not necessary to provide a charging stand 7 for each process. Therefore, cost reduction and layout examination are facilitated. Further, when changing the process, it is not necessary to secure a space for the charging stand 7 of the load carrying vehicle 4.

  Since the charging time for the battery of the baggage transporting vehicle 4 can be taken sufficiently, it is not necessary to frequently stop the baggage transporting vehicle 4 for charging, and the spare baggage transporting vehicle 4 becomes unnecessary. . In addition, the operation management of the load carrying vehicle 4 is simplified.

  Since the track using the magnetic tape that has already been laid as the travel route of the cargo transporting vehicle 4 can be used as it is as the travel route 2 of the present embodiment, except between the steps, the effort for drawing the track can be minimized.

  It is possible to mount a battery in accordance with the circulation cycle of the charging transport vehicle 8, and the battery unit can be reduced in weight and price.

  Each AGV of the load transporting vehicle 4 and the charging transport vehicle 8 can detect the position of the own vehicle, and each AGV is provided with a transmission / reception function. By grasping the position and the remaining battery capacity, it becomes possible to obtain the optimum charging start position, and this makes it possible to reduce the lap time of the charging transport vehicle 8, and in turn pulls the load for transporting goods. It becomes possible to further reduce the AGV battery capacity of both the vehicle 4 and the charging transport vehicle 8.

  Furthermore, when there are a plurality of charging transport vehicles 8 in the process and there is a margin in the charging cycle, the charging transport vehicle 8 is not able to keep up with the normal circulation by having a transmission / reception function. When this charging transport vehicle 8 grasps, it becomes possible for another charging transport vehicle 8 to go to the load transporting vehicle 4 in the corresponding process as an emergency response.

  FIG. 9 shows an enlarged part of the patrol route. The thick lines L1 and L2 in the process B indicate the section where the charging start or end operation is performed. The section L1 is on the inlet side of the process B and the section L2 is on the outlet side of the process B. For convenience of explanation, when only the movement of the charging transport vehicle 8 is considered, the first point a in the section L1 is a process entry position when viewed in the direction in which the charging transport vehicle 8 moves, and charging is performed at this point a. The charging end position when started is the first point e in the section L2. The point b at the corner of the section L1 is an optimum charging start position, and the charging end position when charging is started here is the point f at the corner of the section L2. When charging is completed at this point f, it is the entrance to the continuation path, and the charging transport vehicle 8 can move to the next process for the shortest time. The point c in the section L1 is the shortest encounter position with the load transporting vehicle 4. The charging end position when charging starts at this point c is the first g point in the section L2.

  Each AGV of the load transporting vehicle 4 and the charging transport vehicle 8 has a transmission / reception function, and the charging transport vehicle 8 includes the current position of the load transporting vehicle 4 to be charged next and the remaining battery capacity. Grasp (required charge amount: minus charge required time). From this value and the current position of the host vehicle, the charging start position at which the charging transport vehicle 8 moves to the next process and meets the load transporting vehicle 4 in the shortest time can be known.

  The charging completion position between the charging start position and the position where the charging transport vehicle 8 has just entered the next process is calculated, and the shortest distance is determined with respect to the position to move to the next process. As a result, it is possible to further reduce the lap time of the charging transport vehicle 8, and to further reduce the AGV battery capacity of both the load transporting vehicle 4 and the charging transport vehicle 8. Become.

  Further, when there are a plurality of charging transport vehicles 8 in the process and there is a margin in the charging cycle, the charging transport vehicle 8 can be used in a normal lap by reducing the traveling time due to battery deterioration or the like by having a transmission / reception function. If it is not in time, when the charging transport vehicle 8 circling that it is not in time, it will be possible for another charging transport vehicle 8 to go to the necessary part of the process as an emergency response.

  Specifically: That is, one charging transport vehicle 8 that circulates periodically receives a charge amount from each load transporting transport vehicle 4 through communication. If the arrival time is not in time for the charging timing as judged from the travel time to the corresponding process that can be calculated within the vehicle, the one charging transport vehicle 8 raises an alarm to another charging transport vehicle 8 and Turn to. When the other charging transport vehicle 8 enters the same process in which the one charging transport vehicle 8 is traveling, the position of the one charging transport vehicle 8 is grasped and a timing at which it does not collide. To enter the process.

  In the above embodiment, the connecting pillar 19 that can be raised and lowered is provided on the charging carriage 8 side, but conversely, the connecting pillar 19 that can be raised and lowered is provided on the side of each cargo transporting carriage 4 and for charging. A connection receiving portion 21 may be provided on the side of the transport vehicle 8 and connected to the connection receiving portion 21 on the charging transport vehicle 8 side with the connection column 19 in the lower position during charging.

  That is, the load transporting vehicle 4 is in an upper position (non-acting position) where it does not contact the charging transport vehicle 8 when not charged, and a lower position (lower position) that protrudes lower than the upper surface of the charging transport vehicle 8 during charging. The charging transport vehicle 8 receives the connection post 19 protruding from the load transporting vehicle 4 at the time of charging from the upper surface, and is connected to the charging transport vehicle 8. It is set as the structure which has the connection receiving part 21 which makes the electrical connection with the charging device 18 mounted in.

  Under this configuration, all of the luggage transport vehicles 4 having a small remaining capacity lower the connecting pillars 19 to the lower position. The charge transport vehicle 8 can be determined to be a load transport transport vehicle 4 that needs to be charged with respect to the load transport transport vehicle 4 in which the connecting column 19 is in the lower position. For this reason, it becomes possible for the charging transport vehicle 8 to be united and charged only with the load transporting vehicle 4 that needs to be charged by its own judgment. There is no need to exchange information on whether or not the battery must be charged.

It is the schematic which shows the charging system of this invention. The structure of the load carrying vehicle of the charging system of this invention is shown, (a) is a side view, (b) is a top view. The structure of the conveyance vehicle of the charging system of this invention is shown, (a) is a side view, (b) is a top view. It is the schematic which showed the connection structure for performing charge of this invention. It is the schematic which showed the modification of the connection structure for performing charge of this invention. It is the figure which showed the state which the conveyance vehicle for charging of the charging system of this invention recognized also the conveyance vehicle for luggage conveyance approaching. It is the figure which showed the state by which the conveyance vehicle of the charging system of this invention entered under the conveyance vehicle for luggage conveyance, and the electrical connection for charge was made | formed. It is the figure which showed the state in which the conveyance vehicle of the charging system of this invention dives under the conveyance vehicle for luggage conveyance. It is the figure which showed a part of charging system of FIG.

Explanation of symbols

1 floor,
2 travel route,
3 Relay route,
4 Luggage transporter,
5 path sensors,
6 branch road,
7 Charging stand,
8 Charging vehicle,
9, 10 battery,
11 Loading platform,
12 Transport vehicle body,
13, 17 wheels,
14 Bottom,
15 passing space,
16 Transport vehicle body,
18 charger,
19, 25 Connecting columns,
20 electrodes,
21 connection receiving part,
22 recess,
23 guide,
24 electrodes,
26 Transport vehicle recognition sensor.

Claims (3)

A traveling route, and this traveling route, which has a load transporting vehicle and a charging transport vehicle that run independently using a traveling electric motor driven by a mounted battery as a power source, are mounted on the charging transport vehicle. In the charging system that charges the battery of the baggage transporter from the charging device,
The bottom surface of the transport vehicle body of the load transport vehicle can be maintained at a predetermined distance higher than the floor surface by wheels, and the charging transport vehicle can dive into the lower surface of the transport vehicle body along the travel path. Form a passing space,
The charging transport vehicle or the load transporting vehicle is set to a non-acting position that allows the charging transport vehicle to pass through when not charging, and reaches the load transporting vehicle or the charging transport vehicle during charging. A connecting column that protrudes to the working position is provided.
The charge transport vehicle or the charging transport vehicle receives the connection pillar projecting from the charge transport vehicle or the load transport transport vehicle at the time of charging, and is mounted on the charging transport vehicle. Provided with a connection receiving part to make electrical connection with the device,
A charging system characterized by that.   The connecting pillar includes a charging electrode on the rear side when viewed in the traveling direction of the luggage transporter vehicle, and the connection receiving portion is for charging on the front side when viewed in the traveling direction of the luggage transporter vehicle. Comprising an electrode, wherein the charging electrode is in close contact with each other when the charging transport vehicle and the load transporting vehicle are about to be displaced in a relatively separated direction. The charging system according to claim 1.   The said traveling route consists of magnetic tapes laid on the floor surface, and using this magnetic tape as a guide, the said load transport vehicle and the said charge transport vehicle travel independently. Charging system.

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