JP7101093B2 - How to replace and charge automated guided vehicles and batteries - Google Patents

Description

The present invention relates to an automatic guided vehicle and a battery replacement method and charging method.

An automatic guided vehicle (AGV) is used as a technique for transporting materials, parts, finished products, etc. in a production factory or the like. The automatic guided vehicle has drive wheels, and a sensor detects a magnetic tape laid on the floor surface and is guided by the magnetism generated by the magnetic tape to travel unmanned. On the other hand, when the production factory has, for example, a flammable gas atmosphere (explosive atmosphere), sparks generated when the automatic guided vehicle operates may ignite and cause a fire. Therefore, in this case, the automatic guided vehicle needs an explosion-proof structure.

As an explosion-proof structure of a conventional automatic guided vehicle, for example, there is one described in Patent Document 1 below. The explosion-proof automatic guided vehicle described in Patent Document 1 is a vehicle in which a control device, a battery, or the like is mounted on a trolley and stored in an explosion-proof container.

Japanese Unexamined Patent Publication No. 4-172904

Since the automatic guided vehicle has a motor and a control unit for driving the drive wheels, a battery for supplying electric power to the motor and the control unit is required. In Patent Document 1, a control device, a battery, and the like are housed in a common explosion-proof container. By the way, the battery needs to be replaced when the amount of stored electricity decreases, or in the case of a secondary battery, it needs to be charged. In addition, if the battery is used for a long period of time and deteriorates, it needs to be replaced. In this case, only the deteriorated battery is removed from the explosion-proof container, and a new battery is installed. However, if the automatic guided vehicle has a pressure-resistant explosion-proof structure, it is necessary to pass the electrical machinery / equipment explosion-proof structure standard according to the factory electrical equipment explosion-proof guideline. Therefore, the conventional automatic guided vehicle may have to undergo an inspection for an explosion-proof container containing a control device, a battery, and the like every time the battery is replaced, which has a problem of poor maintainability.

The present invention solves the above-mentioned problems, and an object of the present invention is to provide an automatic guided vehicle and a battery replacement method and a charging method for improving maintainability.

The unmanned carrier of the present invention for achieving the above object includes a trolley main body, a traveling drive device for traveling the trolley main body, a control device mounted on the trolley main body to control the traveling drive device, and the above. A first pressure-resistant explosion-proof container that houses a control device, a battery that can supply electric power to the control device, a second pressure-resistant explosion-proof container that houses the battery, and a first pressure-resistant explosion-proof container and a second pressure-resistant explosion-proof container. It is characterized by comprising a connector having a pressure-resistant explosion-proof structure that electrically connects the control device and the battery to the outside.

Therefore, the control device is housed in the first explosion-proof container, the battery is housed in the second explosion-proof container, and the control device and the battery are electrically connected by a connector having a pressure-resistant explosion-proof structure. It is possible to connect and disconnect in an explosive atmosphere, and an unmanned carrier can be used in an explosive atmosphere. Since the control device and the battery are housed in different pressure-resistant explosion-proof containers, it is only necessary to maintain the second pressure-resistant explosion-proof container when replacing the battery, which eliminates the need for maintenance of the first pressure-resistant explosion-proof container and improves maintainability. can do.

In the unmanned transport vehicle of the present invention, the pressure-resistant explosion-proof connector is a pressure-resistant explosion-proof outlet connected to the battery via a power line and a pressure-resistant explosion-proof plug connected to the control device via a power line. When the outlet of the pressure-resistant explosion-proof structure and the plug of the pressure-resistant explosion-proof structure are mechanically connected, the electric power of the battery is supplied to the control device.

Therefore, when the explosion-proof explosion-proof outlet and the explosion-proof plug are mechanically connected, the power of the battery is supplied to the control device, and it is safe to connect and disconnect the battery and the control device in an explosive atmosphere. Can be done.

The automatic guided vehicle of the present invention is characterized in that the battery is a secondary battery.

Therefore, by using a secondary battery as the secondary battery, the secondary battery can be charged when the amount of stored electricity decreases, so that the secondary battery can be continuously used without replacement.

The automatic guided vehicle of the present invention is characterized in that the plug of the charger can be connected to the connector having the flameproof structure.

Therefore, by connecting the plug of the charger to the outlet having the flameproof structure, the battery can be charged easily and safely.

In the automatic guided vehicle of the present invention, the second pressure-resistant explosion-proof container is characterized in that a charger connected to the battery is provided inside.

Therefore, by accommodating the charger together with the battery in the second flameproof container, the battery can be charged easily and safely.

In the automatic guided vehicle of the present invention, the second pressure-resistant explosion-proof container is characterized in that a power receiving unit of a non-contact type charger connected to the battery is provided inside.

Therefore, by accommodating the power receiving portion of the non-contact type charger in the second flameproof container, the battery can be charged easily and safely.

The automatic guided vehicle of the present invention is characterized by being provided with a fixing device for detachably fixing the second pressure-resistant explosion-proof container to the bogie main body.

Therefore, by making the second pressure-resistant explosion-proof container removable from the dolly body, the battery can be easily replaced.

In the automatic guided vehicle of the present invention, the fixing device includes a positioning member for positioning the second pressure-resistant explosion-proof container with respect to the trolley body, and a fixing tool for fixing the second pressure-resistant explosion-proof container to the trolley body. It is characterized by having.

Therefore, by providing the positioning member and the fixing tool as the fixing device, the second pressure-resistant explosion-proof container containing the battery can be easily fixed.

In the automatic guided vehicle of the present invention, a third pressure-resistant explosion-proof container accommodating an auxiliary machine is mounted on the trolley main body, and the control device and the auxiliary machine are provided outside the first pressure-resistant explosion-proof container and the third pressure-resistant explosion-proof container. Is characterized by being electrically connected.

Therefore, a third pressure-resistant explosion-proof container for accommodating the auxiliary machine is provided, and the auxiliary machine can be safely mounted on the bogie body by electrically connecting the control device and the auxiliary machine.

In the automatic guided vehicle of the present invention, the auxiliary machine is at least one of a microphone and a speaker, and is characterized in that a wire mesh portion is provided in a part of the third pressure-resistant explosion-proof container.

Therefore, by providing the wire mesh portion in the third pressure-resistant explosion-proof container accommodating the microphone or the speaker, the microphone or the speaker can have a pressure-resistant explosion-proof structure, while the sound collecting function and the sounding function can be ensured.

In the automatic guided vehicle of the present invention, the auxiliary machine is a distance measuring device having a light emitting unit for projecting a laser and a light receiving unit for receiving a laser, and the distance measuring device projects light from the projecting unit. It is characterized in that a partition member is provided between the laser and the laser that the light receiving unit receives light.

Therefore, by providing a partition member between the light emitting unit and the light receiving unit of the distance measuring device, when the laser projected from the light emitting unit is reflected on the inner surface of the third pressure resistant explosion-proof container, the reflected laser is partitioned. It is possible to block the light by the member and suppress the light reception at the light receiving unit, and it is possible to suppress the deterioration of the measurement accuracy by the distance measuring device.

The automatic guided vehicle of the present invention is characterized in that the bogie body is provided with a coupler for connecting the towed bogies.

Therefore, since the dolly body pulls another dolly through the coupler, the weight can be increased by mounting the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container without loading the dolly body with luggage. , The running stability of the bogie body can be improved.

The unmanned carrier of the present invention has a trolley body, a traveling drive device for traveling the trolley body, a control device mounted on the trolley body to control the traveling drive device, and a first withstand voltage for accommodating the control device. An explosion-proof container, a battery capable of supplying electric power to the control device, a second pressure-resistant explosion-proof container accommodating the battery, and the control device and the battery outside the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container. In an unmanned carrier equipped with a pressure-resistant explosion-proof connector that electrically connects the two, a step of disconnecting the electrical connection between the control device and the battery by the pressure-resistant explosion-proof connector, and the battery. The second pressure-resistant explosion-proof container containing the battery is replaced with a second pressure-resistant explosion-proof container containing a charged battery, and the control device and the charged battery are electrically connected by a connector having the pressure-resistant explosion-proof structure. It is characterized by having a step of specifically connecting the batteries.

Therefore, by replacing the battery, the automatic guided vehicle can be continuously used and the maintainability can be improved.

The unmanned carrier of the present invention has a trolley body, a traveling drive device for traveling the trolley body, a control device mounted on the trolley body to control the traveling drive device, and a first withstand voltage for accommodating the control device. An explosion-proof container, a battery capable of supplying electric power to the control device, a second pressure-resistant explosion-proof container accommodating the battery, and the control device and the battery outside the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container. In an unmanned carrier equipped with a pressure-resistant explosion-proof connector that electrically connects the two, a step of disconnecting the electrical connection between the control device and the battery by the pressure-resistant explosion-proof connector, and the withstand voltage. A step of electrically connecting the battery and the charger by a connector having an explosion-proof structure, a step of charging the battery by the charger, and a step of charging the battery and the battery by the connector having a pressure-resistant explosion-proof structure. It is characterized by having a step of disconnecting an electrical connection and a step of electrically connecting the control device and the battery by a connector having a pressure-resistant explosion-proof structure.

Therefore, by charging the battery, the automatic guided vehicle can be continuously used and the maintainability can be improved.

According to the automatic guided vehicle and the battery replacement method and charging method of the present invention, maintainability can be improved.

FIG. 1 is a schematic view showing an automatic guided vehicle of the present embodiment. FIG. 2 is a front schematic view showing a battery mounting structure. FIG. 3 is a schematic side view showing the mounting structure of the battery. FIG. 4 is a schematic plan view showing the mounting structure of the battery. FIG. 5 is a schematic view showing a battery replacement method. FIG. 6 is a schematic view showing a battery replacement method. FIG. 7 is a schematic view showing a battery replacement method. FIG. 8 is a schematic view showing a battery replacement method. FIG. 9 is a schematic view showing a method of transporting a battery. FIG. 10 is a schematic view showing a method of charging a battery. FIG. 11 is a schematic view showing a first modification of the battery. FIG. 12 is a schematic view showing a second modification of the battery. FIG. 13 is a perspective view showing the distance measuring device. FIG. 14 is a cross-sectional view showing a distance measuring device and a pressure-resistant explosion-proof container. FIG. 15 is a cross-sectional view showing a speaker, a microphone, and an explosion-proof container.

Hereinafter, preferred embodiments of the automatic guided vehicle and the battery replacement method and charging method according to the present invention will be described in detail with reference to the accompanying drawings. It should be noted that the present invention is not limited to this embodiment, and when there are a plurality of embodiments, the present invention also includes a combination of the respective embodiments.

The automatic guided vehicle of the present embodiment can be used, for example, in a production facility in an environment of a flammable gas atmosphere (explosive atmosphere) (class 1 dangerous place). Therefore, the automatic guided vehicle of the present embodiment has a pressure-resistant explosion-proof structure. The pressure-resistant explosion-proof structure has passed the explosion-proof structure standard for electrical machinery and equipment according to the factory electrical equipment explosion-proof guideline.

FIG. 1 is a schematic view showing an automatic guided vehicle of the present embodiment. In FIG. 1, the Y direction as the left-right direction is the left-right direction (width direction) of the unmanned carrier, and the X direction orthogonal to the paper surface is the front-rear direction (longitudinal direction) of the unmanned carrier. The Z direction is the vertical direction (height direction) of the unmanned carrier. Further, the constituent members of the automatic guided vehicle described below and their arrangement are examples, and can be changed as needed.

The automatic guided vehicle of the present embodiment is a towing trolley, and travels by towing a trolley loaded with materials, parts, finished products, and the like. The automatic guided vehicle of the present invention is not limited to the tow truck, and the automatic guided vehicle itself may be capable of traveling by mounting materials, parts, finished products, and the like.

In the present embodiment, as shown in FIG. 1, the automatic guided vehicle 10 includes a trolley main body 11, a traveling drive device 12, a control device 13, a pressure-resistant explosion-proof container (first pressure-resistant explosion-proof container) 14, and a battery 15. A pressure-resistant explosion-proof container (second pressure-resistant explosion-proof container) 16 and a pressure-resistant explosion-proof connector (connector having a pressure-resistant explosion-proof structure) 17 are provided.

The dolly body 11 has a predetermined size and has a rectangular flat plate shape. The traveling drive device 12 drives the carriage main body 11. The traveling drive device 12 includes drive motors 21 and 22 having an explosion-proof structure and drive wheels 23 and 24. A pair of left and right brackets 25 and 26 having an L-shape are fixed to the lower surface of the bogie body 11 which is lower in the Z direction. The drive motors 21 and 22 are fixed to the brackets 25 and 26. The drive motors 21 and 22 are arranged so that the drive shafts 21a and 22a are parallel to the Y direction and linear in the Y direction. In the drive motors 21 and 22, the drive wheels 23 and 24 are connected to the drive shafts 21a and 22a via the power transmission mechanisms 27 and 28. The drive wheels 23 and 24 are made of a conductive material and can roll on the floor surface G in the production equipment factory. Although not shown, the bogie body 11 is provided with driven wheels on the lower surface thereof, in addition to the driving wheels 23 and 24, which are made of a plurality of (for example, two) conductive materials.

Therefore, in the traveling drive device 12, when the drive motors 21 and 22 are driven and rotated in the forward rotation direction at the same rotation speed, the drive wheels 23 and 24 rotate in synchronization with one direction, and the bogie body 11 rotates along the X direction. Advance. When the traveling drive device 12 drives the drive motors 21 and 22 in the reverse direction at the same rotation speed, the drive wheels 23 and 24 rotate in the other direction, and the bogie body 11 retracts along the X direction. Further, in the traveling drive device 12, when the drive motor 21 and the drive motor 22 are driven and rotated at different rotation speeds, the drive wheels 23 and the drive wheels 24 rotate at different speeds, and the trolley body 11 is on one side or the other on the Y direction side. Turn to the side.

The control device 13 drives and controls the drive motors 21 and 22 of the traveling drive device 12. Although not shown, the control device 13 includes a motor driver, an inverter, a controller, and the like. The pressure-resistant explosion-proof container 14 is mounted and fixed on the carriage main body 11. The pressure-resistant explosion-proof container 14 is, for example, a hollow metal box body, and is provided with a lid (not shown). The control device 13 is housed and fixed inside the pressure-resistant explosion-proof container 14. Further, the drive motors 21 and 22 and the control device 13 are connected by power lines (including signal lines) 31 and 32. One end of the power lines 31 and 32 is connected to the drive motors 21 and 22, and the other end is connected to the control device 13 through the sleeves (for example, cable glands) 33 and 34 fixed to the flameproof container 14.

The battery 15 is a rechargeable secondary battery, stores a predetermined amount of electric power, and can supply electric power to the control device 13. The battery 15 may be a primary battery. The pressure-resistant explosion-proof container 16 is mounted and fixed on the carriage main body 11. The pressure-resistant explosion-proof container 16 is, for example, a hollow metal box body, and is provided with a lid (not shown). The battery 15 is housed and fixed inside the flameproof container 16. The indicator 41 displays the remaining charge amount stored in the battery 15. An L-shaped bracket 42 is fixed to the upper part of the flameproof container 16. The pressure-resistant explosion-proof container 43 is fixed to the bracket 42, and the indicator 41 is housed and fixed inside the pressure-resistant explosion-proof container 43. Like the pressure-resistant explosion-proof containers 14 and 16, the pressure-resistant explosion-proof container 43 is, for example, a hollow metal box body, and is provided with a lid (not shown). The pressure-resistant explosion-proof container 43 is provided with a display window 44 made of pressure-resistant glass, and the indicator 41 can be visually recognized from the outside through the display window 44. The battery 15 and the indicator 41 are connected by a power line (including a signal line) 45. One end of the power line 45 is connected to the battery 15 through the sleeve 46 fixed to the flameproof container 16, and the other end is connected to the indicator 41 through the sleeve 47 fixed to the flameproof container 43.

The pressure-resistant explosion-proof connector 17 electrically connects the control device 13 and the battery 15 outside the pressure-resistant explosion-proof container 14 and the pressure-resistant explosion-proof container 16. The pressure-resistant explosion-proof connector 17 has a pressure-resistant explosion-proof outlet (explosion-proof structure outlet) 51 and a pressure-resistant explosion-proof plug (pressure-resistant explosion-proof plug) 52. An L-shaped bracket 53 is fixed to the side of the flameproof container 16. The pressure-resistant explosion-proof outlet 51 is fixed to the bracket 53. The withstand voltage explosion-proof outlet 51 is capable of passing a direct current, and one end of the power line 54 is connected to the outlet 51. The power line 54 is connected to the battery 15 through a sleeve 55 whose other end is fixed to the flameproof container 16. The withstand voltage explosion-proof plug 52 allows a direct current to flow, and one end of the power line 56 is connected to the plug 52. The power line 56 is connected to the control device 13 through the sleeve 57 whose other end is fixed to the flameproof container 14. The explosion-proof outlet 51 and the explosion-proof plug 52 are mechanically and electrically connectable. The pressure-resistant explosion-proof plug 52 is inserted into the pressure-resistant explosion-proof outlet 51 and locked to be mechanically connected. At this time, the pressure-resistant explosion-proof outlet 51 and the pressure-resistant explosion-proof plug 52 are electrically connected. In this state, the electric power of the battery 15 can be supplied to the control device 13 via the flameproof connector 17 and the power lines 54 and 56. Although the pressure-resistant explosion-proof outlet 51 is fixed to the pressure-resistant explosion-proof container 16 via the bracket 53, it may be directly fixed to the pressure-resistant explosion-proof container 16 or fixed or placed at another position such as the trolley main body 11. You may.

In addition, the automatic guided vehicle 10 also includes a magnetic sensor 61, a distance measuring device (laser radar finder) 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, and a wireless device 67 as auxiliary equipment. It is equipped with a rotating light (Patrol Light (registered trademark)) 68.

A pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 71 is fixed to the lower surface of one end of the dolly body 11 in the Y direction. The magnetic sensor 61 is housed and fixed in the flameproof container 71. The magnetic sensor 61 detects the magnetic sheet 72 laid on the floor surface G. The magnetic sensor 61 and the control device 13 are connected by a power line (including a signal line) 73. One end of the power line 73 is connected to the magnetic sensor 61 through the sleeve 74 fixed to the flameproof container 71, and the other end is connected to the control device 13 through the sleeve 75 fixed to the flameproof container 14. To. The automatic guided vehicle 10 is not limited to the magnetic induction type including the magnetic sensor 61 and the magnetic sheet 72, and may be an electromagnetic induction type, an optical induction type, an image induction type, an autonomous induction type, or the like.

The distance measuring device 62 detects surrounding obstacles (for example, an operator or another automatic guided vehicle) when the automatic guided vehicle 10 is traveling. An L-shaped bracket 81 is fixed to the side of the flameproof container 14. A pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 82 is fixed to the bracket 81, and the distance measuring device 62 is housed inside the pressure-resistant explosion-proof container 82. The distance measuring device 62 and the control device 13 are connected by a power line (including a signal line) 83. One end of the power line 83 is connected to the distance measuring device 62 through the sleeve 84 fixed to the flameproof container 82, and the other end is connected to the control device 13 through the sleeve 85 fixed to the flameproof container 14. Will be done. Although the distance measuring device 62 is fixed to the pressure-resistant explosion-proof container 14 via the bracket 81, it may be provided on the pressure-resistant explosion-proof container 14 or the trolley main body 11.

The microphone and the speaker 63 have a sound collecting function for collecting ambient sounds and a sounding function for emitting sounds to the surroundings. The pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 86 is fixed to the pressure-resistant explosion-proof container 82, and the microphone and the speaker 63 are housed inside the pressure-resistant explosion-proof container 86. The microphone and speaker 63 and the control device 13 are connected by a power line (including a signal line) 87. The power line 87 is connected to the microphone and the speaker 63 through the sleeve 88 fixed to the flameproof container 86 at one end, and is connected to the control device 13 through the sleeve 89 fixed to the explosion-proof container 14 at the other end. Will be done.

The operation device 64 has a plurality of operation switches that can be operated by an operator and output an operation signal to the control device 13. Examples of the operation switch include a travel start switch, a travel stop switch, a destination change switch, and the like. An L-shaped bracket 91 is fixed to the side of the flameproof container 14. A pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 92 is fixed to the bracket 91, and the operating device 64 is housed inside the pressure-resistant explosion-proof container 92. The operation device 64 and the control device 13 are connected by a power line (including a signal line) 93. One end of the power line 93 is connected to the operating device 64 through the sleeve 94 fixed to the flameproof container 92, and the other end is connected to the control device 13 through the sleeve 95 fixed to the flameproof container 14. To. Although the operating device 64 is fixed to the pressure-resistant explosion-proof container 14 via the bracket 91, it may be provided on the pressure-resistant explosion-proof container 14 or the trolley main body 11.

The contact switch 65 stops the automatic guided vehicle 10 from traveling when it comes into contact with a surrounding obstacle (for example, an operator or another automatic guided vehicle) while the automatic guided vehicle 10 is traveling. The pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 96 is fixed to the bracket 91, and the contact switch 65 is housed inside the pressure-resistant explosion-proof container 96. The contact switch 65 and the control device 13 are connected by a power line (including a signal line) 97. One end of the power line 97 is connected to the contact switch 65 through the sleeve 98 fixed to the flameproof container 96, and the other end is connected to the control device 13 through the sleeve 99 fixed to the flameproof container 14. Will be done. Although the contact switch 65 is fixed to the flameproof container 14 via the bracket 91, it may be provided on the flameproof container 14 or the trolley main body 11.

The coupler 66 connects a trolley (not shown) towed by an automatic guided vehicle 10. The coupler 66 operates the hook by, for example, an actuator. The coupler 66 is housed inside a pressure-resistant explosion-proof container and is connected to the control device 13 by a power line (including a signal line) 101. One end of the power line 101 is connected to the coupler 66 through the sleeve 102 fixed to the flameproof container, and the other end is connected to the control device 13 through the sleeve 103 fixed to the flameproof container 14. .. The coupler may be a manual type.

The wireless device 67 has a pressure-resistant explosion-proof antenna (antenna with a pressure-resistant explosion-proof structure) 111, and the control device 13 wirelessly communicates with the outside. The pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 112 is fixed to the upper part of the pressure-resistant explosion-proof container 14, and the radio device 67 is housed inside the pressure-resistant explosion-proof container 112. The wireless device 67 is connected by a power line (including a signal line) 113. One end of the power line 113 is connected to the wireless device 67 through the sleeve 114 fixed to the flameproof container 112, and the other end is connected to the control device 13 through the sleeve 115 fixed to the flameproof container 14. To.

The rotary light 68 lights up or blinks when the automatic guided vehicle 10 is traveling or when an abnormality occurs. The pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container) 116 is fixed to the upper part of the pressure-resistant explosion-proof container 14, and the rotary lamp 68 is housed inside the pressure-resistant explosion-proof container 116. The rotary lamp 68 is connected by a power line (including a signal line) 117. The power line 117 is connected to the rotary lamp 68 through the sleeve 118 fixed to the explosion-proof container 116 at one end, and is connected to the control device 13 through the sleeve 119 fixed to the explosion-proof container 14 at the other end. To.

Further, in the present embodiment, the pressure-resistant explosion-proof container 16 containing the battery 15 is removable from the trolley main body 11. 2 is a front schematic view showing the battery mounting structure, FIG. 3 is a side schematic view showing the battery mounting structure, and FIG. 4 is a plan schematic view showing the battery mounting structure.

As shown in FIGS. 2 to 4, the pressure-resistant explosion-proof container 16 containing the battery 15 has a rectangular flat plate-shaped substrate 121 and a case body 122 integrally provided on the substrate 121. A locking groove 123 is formed on the lower surface of the substrate 121, and a positioning hole 124 and a positioning groove 125 are formed at diagonal positions on the upper surface. The case body 122 has a hollow shape and has a pressure-resistant explosion-proof structure, and the battery 15 is housed and fixed therein.

The pressure-resistant explosion-proof container 16 is fixed to the carriage body 11 by the fixing device 130. The fixing device 130 has positioning members 131, 132 and fixtures 133, 134 provided on the carriage main body 11. The positioning member 131 and the positioning member 132 are provided at diagonal positions on the upper surface of the carriage body 11. The positioning member 131 is a positioning pin whose upper end is tapered and is fixed to the upper surface of the carriage body 11. The positioning member 132 is a positioning pin longer than the positioning member 131, and is fixed to the upper surface of the carriage body 11. The positioning member 131 and the positioning member 132 are provided at positions corresponding to the positioning holes 124 and the positioning grooves 125 provided in the substrate 121 of the flameproof container 16. The fixture 133 and the fixative 134 have the same configuration and are provided at opposite sides of the carriage body 11. The fixture 133, 134 is rotatably attached to the carriage body 11 by the attachment shafts 135, 136.

Therefore, if the amount of stored electricity stored in the battery 15 decreases or the battery 15 deteriorates due to long-term use, the battery 15 is replaced with a new one. In this case, the pressure-resistant explosion-proof container 16 containing the battery 15 is removed from the trolley main body 11, and the pressure-resistant explosion-proof container 16 containing the new battery 15 is attached to the trolley main body 11.

5 to 9 are schematic views showing a battery replacement method.

As shown in FIG. 5, the automatic guided vehicle 10 is stopped at the battery replacement position, and the fixing device 130 is operated to release the restraint of the flameproof container 16 on the bogie main body 11. First, the fixtures 133 and 134 are rotated outward with the mounting shafts 135 and 136 as fulcrums. Next, as shown in FIGS. 6 and 9, forklift 140 is used, for example, to raise the flameproof container 16. The forklift 140 can travel by a plurality of drive wheels 141, and the fork 142 is locked in the locking groove 123 of the explosion-proof container 16 to lift the explosion-proof container 16. At this time, as shown in FIGS. 7 and 9, the forklift 140 raises the flameproof container 16 along the positioning members 131 and 132. When the pressure-resistant explosion-proof container 16 moves above the positioning member 131 and the positioning hole 124 is disengaged from the positioning member 131, the pressure-resistant explosion-proof container 16 is moved horizontally by the forklift 140 as it is, as shown in FIGS. 8 and 9. Transport to the designated place. Then, the pressure-resistant explosion-proof container 16 containing the new battery 15 is conveyed to the trolley main body 11 by the forklift 140, and the pressure-resistant explosion-proof container 16 is attached to the trolley main body 11 in the reverse procedure of the removal procedure described above. Here, the pressure-resistant explosion-proof container 16 is moved by using the forklift 140, but it may be a crane, a jack, a winch, or the like.

Here, a method of charging the battery 15 will be described. FIG. 10 is a schematic view showing a method of charging a battery.

As shown in FIG. 10, when the amount of stored electricity stored in the battery 15 decreases, the automatic guided vehicle 10 is moved to a predetermined charging station 150 by traveling or by hand. The charging station 150 is in an explosion-proof area (a kind of dangerous place) and has a charger 151 having a pressure-resistant explosion-proof structure. In this charger 151, the plug 152 is connected to the outlet of a commercial power supply (AC100V), and the flameproof plug 154 is connected to the tip of the power line 153. The pressure-resistant explosion-proof plug 154 has the same structure as the pressure-resistant explosion-proof plug 52.

Therefore, when the storage amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 150 and stopped. At the charging station 150, first, the explosion-proof plug 52 is pulled out from the explosion-proof outlet 51 of the explosion-proof connector 17, and the mechanical connection and electrical connection between the explosion-proof outlet 51 and the explosion-proof plug 52 are made. Disconnect. Next, the pressure-resistant explosion-proof plug 154 of the charger 151 is inserted into the pressure-resistant explosion-proof outlet 51 and locked, thereby mechanically and electrically connecting. Here, the battery 15 is charged by the charger 151.

Although the charging station 150 described above has been described as being provided in the explosion-proof area, when the charging station 150 is provided in the non-explosion-proof area (non-dangerous place), the charger 151 and the pressure-resistant explosion-proof plug 154 are There is no need to have a pressure-resistant explosion-proof structure.

Further, the charging method of the battery 15 is not limited to the above-mentioned method. FIG. 11 is a schematic view showing a first modification of the battery, and FIG. 12 is a schematic view showing a second modification of the battery.

In the first modification, the flameproof container 16 accommodates not only the battery 15 but also the charger 161 and the charger 161 is connected to the battery 15. The pressure-resistant explosion-proof outlet 51 constituting the pressure-resistant explosion-proof connector 17 is connected to one end of the power line 54, and the other end of the power line 54 is connected to the charger 161 through the sleeve 55 of the pressure-resistant explosion-proof container 16. The charging station 162 is provided with a pressure-resistant explosion-proof plug 163. In the flameproof plug 163, the plug 165 connected via the power line 164 is connected to the outlet of the commercial power supply (AC100V).

Therefore, when the storage amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 162 and stopped. At the charging station 162, first, the explosion-proof plug 52 is pulled out from the explosion-proof outlet 51 of the explosion-proof connector 17, and the mechanical connection and electrical connection between the explosion-proof outlet 51 and the explosion-proof plug 52 are made. Disconnect. Next, the pressure-resistant explosion-proof plug 163 is inserted into the pressure-resistant explosion-proof outlet 51 and locked to mechanically and electrically connect the plug. Here, the battery 15 is charged by the charger 161.

In the second modification, the battery 15 is charged at the non-contact charging station 170. The charging station 170 is provided with a pressure-resistant explosion-proof container 172 attached to the gantry 171 and the pressure-resistant explosion-proof container 172 is provided with a charging window 173 made of tempered glass. The non-contact power feeding unit 174 is housed inside the flameproof container 172 and faces the charging window 173. On the other hand, the pressure-resistant explosion-proof container 16 is provided with a charging window 175 made of tempered glass. The non-contact type power receiving unit 176 is housed inside the pressure-resistant explosion-proof container 16 and is connected to the battery 15 and faces the charging window 175. A non-contact charger is configured by the power feeding unit 174 and the power receiving unit 176.

Therefore, when the storage amount of the battery 15 decreases, the automatic guided vehicle 10 is moved to the charging station 170 and stopped. At this time, the power receiving unit 176 is opposed to the power feeding unit 174. Here, non-contact charging is performed from the power feeding unit 174 to the power receiving unit 176.

Further, the distance measuring device 62 will be described in detail. FIG. 13 is a perspective view showing the distance measuring device, and FIG. 14 is a cross-sectional view showing the distance measuring device and the flameproof container.

As shown in FIGS. 13 and 14, the distance measuring device 62 is provided with a light emitting unit 182 for projecting a laser and a light receiving unit 183 for receiving the laser on the upper part of the main body 181. Further, in the distance measuring device 62, a partition member 184 is provided between the laser projected from the light emitting unit 182 and the laser received by the light receiving unit 183. The partition member 184 is made of a material that cannot be transmitted by a laser. The partition member 184 has a ring shape and is supported by the main body 181 via the support member 185. The partition member 184 is provided around the boundary between the light emitting unit 182 and the light receiving unit 183. The distance measuring device 62 is housed inside the pressure-resistant explosion-proof container 82. The pressure-resistant explosion-proof container 82 is configured by fixing a cylindrical case body 188 between a disk-shaped upper support plate 186 and a lower support plate 187. The case body 188 is made of tempered glass. The inner peripheral portion of the partition member 184 contacts the outer peripheral surface of the boundary between the light emitting portion 182 and the light receiving portion 183 of the distance measuring device 62, and the outer peripheral portion contacts the inner peripheral surface of the case body 188.

Therefore, in the distance measuring device 62, the light emitting unit 182 projects the laser at an angle of about 200 degrees in the horizontal direction and about 30 degrees in the vertical direction, and the light receiving unit 183 also projects the laser at an angle of about 200 degrees in the horizontal direction. The laser is received at an angle of about 30 degrees in the vertical direction. At this time, the laser projected by the light projecting unit 182 is reflected on the inner surface of the case body 188, which is partially formed of tempered glass, and returns to the light projecting unit 182. Since the light projecting unit 182 projects the laser at a predetermined spreading angle in the horizontal direction and the vertical direction, the light receiving unit 183 may receive the laser reflected by the case body 188. However, in the present embodiment, the partition member 184 is provided between the light emitting unit 182 and the light receiving unit 183. A part of the laser that is projected from the light projecting unit 182 and reflected by the case body 188 is blocked by the partition member 184 and is not received by the light receiving unit 183.

Further, the speaker and the microphone will be described in detail. FIG. 15 is a cross-sectional view showing a speaker, a microphone, and an explosion-proof container.

As shown in FIG. 15, the pressure-resistant explosion-proof container 86 has a main body 191 having a cylindrical shape. A sleeve 88 through which a power line (including a signal line) 87 is inserted is fixed to one end of the main body 191. A wire mesh portion 192 is fixed to the other end of the main body 191 and a radial reinforcing portion 193 is fixed to the main body 191. The wire mesh portion 192 and the reinforcing portion 193 are provided at a predetermined distance, and have a structure through which sound can pass. The microphone and the speaker 63 are housed and fixed inside the flameproof container 86. The microphone and the speaker 63 are provided with a sound collecting unit and a sounding unit facing the wire mesh unit 192. It should be noted that only the microphone may be provided or only the speaker may be provided. In this case, the microphone and the speaker may be independently housed inside another flameproof container.

Therefore, since the microphone and the speaker 63 are housed in the flameproof container 86 having the wire mesh portion 192 and the reinforcing portion 193, the flameproof structure can be formed. Further, the microphone and the speaker 63 can collect the surrounding sound through the wire mesh portion 192 and can emit the sound to the surroundings through the wire mesh portion 192.

As described above, in the unmanned carrier of the present embodiment, the trolley main body 11, the traveling drive device 12 for traveling the trolley main body 11, and the control device 13 mounted on the trolley main body 11 to control the traveling drive device 12 , A pressure-resistant explosion-proof container 14 that houses the control device 13, a battery 15 mounted on the trolley body 11, a pressure-resistant explosion-proof container 16 that houses the battery 15, and a control device 13 outside the pressure-resistant explosion-proof container 14 and the pressure-resistant explosion-proof container 16. A pressure-resistant explosion-proof connector 17 for electrically connecting the battery 15 and the battery 15 is provided.

Therefore, the control device 13 is housed in the pressure-resistant explosion-proof container 14, the battery 15 is housed in the pressure-resistant explosion-proof container 16, and the control device 13 and the battery 15 are electrically connected by the pressure-resistant explosion-proof connector 17. The 13 and the battery 15 can be connected and disconnected in an explosive atmosphere, and the unmanned carrier 10 can be used in an explosive atmosphere. Since the control device 13 and the battery 15 are housed in different pressure-resistant explosion-proof containers 14 and 16, when the battery 15 is replaced, only the pressure-resistant explosion-proof container 16 needs to be maintained, and the maintenance of the pressure-resistant explosion-proof container 16 becomes unnecessary. Maintainability can be improved.

Specifically, by adopting a pressure-resistant explosion-proof structure, it is not necessary to secure and confirm the airtightness required for the internal pressure explosion-proof structure, and it is not necessary to manage the ground. Further, by using the flameproof connector 17, the replacement workability of the battery 15 is improved, and the charging workability of the battery 15 is improved, both of which can reduce the burden on the user work.

In the unmanned carrier of the present embodiment, as the pressure-resistant explosion-proof connector 17, the pressure-resistant explosion-proof outlet 51 connected to the battery 15 via the power line 54 and the pressure-resistant explosion-proof outlet 51 connected to the control device 13 via the power line 56. When the plug 52 is provided and the pressure-resistant explosion-proof outlet 51 and the pressure-resistant explosion-proof plug 52 are mechanically connected, the power of the battery 15 is supplied to the control device 13. Therefore, when the pressure-resistant explosion-proof outlet 51 and the pressure-resistant explosion-proof plug 52 are mechanically connected, the power of the battery 15 is supplied to the control device 13, so that the battery 15 and the control device 13 are connected in an explosive atmosphere. And the disconnection can be done safely.

In the automatic guided vehicle of the present embodiment, the battery 15 is used as a secondary battery. Therefore, by charging the battery 15 when the stored amount of the battery 15 is reduced, the battery 15 can be continuously used without being replaced.

In the automatic guided vehicle of the present embodiment, the flameproof plug 154 of the charger 151 can be connected to the flameproof outlet 51. Therefore, the battery 15 can be charged easily and safely.

In the automatic guided vehicle of the present embodiment, a charger 161 connected to the battery 15 is provided inside the flameproof container 16. Therefore, the battery 15 can be charged easily and safely.

In the automatic guided vehicle of the present embodiment, the power receiving unit 176 of the non-contact type charger connected to the battery 15 is provided inside the flameproof container 16. Therefore, the battery 15 can be charged easily and safely.

In the automatic guided vehicle of the present embodiment, a fixing device 130 for detachably fixing the pressure-resistant explosion-proof container 14 to the bogie main body 11 is provided. Therefore, by making the pressure-resistant explosion-proof container 16 removable from the trolley main body 11, the battery 15 can be easily replaced.

In the automatic guided vehicle of the present embodiment, as the fixing device 130, the positioning members 131 and 132 for positioning the pressure-resistant explosion-proof container 16 with respect to the trolley body 11 and the fixture 133 and the fixing tool 133 for fixing the pressure-resistant explosion-proof container 16 to the trolley body 11 134 is provided. Therefore, after the pressure-resistant explosion-proof container 16 is positioned on the trolley main body 11 by the positioning members 131 and 132, the pressure-resistant explosion-proof container 16 can be fixed to the trolley main body 11 by the fixtures 133 and 134, and the pressure-resistant explosion-proof container containing the battery 15 can be fixed. The fixing work of 16 can be easily performed.

The unmanned carrier of the present embodiment accommodates a magnetic sensor 61, a distance measuring device 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, a wireless device 67, and a rotary light 68 as auxiliary machines. The pressure-resistant explosion-proof container 71, 82, 86, 92, 96, 112, 116 is mounted on the trolley body 11, and the control device is outside the pressure-resistant explosion-proof container 14 and the pressure-resistant explosion-proof container 71, 82, 86, 92, 96, 112, 116. 13 is electrically connected to a magnetic sensor 61, a distance measuring device 62, a microphone and a speaker 63, an operating device 64, a contact switch 65, a coupler 66, a wireless device 67, and a rotary light 68. Therefore, it is possible to safely mount the magnetic sensor 61, the distance measuring device 62, the microphone and the speaker 63, the operating device 64, the contact switch 65, the coupler 66, the wireless device 67, and the beacon 68 as auxiliary machines on the trolley main body 11. can.

In the automatic guided vehicle of the present embodiment, a microphone and a speaker 63 are provided as auxiliary machines, and a wire mesh portion 192 is provided in a part of the flameproof container 86. Therefore, while the microphone and the speaker 63 can have an explosion-proof structure, a sound collecting function and a sounding function can be ensured.

In the automatic guided vehicle of the present embodiment, a distance measuring device 62 having a light projecting unit 182 for projecting a laser and a light receiving unit 183 for receiving a laser is provided as an auxiliary machine, and the laser projected from the light projecting unit 182 is provided. A partition member 184 is provided between the light receiving unit 183 and the laser that receives light. Therefore, when the laser projected from the light projecting unit 182 is reflected on the inner surface of the flameproof container 82, the reflected laser can be blocked by the partition member 184 to suppress the light reception by the light receiving unit 183, and the distance measuring device can be used. It is possible to suppress a decrease in measurement accuracy due to 62.

In the automatic guided vehicle of the present embodiment, a coupler 66 for connecting the bogie to be towed to the bogie main body 11 is provided. Therefore, since the trolley body 11 pulls another trolley via the coupler 66, the pressure-resistant explosion-proof containers 14 and 16 can be mounted on the trolley body 11 to increase the weight without loading the trolley body 11. The running stability of the main body 11 can be improved.

In the unmanned transport vehicle of the present embodiment, the step of disconnecting the electrical connection between the control device 13 and the battery 15 by the pressure-resistant explosion-proof connector 17 and the pressure-resistant explosion-proof container 16 containing the battery 15 have been charged. It has a step of replacing the pressure-resistant explosion-proof container 16 in which the battery 15 is housed, and a step of electrically connecting the control device 13 and the charged battery 15 by the pressure-resistant explosion-proof connector 17. Therefore, by replacing the battery 15, the automatic guided vehicle 10 can be continuously used, and the maintainability can be improved.

In the unmanned carrier of the present embodiment, the step of disconnecting the electrical connection between the control device 13 and the battery 15 by the pressure-resistant explosion-proof connector 17 and the pressure-resistant explosion-proof connector 17 for the battery 15 and the battery 15 are used. The process of electrically connecting the plugs 154 and 163, the process of charging the battery 15, and the process of disconnecting the pressure-resistant explosion-proof plugs 154 and 163 and the battery 15 by the pressure-resistant explosion-proof connector 17. And a step of electrically connecting the control device 13 and the battery 15 by the pressure-resistant explosion-proof connector 17. Therefore, by charging the battery 15, the automatic guided vehicle 10 can be continuously used, and the maintainability can be improved.

In the above-described embodiment, the pressure-resistant explosion-proof container containing the battery 15 is mounted on the trolley main body 11, but the pressure-resistant explosion-proof container containing the battery 15 is mounted on another trolley and connected to the trolley main body 11. May be good.

10 Automated guided vehicle 11 Bogie body 12 Traveling drive device 13 Control device 14 Explosion-proof container (1st explosion-proof container)
15 Battery 16 Explosion-proof container (2nd explosion-proof container)
21,22 Drive motors 23, 24 Drive wheels 41 Indicator 43 Pressure-resistant explosion-proof container 44 Display window 51 Pressure-resistant explosion-proof outlet 52 Pressure-resistant explosion-proof plug 61 Magnetic sensor 62 Distance measuring device 63 Microphone and speaker 64 Operating device 65 Contact switch 66 Connector 67 Radio device 68 Rotating light 71,82,86,92,96,112,116 Pressure-resistant explosion-proof container (third pressure-resistant explosion-proof container)
72 Magnetic sheet 111 Withstand voltage explosion-proof antenna 121 Board 122 Case body 123 Locking groove 124 Positioning hole 125 Positioning groove 130 Fixture 131, 132 Positioning member 133, 134 Fixture 135, 136 Mounting shaft 140 Forklift 150, 162, 170 Charging station 151,161 Charger 154,163 Pressure-resistant explosion-proof plug 172 Pressure-resistant explosion-proof container 174 Power supply unit (non-contact type charger)
176 Power receiving unit (non-contact charger)
182 Light emitting part 183 Light receiving part 184 Partition member 192 Wire mesh part 193 Reinforcing part

Claims (12)

The dolly body and
The traveling drive device that drives the bogie body and
A control device mounted on the bogie body to control the traveling drive device,
A first pressure-resistant explosion-proof container accommodating the control device,
A battery capable of supplying electric power to the control device and
A second pressure-resistant explosion-proof container having a flat plate-shaped substrate on which a positioning hole and a positioning groove are formed, and a case body integrally provided on the substrate, and accommodating the battery.
A connector having a pressure-resistant explosion-proof structure that electrically connects the control device and the battery outside the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container.
A first positioning pin fixed at a position corresponding to the positioning hole of the dolly body,
A second positioning pin fixed at a position corresponding to the positioning groove of the dolly body and longer than the first positioning pin,
A fixing device having a fixing tool for detachably fixing the second pressure-resistant explosion-proof container to the dolly body, and
An automatic guided vehicle characterized by being equipped with. The pressure-resistant explosion-proof connector has a pressure-resistant explosion-proof outlet connected to the battery via a power line and a pressure-resistant explosion-proof plug connected to the control device via a power line. The unmanned carrier according to claim 1, wherein when the outlet of the structure and the plug of the pressure-resistant explosion-proof structure are mechanically connected, the electric power of the battery is supplied to the control device. The automatic guided vehicle according to claim 1 or 2, wherein the battery is a secondary battery. The automatic guided vehicle according to claim 3, wherein the plug of the charger can be connected to the connector having the flameproof structure. The automatic guided vehicle according to claim 3, wherein the second pressure-resistant explosion-proof container is provided with a charger connected to the secondary battery inside. The automatic guided vehicle according to claim 3, wherein the second pressure-resistant explosion-proof container is provided with a power receiving unit of a non-contact type charger connected to the secondary battery inside. A third pressure-resistant explosion-proof container for accommodating auxiliary equipment is provided, and the control device and the auxiliary equipment are electrically connected outside the first pressure-resistant explosion-proof container and the third pressure-resistant explosion-proof container. The unmanned carrier according to any one of claims 1 to 6. The automatic guided vehicle according to claim 7, wherein the auxiliary machine is at least one of a microphone and a speaker, and a wire mesh portion is provided in a part of the third flameproof container. The auxiliary machine is a distance measuring device having a light emitting unit that emits a laser and a light receiving unit that receives the laser, and the distance measuring device includes a laser projected from the light emitting unit and the light receiving unit. The automatic guided vehicle according to claim 7, wherein a partition member is provided between the laser and the laser that receives light. The automatic guided vehicle according to any one of claims 1 to 9, wherein the trolley body is provided with a coupler for connecting the trolleys to be towed. The dolly body and
The traveling drive device that drives the bogie body and
A control device mounted on the bogie body to control the traveling drive device,
A first pressure-resistant explosion-proof container accommodating the control device,
A battery capable of supplying electric power to the control device and
A second pressure-resistant explosion-proof container having a flat plate-shaped substrate on which a positioning hole and a positioning groove are formed, and a case body integrally provided on the substrate, and accommodating the battery.
A connector having a pressure-resistant explosion-proof structure that electrically connects the control device and the battery outside the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container.
A first positioning pin fixed at a position corresponding to the positioning hole of the dolly body,
A second positioning pin fixed at a position corresponding to the positioning groove of the dolly body and longer than the first positioning pin,
A fixing device having a fixing tool for detachably fixing the second pressure-resistant explosion-proof container to the dolly body, and
In an automatic guided vehicle equipped with
The step of disconnecting the electrical connection between the control device and the battery by the connector having the flameproof structure, and
A step of exchanging the second flameproof container containing the battery with a second flameproof container containing a charged battery.
A step of electrically connecting the control device and the charged battery by the connector having the flameproof structure.
Have,
When the second pressure-resistant explosion-proof container is removed from the trolley main body, the second pressure-resistant explosion-proof container is raised along the first positioning pin and the second positioning pin, and the positioning hole is the first positioning pin. When it deviates from, the second pressure-resistant explosion-proof container moves in the horizontal direction.
How to replace the battery. The dolly body and
The traveling drive device that drives the bogie body and
A control device mounted on the bogie body to control the traveling drive device,
A first pressure-resistant explosion-proof container accommodating the control device,
A battery capable of supplying electric power to the control device and
A second pressure-resistant explosion-proof container having a flat plate-shaped substrate on which a positioning hole and a positioning groove are formed, and a case body integrally provided on the substrate, and accommodating the battery.
A connector having a pressure-resistant explosion-proof structure that electrically connects the control device and the battery outside the first pressure-resistant explosion-proof container and the second pressure-resistant explosion-proof container.
A first positioning pin fixed at a position corresponding to the positioning hole of the dolly body,
A second positioning pin fixed at a position corresponding to the positioning groove of the dolly body and longer than the first positioning pin,
A fixing device having a fixing tool for detachably fixing the second pressure-resistant explosion-proof container to the dolly body, and
In an automatic guided vehicle equipped with
The step of disconnecting the electrical connection between the control device and the battery by the connector having the flameproof structure, and
The process of electrically connecting the battery and the charger by the connector having the flameproof structure, and the process of electrically connecting the battery and the charger.
The process of charging the battery with the charger and
The step of disconnecting the electrical connection between the charger and the battery by the connector having the flameproof structure, and
The step of electrically connecting the control device and the battery by the connector having the flameproof structure, and the process of electrically connecting the control device and the battery.
A method of charging a battery, characterized by having.

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