Non-contact power supply system

Abstract

A non-contact power supply system (1, 1a-1i) is provided with: a moving body (30, 31a-31d, 32a-32d, 33-35) that has a power receiving device (310) and that transports an object to be worked in a first work site (WA1) and a second work site (WA2) from the first work site to the second work site; and power transmission devices (21-25) capable of supplying power to the power receiving device in a non-contact manner in a state in which the moving body is stopped or moved at least at stop-scheduled positions (Ar11, Ar13, Ar22-Ar25, Ar27, Ar32, Ar201, Ar41, Ar202, Ar51, Ar52, Ar61-Ar64, Ta1-Tg1, Ta2, Tc2, Te2, Tg2, Th3, Tj3, T13, Ar23a) at which stop of the moving body is scheduled in a moving path of the moving body between the first work site and the second work site. The power receiving device has at least a power receiving coil (311) provided on the side surface side of the moving body.

Description

[0001] Citation of relevant applications This application is based on Japanese Patent Application No. 2023-068259, filed on April 19, 2023, the contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to a contactless power supply system. Background Technology

[0003] Previously, a material handling system has been proposed that uses mobile vehicles such as Automated Guided Vehicles (AGVs) or autonomous forklifts to transport products or components in factories or warehouses. In the system described in Patent Document 1, mobile vehicles such as autonomous forklifts and autonomous AGVs are used to transport goods brought in by trucks from truck parking areas to the production site. Furthermore, Patent Document 1 discloses a technology for charging the mobile vehicles using contactless power supply (wireless power supply).

[0004] Existing technical documents Patent documents Patent Document 1: Japanese Patent Application Publication No. 2021-62964 Summary of the Invention

[0005] While Patent Document 1 mentions improving the efficiency of handling work objects in factories or warehouses, it only describes that "wireless power supply eliminates the need for manual battery charging" in relation to contactless power supply (wireless power supply). However, for contactless power supply to be implemented, the moving body needs to travel or stop near the power supply device, and this movement of the moving body affects the efficiency of handling. Therefore, a technology that can improve the efficiency of handling work objects while taking into account the movement of the moving body used for contactless power supply is desired.

[0006] According to one aspect of this disclosure, a contactless power supply system is provided. The contactless power supply system includes: a mobile body having a power receiving device and transporting work objects from a first work site to a second work site; and a power supply device capable of supplying power to the power receiving device in a contactless manner in at least one of the following states: the mobile body is stopped at least at a predetermined stopping position along a movement path between the first and second work sites; and the mobile body is moving along the movement path. The power receiving device has a power receiving coil at least disposed on a side of the mobile body.

[0007] According to the non-contact system described above, since the power supply device can supply power to the receiving device in a non-contact manner in at least one of the states of the moving body stopping at a predetermined stopping position along the moving path from the first work site to the second work site, and the state of the moving body moving along the moving path, it is not necessary to travel to the power supply device located off the moving path for non-contact power supply. Therefore, the efficiency of transporting the work object can be improved. In addition, since it is not necessary to set up space outside the moving path for the moving body to travel to the power supply device, space saving in the work area can be achieved. Furthermore, since the receiving device has a receiving coil provided at least on the side of the moving body, it is not necessary to place the power supply device underground or under the floor. Therefore, the system is easy to construct.

[0008] This disclosure can also be implemented in various ways. For example, it can be implemented by a vehicle position estimation method, a computer program for implementing a vehicle position estimation device or a vehicle position estimation method, or a non-temporary recording medium on which the computer program is recorded. Attached Figure Description

[0009] The above-mentioned objects, other objects, features, and advantages of this disclosure will become more apparent with reference to the accompanying drawings and the following detailed description. The drawings are described below.

[0010] Figure 1 This is a side view showing a schematic structure of a transport system that utilizes a contactless power supply system as an embodiment of this disclosure.

[0011] Figure 2 This is a top view showing the schematic structure of the transport system according to the first embodiment.

[0012] Figure 3 It is a block diagram schematically showing the structure of the moving body and the first power supply device.

[0013] Figure 4 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the second embodiment.

[0014] Figure 5 This is a top view showing the schematic structure of the transport system according to the second embodiment.

[0015] Figure 6 This is a block diagram showing the structure of the movable body according to the second embodiment.

[0016] Figure 7 This is a top view schematically showing the external shape of the movable body according to the second embodiment.

[0017] Figure 8This is a block diagram showing the structure of the power transmission device according to the second embodiment.

[0018] Figure 9 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the third embodiment.

[0019] Figure 10 This is a top view showing the schematic structure of the transport system according to the third embodiment.

[0020] Figure 11 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the fourth embodiment.

[0021] Figure 12 This is a top view showing the schematic structure of the transport system according to the fourth embodiment.

[0022] Figure 13 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the fifth embodiment.

[0023] Figure 14 This is a top view showing the schematic structure of the transport system according to the fifth embodiment.

[0024] Figure 15 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the sixth embodiment.

[0025] Figure 16 This is a side view showing a schematic structure of a transport system that utilizes the contactless power supply system of the seventh embodiment.

[0026] Figure 17 This is a top view showing a schematic structure of a transport system that utilizes the contactless power supply system of the eighth embodiment.

[0027] Figure 18 This is a top view showing a schematic structure of a transport system that utilizes the contactless power supply system of the ninth embodiment.

[0028] Figure 19 This is a top view showing a schematic structure of a transport system that utilizes the contactless power supply system of the tenth embodiment. Detailed Implementation

[0029] A. First implementation method: A1. Device Structure: Figure 1 and Figure 2The non-contact power supply system 1 shown is suitable for a handling system used to move workpiece B1 from a truck TR parked in the truck loading / unloading area Ar2 to a predetermined inspection position Ar14 in the indoor area Ar1. Workpiece B1, placed at the inspection position Ar14, is inspected by operator m1. The area inside the truck TR corresponds to the "first work area WA1" in this disclosure. Furthermore, the inspection position Ar14 corresponds to the "second work area WA2" in this disclosure.

[0030] The contactless power supply system 1 includes three mobile units 30, three first power supply devices 21, one second power supply device 22, and one third power supply device 23. Additionally, in... Figure 1 For ease of illustration, a moving body 30 and a third power supply device 23 have been omitted. The moving body 30 is configured as an automated guided vehicle (AGV) of the forklift type, capable of transporting the work object B1.

[0031] like Figure 3 As shown, the mobile unit 30 includes a power receiving device 310, a power receiving circuit 321, a main battery 334, a DC / DC converter circuit 331, an inverter circuit 332, a motor 333, an auxiliary battery 335, auxiliary equipment 336, an operation control unit 340, a reading unit 350, and a communication unit 360. Additionally, in Figure 3 The diagram schematically shows the external structure of the mobile body 30 and the first power supply device 21 as viewed along the direction of travel of the mobile body 30.

[0032] The power receiving device 310 receives power supplied from the power transmitting devices 21 to 23. The power receiving device 310 has a power receiving coil 311 housed within a frame and wiring (not shown). The power receiving coil 311 is connected to the power receiving circuit 321. The power receiving coil 311 is a planar coil composed of wire wound in a defined plane. The power receiving coil 311 is arranged along the traveling direction of the moving body 30. In other words, the central axis of the power receiving coil 311 is arranged orthogonally to the traveling direction of the moving body 30. In this embodiment, the power receiving device 310 is arranged laterally protruding from the side of the frame 39 of the moving body 30. Alternatively, the power receiving device 310 may be arranged inside the frame 39.

[0033] The power receiving circuit 321 includes a rectifier circuit that converts the AC voltage output from the power receiving coil 311 into a DC voltage. The DC power output from the power receiving circuit 321 can be used to charge the main battery 334 or drive the motor 333 via the inverter circuit 332. Furthermore, this DC power can be stepped down using a DC / DC converter circuit 331 to charge the auxiliary battery 335 and drive the auxiliary equipment 336. The main battery 334 is a secondary battery that outputs a relatively high DC voltage to drive the motor 333. The DC / DC converter circuit 331 is configured as a step-down converter, regulating the voltage output from the power receiving circuit 321 to a voltage usable in the auxiliary battery 335 or the auxiliary equipment 336. The inverter circuit 332 converts the DC voltage from the main battery 334 into a three-phase AC voltage and supplies it to the motor 333. The motor 333 is a three-phase AC motor that generates rotational force on the tires 370 of the moving body 30. The auxiliary battery 335 is a secondary battery that outputs a DC voltage to drive the auxiliary equipment 336. Auxiliary equipment 336 corresponds, for example, to the operation control unit 340, reading unit 350, and communication unit 360 described later. The operation control unit 340 controls the entire mobile body 30. The reading unit 350 reads markers placed at predetermined locations in the indoor area Ar1 and within the truck TR, and transmits the read information to the operation control unit 340. These markers may be, for example, two-dimensional markers. Based on the information obtained from reading these markers, the operation control unit 340 controls the movement of the mobile body 30. For example, based on the information obtained from reading the markers, the operation control unit 340 performs actions such as acceleration, deceleration, stopping, and right / left turns on the mobile body 30. The communication unit 360 is configured to communicate wirelessly with the outside world.

[0034] Power supply devices 21-23 supply power to the moving body 30 in a non-contact manner. The first power supply device 21, the second power supply device 22, and the third power supply device 23 differ only in their installation method; their functional structures are identical. The first power supply device 21 is installed on a base plate. The second power supply device 22 is suspended from a top plate. The third power supply device 23 is installed on a wall. Regarding the structure of power supply devices 21-23, [the following is used...] Figure 3 The description will be based on the first power supply device 21, and the description of the second power supply device 22 and the third power supply device 23 will be omitted.

[0035] like Figure 3As shown, the first power supply device 21 includes a power supply section 210, a power supply circuit 221, and a power supply section 222. The power supply section 210 has a power supply coil 211 housed in a frame and wiring (not shown). The power supply coil 211 is connected to the power supply circuit 221. In this embodiment, the power supply section 210 is arranged protruding from the side of the frame 29 of the first power supply device 21. Alternatively, the power supply section 210 may be arranged inside the frame 29. The power supply coil 211 is arranged such that its central axis is orthogonal to the travel direction of the moving body 30.

[0036] The power transmission circuit 221 is a circuit that converts the DC voltage supplied from the power supply unit 222 into a high-frequency AC voltage and applies it to the power transmission coil 211. It includes an inverter circuit, a filter circuit, and a resonant circuit. In this embodiment, the inverter circuit, filter circuit, and resonant circuit are well-known, therefore, their description is omitted. The power supply unit 222 is a circuit that supplies DC voltage to the power transmission circuit 221. For example, the power supply unit 222 receives power from the system power supply via a power factor correction (PFC) circuit and supplies power to the power transmission circuit 221. Alternatively, the power supply unit 222 may receive power from the system power supply, distribute the converted 50 / 60Hz AC voltage to each power transmission circuit 221, and perform PFC and AC-DC conversion in each power transmission circuit 221. PFC is not illustrated. The DC voltage output by the power supply unit 222 may not be a pure DC voltage and may contain a certain degree of variation (pulsation). The power supply unit 222 of the first power transmission device 21 is electrically connected to the system power supply, for example, via power wiring under the base plate. On the other hand, the power supply unit 222 of the second power supply device 22 is electrically connected to the system power supply via power wiring installed in the top plate, etc.

[0037] like Figure 1 and Figure 2 As shown, in this embodiment, power supply devices 21 to 23 are located at predetermined positions Ar11, Ar12, Ar13, Ar14, Ar15, and Ar16. These positions Ar11 to Ar16 exist within the movement path of the moving body 30 between the first work site WA1 and the second work site WA2.

[0038] Positions Ar11, Ar13, Ar15, and Ar16 in these positions Ar11 to Ar16 correspond to the predetermined stopping positions of the moving body 30 (hereinafter referred to as "predetermined stopping positions"). Position Ar11 corresponds to the predetermined stopping position of the moving body 30 for adjusting the position of the forklift before entering the truck TR. Position Ar13 corresponds to the predetermined stopping position of the moving body 30 loaded with the work object B1 for unloading the work object B1 to the second work site WA2, i.e., inspection position Ar14. Figure 2Position Ar15, as shown, corresponds to a pre-defined spatial location for waiting in the order of entering the truck TR. In this embodiment, position Ar15 is located near the post P1, which serves as a fixed object. Position Ar16 corresponds to a predetermined stopping position within the truck TR for loading the work object B1. The moving body 30 can receive power from the power supply devices 21 to 23 while stopped at positions Ar11, Ar13, Ar15, and Ar16.

[0039] On the other hand, the remaining position Ar12 corresponds to the area traversed by the mobile body 30 along the movement path from inside the truck TR (inside the first work area WA1) towards the inspection position Ar14 (the second work area WA2), and is a position where the power receiving device 310 of the passing mobile body 30 can be supplied in a non-contact manner. When the mobile body 30 passes through position Ar12 during its journey along the movement path, it can receive power from the first power supply device 21.

[0040] Alternatively, in a configuration where the truck TR is an EV (electric vehicle) or PHEV (plug-in hybrid electric vehicle), the power distribution path can be branched and power supplied to the power supply section 222 of the first power supply device 21 when the battery of the truck TR is being charged. Alternatively, in a configuration where the truck TR is a hybrid electric vehicle (HEV), power can be generated within the truck TR and supplied to the power supply section 222 of the first power supply device 21.

[0041] According to the contactless power supply system 1 of the first embodiment described above, since the power supply devices 21 to 23 are included, which can supply power to the receiving device 310 in a non-contact manner in both the state where the moving body 30 is stopped at a predetermined stopping position and the state where the moving body 30 is moving in the moving path from the first work site WA1 to the second work site WA2, the moving body 30 does not need to travel to the power supply devices located off the moving path for contactless power supply. Therefore, the efficiency of transporting the work object B1 can be improved. In addition, since it is not necessary to provide space outside the moving path for the moving body 30 to travel to the power supply devices, space saving in the work area can be achieved. Furthermore, since the receiving device 310 has at least a receiving coil 311 provided on the side of the moving body 30, it is not necessary to arrange the power supply devices 21 to 23 underground or under the floor. Therefore, the system is easy to construct.

[0042] Furthermore, the receiving coil 311 is configured such that its central axis is orthogonal to the direction of travel. Therefore, in the third power supply device 23 provided on the side of the stationary object (post P1), the power receiving efficiency via the power supply coil 211, which is configured such that its central axis is orthogonal to the side, can be improved. Similarly, in the first power supply device 21 and the second power supply device 22, since their central axes are also configured to be orthogonal to the direction of travel of the moving body 30, the receiving coil 311 and the power supply coil 211 can be positioned relative to each other when the moving body 30 stops or passes by, thereby improving the power receiving efficiency.

[0043] Furthermore, since the power supply device 21 located at position Ar12 is situated in the area traversed by the moving body 30 within the movement path, and is able to supply power to the power receiving device 310 of the moving body 30 in a non-contact manner, by supplying power to the moving body 30 while it is in motion, compared to a structure that places the moving body 30 at a location different from the movement path and supplies power, or a structure that stops the moving body 30 at position Ar12 and supplies power, the utilization efficiency of the moving body 30 and the handling efficiency of the work object can be improved.

[0044] B. Second implementation method: Figure 4 and Figure 5 The non-contact power supply system 1a shown is suitable for a transport system used to move workpiece B1 from locations Ar21 and Ar26, which are inspection sites, in a state of being stored in a storage rack 50, to a predetermined location within a storage area Ar200, which is a pre-determined storage location, on a movable storage rack 50. Additionally, in Figure 4 In the original text, the structures of positions Ar26 and Ar27 are omitted. In the second embodiment, positions Ar21 and Ar22 correspond to the first work area WA1 in this disclosure, and storage area Ar200 corresponds to the second work area WA2 in this disclosure.

[0045] like Figure 4 As shown, at location Ar21, operator m3, after inspection by operator m4, stores the work object B1 in the storage rack 50 temporarily placed at location Ar22. The storage rack 50 has multiple levels of shelving. (The text repeats itself here.) Figure 4 and Figure 5 As shown, the structure allows any one of the movable bodies 31a, 31b, and 31c to be positioned below the bottom layer of the storage rack 50. Figure 4 and Figure 5In the example, a movable body 31a is positioned below the bottom shelf of the storage rack 50 at position Ar22. Additionally, a movable body 31b is positioned below the bottom shelf of the storage rack 50 at position Ar24. Furthermore, a movable body 31c is positioned below the bottom shelf of the storage rack 50 at position Ar25. Movable bodies 31a to 31c are capable of lifting and moving the storage rack 50. Furthermore, the storage rack 50 is configured to be able to contact the ground and stand upright independently when not lifted by movable bodies 31a to 31c. In this state, movable bodies 31a to 31c can enter and exit the area below the bottom shelf of the storage rack 50. The storage rack 50, which stores the work object B1 in all the shelves at position Ar22, is moved to a designated location in the storage area Ar200 using any one of the movable bodies 31a to 31c.

[0046] Compared to the movable body 30 of the first embodiment, the movable body 31a differs in that it lacks a forklift, has a mechanism at the top for raising and lowering the storage rack 50, has a generally rectangular shape when viewed vertically from above, and its height is lower than the height of the lowest shelf of the storage rack 50 from the ground; otherwise, the structures are the same. Therefore, in the movable body 31a, the power receiving device 310 also protrudes laterally from the side of the frame of the movable body 31a. The side of the movable body 31a where the power receiving device 310 is located is the side in the long side direction. Figure 7 This illustrates the effect of using the side with the power receiving device 310 as the side along the long side.

[0047] exist Figure 7 In the diagram, a comparative example structure, which differs from the moving body 31a in that the power receiving device 310 is positioned on the side S2 along the shorter side, is indicated by a dashed line. In the case where the power receiving device 310 is positioned on the side S1 along the longer side, as in the moving body 31a, the rotation radius r1 of the moving body 31a is smaller than the rotation radius r2 of the moving body in the comparative example. Therefore, interference with fixed objects can be suppressed when the moving body 31a moves. Furthermore, as a mechanism for raising and lowering the storage rack 50, a jack device utilizing hydraulic pressure or screws can be used, for example.

[0048] like Figure 6 As shown, the structure of the movable body 31b differs from that of the movable body 31a in that it has a power-receiving arm 380, the power-receiving device 310 protrudes laterally from the side of the frame 39 of the movable body 31b, and the power-receiving device 310 is housed in the side of the frame 39 of the movable body 31b. Furthermore, in Figure 6The mechanism for lifting the storage rack 50 is omitted. One end of the power receiving arm 380 is fixed to the main body of the movable body 31b, and the other end is connected to the power receiving device 310. The power receiving arm 380 causes the power receiving device 310 to protrude from the side of the frame 39 of the movable body 31b, and moves the power receiving device 310 in such a way that the protruding power receiving device 310 is housed in the side of the frame 39 of the movable body 31b.

[0049] like Figure 5 As shown, the structure of the mobile body 31c differs from that of the mobile body 31a in that the side on which the power receiving device 310 is located is the side with the short side facing outwards; otherwise, the structures are the same.

[0050] like Figure 4 and Figure 5 As shown, the contactless power supply system 1a includes multiple power supply devices 24. In Figure 4 and Figure 5 The diagram shows only the power supply devices 24 located at locations Ar24 and Ar25 within the storage area Ar200, omitting power supply devices 24 located at other locations.

[0051] like Figure 8 As shown, the power supply device 24 differs from the first power supply device 21 of the first embodiment in that it has a power supply side arm 234, the power supply part 210 is configured to protrude laterally from the side of the frame 29 of the power supply device 24 and can be housed in the side of the frame 29 of the power supply part 210, and the power supply part 210 is located closer to the ground. One end of the power supply side arm 234 is fixed to the main body of the power supply device 24, and the other end is connected to the power supply part 210. The power supply side arm 234 causes the power supply part 210 to protrude from the side of the frame 29 of the power supply device 24, and moves the power supply part 210 in such a way that the protruding power supply part 210 is housed in the side of the frame 29 of the power supply device 24.

[0052] like Figure 4 and Figure 5 As shown, the power supply device 24 is respectively positioned at positions Ar22, Ar23, Ar24, Ar25, and Ar27. As mentioned above, position Ar22 is the location where the storage rack 50 is temporarily placed to store the work object B1. Therefore, the moving body 31a stops at position Ar22 and can receive power from the power supply device 24. When the moving body 31a is located below the bottom layer of the storage rack 50 and the power receiving device 310 is facing the power supply device 24, the distance between the power supply device 24 and the moving body 31a is relatively large. However, as Figure 5As shown, the power supply device 24 extends the power supply side arm 234 and brings the power supply part 210 close to the moving body 31a. As a result, the distance between the power supply part 210 and the power receiving device 310 is appropriate, enabling normal contactless power supply.

[0053] Position Ar23 is located midway along the movement path of the moving bodies 31a-31c, which move the storage rack 50 (hereinafter referred to as "fully loaded state") to a designated position within the storage area Ar200, in a state where the work object B1 is stored in all the shelves. Therefore, the moving bodies 31a-31c can receive power from the power supply device 24 when passing near position Ar23.

[0054] Positions Ar24 and Ar25 are located near the storage rack 50 within the storage area Ar200. Therefore, the moving bodies 31a and 31c, which stop to unload and place the storage rack 50 in the designated position, can receive power from the power supply device 24 located at positions Ar24 and Ar25. At position Ar24, the moving body 31b extends its power-receiving arm 380 and brings the power-receiving device 310 close to the power supply device 24. Therefore, the distance between the power supply part 210 and the power-receiving device 310 is appropriate, enabling normal contactless power supply. On the other hand, at position Ar25, since the power-receiving device 310 of the moving body 31c is located close to the power supply device 24, the distance between the power supply part 210 and the power-receiving device 310 is appropriate. Therefore, the power supply arm 234 of the power supply device 24 does not extend.

[0055] Location Ar27 is the site for loading the work object B1, which will be inspected at location Ar26, into the storage rack 50. Similar to location Ar22, the storage rack 50 is temporarily placed there. Figure 5 In the example, the storage rack 50 is not placed at position Ar27. In this state, there are no moving bodies 31a to 31c at position Ar27. Therefore, in the power supply device 24 located at position Ar27, the power supply unit 210 is stored in the side of the frame. Therefore, when the moving bodies 31a to 31c carrying the empty storage rack 50 arrive at position Ar27, interference between the storage rack 50 and the power supply device 24 can be suppressed.

[0056] The contactless power supply system 1a of the second embodiment described above achieves the same effect as the contactless power supply system 1 of the first embodiment. Furthermore, since the power receiving devices 310 of the movable bodies 31a and 31b are mounted on the long side of the side of the frame 39, compared to a structure mounted at the end in the short side direction, the overall rotation radius of the movable bodies 31a and 31b can be reduced, and interference with fixed objects can be suppressed.

[0057] Furthermore, since the movable body 31b has a power-receiving arm 380 connected to the power-receiving device 310, the power-receiving device 310 protrudes from the side of the frame 39 of the movable body 31b. The power-receiving device 310 is moved by housing the protruding power-receiving device 310 within the side of the frame 39 of the movable body 31b. Therefore, the distance between the power-transmitting part 210 and the power-receiving device 310 can be adjusted to an appropriate size, and the power-receiving efficiency can be improved. For example, even if the position of the movable body 31b within the movement path deviates from the predetermined position for some reason, the distance between the power-transmitting part 210 and the power-receiving device 310 can still be adjusted to an appropriate size.

[0058] Furthermore, since the power supply device 24 has a power supply side arm 234 connected to the power supply section 210, the power supply section 210 protrudes from the frame 29 of the power supply device 24. The power supply section 210 is moved in such a way that it is housed within the frame 29 of the power supply device. Therefore, the distance between the power supply section 210 and the power receiving device 310 can be adjusted to an appropriate size. Additionally, when not performing contactless power supply, the power supply section 210 can be housed within the frame 29, thus suppressing interference between the power supply device 24 and other objects such as the moving bodies 31a to 31c.

[0059] C. Third implementation method: Figure 9 and Figure 10 The contactless power supply system 1b shown differs from the second embodiment in the types of mobile bodies and power transmission devices used. Specifically, as Figure 9 and Figure 10 As shown, in the contactless power supply system 1b of the third embodiment, movable bodies 32a, 31d, 32b, and 33 are used.

[0060] The mobile body 32a, like the mobile body 30 of the first embodiment, is configured as a forklift-type AGV. The mobile body 32a differs from the mobile body 30 in that the power receiving device 310 is disposed within the frame. Figure 3 The moving body 30 shown is different. Moving body 32a is located at position Ar21 and stops to load and unload the work object B1. At this time, as... Figure 10 As shown, non-contact power is supplied from the first power supply device 21 described in the first embodiment to the mobile body 32a (power receiving device 310).

[0061] The movable body 31d differs from the movable body 31a of the second embodiment in that the power receiving device 310 is disposed within the frame 39. The movable body 31d, located at position Ar22, receives power from the power supply device 24 during the operation (not shown) of an operator storing the work object B1 into the storage rack 50. Furthermore, in Figure 9For ease of illustration, the first power supply device 21 and the power supply device 24 have been omitted.

[0062] The mobile body 32b is configured as a forklift-type AGV with multi-stage forks. The mobile body 32b differs from the mobile body 32a in that it has multiple stages of forks f1 and that the power receiving device 310 is separate from the main body of the mobile body 32b. Two work objects B1 are installed in each fork f1. For example... Figure 9 As shown, in the mobile body 32b, the power receiving device 310 is configured to be separate from the main body 390 of the mobile body 32b. The power receiving device 310 is supported by a support column 38 extending vertically upward from the top surface of the main body 390. Therefore, the power receiving device 310 is located above the main body 390. Furthermore, in Figure 9 In the diagram, the power receiving circuit 321 is schematically shown as a structure within the main body 390. Since the power receiving device 310 is configured separately from the main body 390, space can be saved within the main body 390 for accommodating the mechanism for contactless power supply, allowing for miniaturization of the main body 390. When the moving body 32b passes position Ar23, it receives power from the first power supply device 21 located at position Ar23.

[0063] The moving body 33 differs from the moving body 31a in that the power receiving device 310 is positioned at the front end of the side and protrudes in the direction of travel. By adopting such a structure, the protrusion of the power receiving device 310 allows it to be closer to the power supply device 21, and the power receiving efficiency can be improved.

[0064] The contactless power supply system 1b of the third embodiment described above has the same effect as the contactless power supply system 1 of the first embodiment and the contactless power supply system 1a of the second embodiment.

[0065] D. Fourth Implementation Method: Figure 11 and Figure 12 The contactless power supply system 1c shown differs from the second embodiment in the types of mobile bodies and power supply devices used, and in the fact that the work object B1 is placed on the pallet pa1 midway through the transport path for transport and storage. Specifically, as Figure 11 and Figure 12 As shown, in the contactless power supply system 1c of the fourth embodiment, in addition to the aforementioned movable body 30, movable bodies 32c and 32d are also used.

[0066] The mobile body 32c is the same as the mobile body 32b in the third embodiment in that the power receiving device 310 and the main body of the mobile body 32b are integrally formed. The mobile body 32c is located at position Ar31 and receives power from the first power supply device 21 during the operation (not shown) in which the operator unloads the work object B1 from the mobile body 32c and places it on the tray pa1.

[0067] The mobile unit 30, located at position Ar32, stops to place the work object B1, which is placed on pallet pa1, onto the forklift. At this time, the mobile unit 30 receives power from the first power supply device 21. Additionally, at position Ar32, the operator m4 operates the mobile unit 30 via a remote control.

[0068] like Figure 12 As shown, two rows of shelves, L1 and L2, consisting of multiple storage racks 50, are provided in the storage area Ar201. The passageway C1 between the two rows of shelves L1 and L2 is relatively narrow, only wide enough for one moving body 32d to pass through. In this embodiment, the passageway C1 is unidirectional, and the end closer to position Ar32 is designated as the entrance EN1 of the passageway C1. Figure 11 and Figure 12 As shown, the moving body 32d enters the passageway C1 from the entrance EN1 and stores the work object B1, which is placed on the tray pa1, in the top shelf of the second storage rack 50 counted from the entrance EN1.

[0069] The mobile body 32d is configured as a forklift-type AGV. The mobile body 32d differs from the mobile body 30 in that it has forks capable of being raised to a relatively high position and two power receiving devices 310 and a power receiving circuit 321; otherwise, its structure is the same as the mobile body 30. Furthermore, in Figure 12 Only two power receiving devices 310 are shown in the diagram. These two power receiving devices 310 are located at both ends of the moving body 32d in the width direction.

[0070] As a power supply device, the contactless power supply system 1c includes: a first power supply device 21 disposed at the aforementioned position Ar31; a first power supply device 21 disposed at position Ar32; a third power supply device 23 disposed on the wall of the storage rack 50 closest to the entrance EN1 in the shelf row L1; and two fifth power supply devices 25. The third power supply device 23 is the same as the third power supply device 23 in the first embodiment described above.

[0071] The fifth power supply device 25 differs from the power supply device 24 in that it does not include the power supply side arm 234, and the power supply part 210 does not protrude from or is housed within the frame 29; otherwise, its structure is the same as that of the power supply device 24. Figure 12As shown, two power supply devices 25 are positioned below the lowest level of the storage rack 50 closest to the entrance EN1 in shelf row L1 and below the lowest level of the storage rack 50 closest to the entrance EN1 in shelf row L2, and are opposite to each other. The lowest level of the storage rack 50 corresponds to the portion lower than the lowest ground height from which the moving body 32d can pick up the work object B1 from the shelf. In this embodiment, the fifth power supply device 25 is configured such that the surface of the power supply part 210 in the frame 29 of the lowest part of the storage rack 50 is located within 500 mm (millimeters) from the end of the side facing the passage C1, that is, the side where the moving body 32d picks up the work object B1. Furthermore, the fifth power supply device 25 is configured such that when the work object B1 is picked up from the storage rack 50 closest to the entrance EN1 in the two shelf rows L1 and L2, the power supply part 210 is positioned so that the power receiving device 310 is facing it. That is, both power supply devices 25 are arranged with the power supply section 210 facing the passage C1. When the moving body 32d enters the passage C1 from the inlet EN1, it passes between the two power supply devices 25 and receives power from both power supply devices 25. In this way, by receiving power from both power supply devices 25 simultaneously, the power supply capacity can be increased and the power supply efficiency can be improved.

[0072] The contactless power supply system 1c of the fourth embodiment described above achieves the same effects as the contactless power supply system 1 of the first embodiment and the contactless power supply system 1a of the second embodiment. Furthermore, since the third power supply device 23 is disposed on the wall of the storage rack 50, the dead space beside the storage rack 50 can be effectively utilized. In addition, compared to a structure where the fixing device for securing the third power supply device 23 is separately installed from the storage rack 50, the installation cost of the contactless power supply system 1c can be reduced, and the installation space for the contactless power supply system 1c can be minimized.

[0073] Furthermore, since the two power supply devices 25 are arranged with the power supply section 210 facing the passageway C1, non-contact power supply from the power supply device 25 to the power receiving device 310 can be performed when the moving body 32d takes the work object B1 out of the storage rack 50 or stops to store the work object B1 in the storage rack 50. Therefore, compared to a structure that requires the moving body 32d to stop for non-contact power supply in addition to taking out or storing the work object B1 from the storage rack 50, the utilization efficiency of the moving body 32d and the handling efficiency of the work object can be improved.

[0074] Furthermore, since the two power supply devices 25 are configured such that each power supply section 210 is located near the entrance EN1 in the passage C1, contactless power supply can be provided to the moving body 32d at the moment of entering the passage C1. Because the side of the passage C1 near the entrance EN1 is a location where the moving body 32d is more likely to pass, the possibility of contactless power supply is increased. Additionally, since power is received simultaneously from both power supply devices 25, the power supply capacity can be increased, and the power supply efficiency can be improved.

[0075] Furthermore, since the power supply device 25 is located at a lower ground height than the lowest point in the storage rack 50 where the work object B1 can be picked up, the power supply device 25 can be installed in the dead space in the storage rack 50 where there is no space for storing the work object B1. This can improve the storage efficiency of the storage rack 50 and save space in the installation space of the contactless power supply system 1c.

[0076] Furthermore, at least a portion of the power supply device 25 is located within 500mm of the end of the storage rack 50 on the side where the moving body 32d picks up the work object B1. Therefore, compared to a structure where not a portion of the power supply device 25 is located within 500mm of this end, it is possible to prevent the distance between the power supply device 25 and the power receiving device 310 from becoming too large. In addition, it is easy to perform replacement operations such as setting up and maintaining the power supply device 25.

[0077] Furthermore, the power supply device 25 is configured such that the power supply unit 210 is positioned directly opposite the work object B1 stored in the storage rack 50 when the moving body 32d picks it up. Therefore, when the moving body 32d stops to pick up the work object B1, non-contact power can be supplied to the power receiving device 310 from the power supply device 25. Thus, compared to a structure where the moving body 32d needs to stop for non-contact power supply in addition to stopping to pick up the work object B1, the utilization efficiency of the moving body 32d and the handling efficiency of the work object B1 can be improved.

[0078] E. Fifth implementation method: Figure 13 and Figure 14 The contactless power supply system 1d of the fifth embodiment shown differs from the contactless power supply system 1c of the fourth embodiment in that it stores the work object B1 in the storage rack 50 without using the tray pa1.

[0079] like Figure 14As shown, three rows of shelves L11, L12, and L13 are arranged in the storage area Ar202. A passageway C2 is provided between shelf rows L11 and L12. A fifth power supply device 25 is located at the bottom of the storage rack 50, closest to the entrance EN2 of the passageway C2 in two of the shelf rows L11 and L12. Additionally, a third power supply device 23 is located on the side wall of shelf row L11. Position Ar41 is located immediately before the entrance EN2, corresponding to the standby position of a moving body about to enter the passageway C2. A first power supply device 21 is provided at position Ar41, which supplies power to the moving body 32c stopped at position Ar41.

[0080] The contactless power supply system 1d of the fifth embodiment described above has the same effect as the contactless power supply system 1c of the fourth embodiment.

[0081] F. Sixth Implementation Method: Figure 15 The contactless power supply system 1e of the sixth embodiment shown is applicable to manufacturing processes. Specifically, within a factory, at a location Ar51 adjacent to the workspace Ar53 where an operator performs work, an inspection area is provided for the work object B1, such as a component, used in the work, and a power supply device 24 is arranged at this location Ar51. The work object B1 is transported and placed at location Ar51 by a moving body (not shown). At this time, the moving body receives power from the power supply device 24. The component (work object B1) inspected by the operator m5 at location Ar51 is used for work in the workspace Ar53.

[0082] The semi-finished product (hereinafter referred to as "work object B2") obtained through operations in the workspace Ar53 is placed on the mobile body 34 by the operator m6 and transported to the vicinity of the industrial robot 61. The mobile body 34 is similar in that the power receiving device 310 is housed inside the frame of the mobile body. Figure 9 The moving body 33 in the third embodiment shown is different, but the other structures are the same as the moving body 33. In the industrial robot 61, the moving body 34 picks up the work object B2 to be transported and performs prescribed processing on the work object B2. A power supply device 24 is provided on the platform 62 of the industrial robot 61. When picking up the work object B2, the moving body 34 stops near the platform 62 and receives power from the power supply device 24.

[0083] The contactless power supply system 1e of the sixth embodiment described above has the same effect as the contactless power supply system 1 of the first embodiment.

[0084] G. Seventh Implementation Method: Figure 16The contactless power supply system 1f of the seventh embodiment shown is similarly applicable to the manufacturing process as the contactless power supply system 1e of the sixth embodiment. Specifically, within the factory, a third power supply device 23 is arranged at positions Ar61, Ar62, Ar63 near the work area of ​​the operator and at a predetermined stopping position Ar64 of the moving body 34. Position Ar61 corresponds to the position near the work area where the operator m7 performs inspection and other operations. Position Ar62 corresponds to the work area where the operator m8 performs operations. Similarly, position Ar63 corresponds to the work area where the operator m9 performs operations. The industrial robot 61 at the right end includes a receiving coil 64 and a battery (not shown) that stores the power supplied via the receiving coil 64. The work object that becomes the processing object of the industrial robot 63 is transported by the moving body 34. Here, the moving body (not shown, a different moving body from the moving body 34) includes a power receiving device 310 and a power supply section having the same structure as the power supply section 210. When such a mobile unit stops near position Ar65 where industrial robot 63 is located in order to supply work objects to industrial robot 63, non-contact power is supplied from the power supply unit to the receiving coil 64 of industrial robot 63. Alternatively, a so-called "cell production method" can be adopted in which operators m8 and m9 and industrial robot 63 perform all processes at their respective positions Ar62, Ar63, and Ar65.

[0085] The contactless power supply system 1f of the seventh embodiment described above has the same effect as the contactless power supply system 1 of the first embodiment.

[0086] H. Eighth Implementation Method: Figure 17 The contactless power supply system 1g of the eighth embodiment shown is applicable to two production lines FL1 and FL2, which consist of a total of seven processes, from process A to process G. These two production lines FL1 and FL2 are linear production lines and are arranged parallel to each other. Production line FL1 has worktables Ta1 to Tg1 for each process. Similarly, production line FL2 has worktables Ta2 to Tg2 for each process.

[0087] The mobile body 35 transports semi-finished products to the production line FL1 between each process. Therefore, the mobile body 35 stops in front of each workbench Ta1 to Tg1. At each workbench Ta1 to Tg1, a power supply device 21 is provided at a position facing the movement path of the mobile body 35. Therefore, during the period when the mobile body 35 stops at each workbench Ta1 to Tg1, that is, during the period when processing is performed at each workbench Ta1 to Tg1, it receives power from the first power supply device 21. The mobile body 35 differs from the mobile body 34 of the sixth and seventh embodiments in that it includes two power receiving devices 310. The two power receiving devices 310 are positioned near the left and right ends in the direction of travel of the mobile body 35. The two power receiving devices 310 are connected in parallel with respect to the main battery 334 and the motor 333.

[0088] In production line FL2, the moving body 34 transports semi-finished products between processes. Therefore, the moving body 35 stops in front of each workbench Ta2 to Tg2. The moving body 34 is the same as that in the sixth and seventh embodiments. In the four workbench Ta2, Tc2, Te2, and Tg2 among the workbench Ta2 to Tg2, a power supply device 21 is provided at a position facing the moving body 34's movement path. The processing time of these four workbench Ta2, Tc2, Te2, and Tg2 is longer than that of the other workbench. Therefore, in production line FL2, the first power supply device 21 is provided only at positions where power can be supplied for a longer period. Furthermore, in workbench Tg2, in addition to the position facing the moving body 34's movement path, the first power supply device 21 is also provided at a position facing the moving body 35's movement path in the adjacent production line FL1. Therefore, during the processing performed by the worktable Tg1, the moving body 35 can receive power from both the first power supply device 21 provided on the worktable Tg1 and the first power supply device 21 provided on the worktable Tg2.

[0089] The contactless power supply system 1g of the eighth embodiment described above has the same effect as the contactless power supply system 1 of the first embodiment.

[0090] I. Ninth Implementation Method: Figure 18 The contactless power supply system 1h of the eighth embodiment shown is applicable to production line FL3, which consists of six processes, from process H to process M. Production line FL3 is a U-shaped production line. Production line FL3 has workbenches Th3 to Tm3 for each process.

[0091] In production line FL3, the moving body 34 transports semi-finished products in each process. Therefore, the moving body 34 stops in front of each workbench Ta1 to Tg1. The moving body 34 is the same as the moving body 34 in the sixth and seventh embodiments. In the three workbench Th3, Tj3, and Tl3 among workbench Th3 to Tm3, a power supply device 21 is provided at a position facing the movement path of the moving body 34. The processing time of these three workbench Th3, Tj3, and Tl3 is longer than the processing time of other workbench. Therefore, in production line FL3, the first power supply device 21 is only provided at a position where power can be supplied for a longer period of time.

[0092] The contactless power supply system 1h of the ninth embodiment described above has the same effect as the contactless power supply system 1 of the first embodiment and the contactless power supply system 1g of the eighth embodiment.

[0093] J. Tenth Implementation Method: Figure 19 The contactless power supply system 1i of the tenth embodiment shown differs from the contactless power supply system 1a of the second embodiment in the location of the power supply device 24, but its other structure is the same as that of the contactless power supply system 1a. Furthermore, in Figure 19 The moving part is omitted in the text.

[0094] In the tenth embodiment, the movement path Rd10 from location Ar21, i.e., the inspection area, to the three storage racks 50 arranged in the storage area Ar200 includes multiple sub-movement paths. Furthermore, to make the three storage racks 50 easily distinguishable from each other, they are hereinafter referred to as storage racks 50a, 50b, and 50c. These three storage racks 50a, 50b, and 50c correspond to the "sub-work areas" in this disclosure. The first sub-movement path includes: path Rd1 from location Ar21, which is the inspection area, to the storage area Ar200; path Rd2 intersecting path Rd1 and forming a T-shaped path together with path Rd1; and path Rd3 extending from path Rd2 and passing near storage rack 50a. The second sub-movement path includes path Rd1, path Rd2, and path Rd4 extending from path Rd2 and passing near storage rack 50b. The third sub-movement path includes path Rd1, path Rd2, and path Rd5 extending from path Rd2 and passing near storage rack 50c. The three paths Rd3, Rd4, and Rd5 described above are parallel to each other. The power supply device 24 is positioned in the area traversed by the moving body along the common path of these three secondary movement paths, at a location capable of supplying power to the passing moving body in a non-contact manner. Specifically, in this embodiment, the power supply device 24 is positioned in path Rd1 facing position Ar23a, close to the portion connected to path Rd2. Therefore, the moving body can receive power from the power supply device 24 when moving from position Ar21 toward any of the three storage shelves 50a to 50c.

[0095] The contactless power supply system 1i of the tenth embodiment described above has the same effects as the contactless power supply system 1 of the first embodiment and the contactless power supply system 1a of the second embodiment.

[0096] K. Other implementation methods: (K1) In various embodiments, the receiving coil 311 is arranged such that its central axis is orthogonal to the traveling direction of the moving body, but this disclosure is not limited to this. The central axis of the receiving coil 311 may also be arranged such that it is inclined to intersect the traveling direction of the moving body or is parallel to the traveling direction.

[0097] (K2) In the fourth and fifth embodiments, passages C1 and C2 are unidirectional, but they can also be used for passages in both directions. In this structure, since the two ends of passages C1 and C2 serve as entrances, the fifth power supply device 25 can be installed at either end.

[0098] (K3) In the fourth and fifth embodiments, the fifth power supply device 25 is disposed below the lowest layer of the storage rack 50. However, it can also be disposed in the storage rack 50 at any position where it can supply power to the power receiving device 310 of the moving body 32d. Furthermore, the fifth power supply device 25 is disposed such that the surface of the power supply section 210 of the frame 29 is within 500 mm of the end of the moving body 32d that picks up the object B1, but this disclosure is not limited to this. For example, the entire fifth power supply device 25 can be disposed within 500 mm of the end of the picking side. That is, generally speaking, the fifth power supply device 25 can be disposed such that at least a portion of it is within 500 mm of the end of the picking side. Alternatively, the fifth power supply device 25 may be configured such that at least a portion of the fifth power supply device 25 is located at any distance from the end of the pickup side that the hand can reach, and is not limited to 500 mm from the end of the pickup side.

[0099] (K4) In the movable body 31b, as a mechanism for protruding the receiving device 310 from the side of the frame 39 of the movable body 31b and storing the protruding receiving device 310 in the side of the frame 39 of the movable body 31b, a pantograph or a spring may be used instead of the receiving side arm 380.

[0100] This disclosure is not limited to the embodiments described above, and can be implemented with various structures without departing from the above-described spirit. For example, the technical features in each embodiment corresponding to the technical features described in the summary section can be appropriately replaced or combined to solve part or all of the above-described technical problems, or to achieve part or all of the above-described effects. Furthermore, the above-described technical features can be appropriately deleted unless they are described as essential structures in this specification.

Claims

1. A contactless power supply system, wherein the contactless power supply system (1, 1a to 1i) comprises: Mobile bodies (30, 31a-31d, 32a-32d, 33-35) are equipped with a power receiving device (310) and transport work objects from the first work site (WA1) to the second work site (WA2). as well as The power supply device (21-25) is capable of supplying power to the power receiving device in a non-contact manner in at least one of the following states: the moving body is stopped at at least one of the predetermined stopping positions (Ar11, Ar13, Ar22-Ar25, Ar27, Ar32, Ar201, Ar41, Ar202, Ar51, Ar52, Ar61-Ar64, Ta1-Tg1, Ta2, Tc2, Te2, Tg2, Th3, Tj3, Tl3, Ar23a) along the moving body's path between the first and second work sites; or the moving body is moving along the moving path. The aforementioned power receiving device has a power receiving coil (311) at least disposed on the side of the aforementioned movable body.

2. The contactless power supply system as described in claim 1, characterized in that, The frame of the moving body has a contour shape that has both a long side and a short side when viewed vertically. The power receiving device is installed on the side of the frame along the long side.

3. The contactless power supply system as described in claim 1, characterized in that, In the moving body, the posture relative to the direction of travel is predetermined. The receiving coil is arranged such that its central axis is orthogonal to the direction of travel.

4. The contactless power supply system as described in claim 1, characterized in that, The power receiving device is configured to protrude outward from the side of the frame of the movable body. The mobile body also has a power-receiving arm that is connected to the power-receiving device and allows the power-receiving device to move by protruding from the side of the frame of the mobile body and storing the protruding power-receiving device in the side of the frame of the mobile body.

5. The contactless power supply system as described in claim 1, characterized in that, The power supply device is disposed on a fixed object set within the movement path.

6. The contactless power supply system as described in claim 5, characterized in that, The fixture includes one or more storage racks for storing the work objects.

7. The contactless power supply system as described in claim 6, characterized in that, The power transmission device has a power transmission section that includes at least a power transmission coil. The fixture includes a plurality of storage racks spaced apart in a manner that forms a passageway of such width that one of the moving bodies can pass through but multiple of the moving bodies cannot pass through each other. The power transmission device is configured such that the power transmission section faces the path.

8. The contactless power supply system as described in claim 7, characterized in that, Includes multiple of the aforementioned power transmission devices, The passageway has a pre-set entrance. The plurality of power supply devices are configured such that each power supply unit is located on the side near the entrance in the passage.

9. The contactless power supply system as described in claim 6, characterized in that, The aforementioned mobile body is configured to pick up the aforementioned work objects stored in the aforementioned storage rack. The power supply device is located in the storage rack at a point lower than the lowest ground height at which the work object can be picked up.

10. The contactless power supply system as described in claim 9, characterized in that, The power supply device is configured such that at least a portion of the lowest part of the storage rack is located within 500 mm of the end of the storage rack on the side where the moving body picks up the work object.

11. The contactless power supply system as described in claim 6, characterized in that, The aforementioned mobile body is configured to pick up the aforementioned work objects stored in the aforementioned storage rack. The power supply device is configured such that the power supply section is positioned directly opposite the mobile body when it picks up the work object stored in the storage rack.

12. The contactless power supply system as described in claim 1, characterized in that, The power transmission device has the following features: The power supply section includes at least a power supply coil and is configured to protrude outward from the frame of the power supply device. as well as The power supply side arm is connected to the power supply part and moves the power supply part in such a way that the power supply part protrudes from the frame of the power supply device and is housed in the frame of the power supply device.

13. The contactless power supply system as described in claim 1, characterized in that, The power supply device is located in the area traversed by the moving body within the movement path, and is capable of supplying power to the power receiving device of the moving body in a non-contact manner.

14. The contactless power supply system as described in claim 13, characterized in that, The second work site includes two or more auxiliary work sites. The movement path includes multiple secondary movement paths from the first work site to each of the two or more secondary work sites. The power supply device is located in the area traversed by the moving body along the common path in the plurality of secondary moving paths, and is capable of supplying power to the power receiving device of the moving body in a non-contact manner.

Images