隨著科學技術的(de)(de)發展(zhan)，人(ren)們(men)對工(gong)業(ye)生(sheng)產過程中的(de)(de)自(zi)動化程度要求越(yue)(yue)來越(yue)(yue)高。越(yue)(yue)來越(yue)(yue)多的(de)(de)機器(qi)人(ren)被應用到生(sheng)產線上，依諾瑪AGV叉(cha)車(che)正(zheng)是(shi)其中的(de)(de)一種，這是(shi)一款在運(yun)行過程中不需(xu)要駕駛(shi)員(yuan)，車(che)子(zi)上裝有(you)自(zi)動導引裝置，可以(yi)按(an)照預(yu)定的(de)(de)軌道(dao)循(xun)環運(yun)行的(de)(de)無人(ren)叉(cha)車(che)。那么今天就和小編(bian)一起分(fen)析AGV叉(cha)車(che)各種充(chong)電方(fang)式的(de)(de)特點(dian)，大致(zhi)對AGV的(de)(de)充(chong)電方(fang)式按(an)以(yi)下(xia)四(si)種分(fen)類討論(lun)：

（1）按充電時間可分為：隨機充電和全周期充電

隨機(ji)充(chong)電(dian)(dian)即在 AGV的(de)各停(ting)泊站，無(wu)時(shi)間限制地隨時(shi)充(chong)電(dian)(dian)。如果有較(jiao)多的(de)充(chong)電(dian)(dian)點，保證(zheng)AGV在工作(zuo)過(guo)程中(zhong)損(sun)耗的(de)電(dian)(dian)能得(de)到及時(shi)的(de)補充(chong)，實現對電(dian)(dian)池(chi)的(de)淺充(chong)淺放，將極大(da)的(de)延(yan)長電(dian)(dian)池(chi)的(de)使用壽命，且可減小所需(xu)電(dian)(dian)池(chi)的(de)容量。

全周期充(chong)電(dian)則要求AGV退出服務并進(jin)人(ren)指(zhi)定(ding)的充(chong)電(dian)區且當(dang)蓄電(dian)池電(dian)荷降至(zhi)指(zhi)定(ding)范圍時方(fang)可進(jin)行充(chong)電(dian)。

也有(you)的AGV采(cai)用上述兩種相結合的充電方式。

（2）按充電區域可分為：在線充電和離線充電

在線(xian)充(chong)(chong)電(dian)(dian)即AGV不(bu)(bu)駛離工(gong)作(zuo)線(xian)路，不(bu)(bu)需要專(zhuan)門的(de)時(shi)(shi)(shi)間(jian)進(jin)行充(chong)(chong)電(dian)(dian)。而(er)是利用工(gong)作(zuo)過程中短暫的(de)停駐時(shi)(shi)(shi)間(jian)進(jin)行充(chong)(chong)電(dian)(dian)。這種完全利用碎片時(shi)(shi)(shi)間(jian)，不(bu)(bu)占用工(gong)作(zuo)時(shi)(shi)(shi)間(jian)的(de)充(chong)(chong)電(dian)(dian)方式實際上(shang)就是隨機充(chong)(chong)電(dian)(dian)的(de)延伸(shen)。只(zhi)是把(ba)充(chong)(chong)電(dian)(dian)站點嵌入到AGV的(de)工(gong)作(zuo)流程中，更進(jin)一(yi)步的(de)提升AGV的(de)工(gong)作(zuo)效(xiao)率(lv)。

 離線充(chong)(chong)電(dian)(dian)即(ji)AGV退出(chu)服務，駛入充(chong)(chong)電(dian)(dian)區或(huo)專(zhuan)門的(de)充(chong)(chong)電(dian)(dian)臺位(wei)進行充(chong)(chong)電(dian)(dian)。

（3）按操作方法分類可分為：手動、換電池和自動充電

當AGV電(dian)(dian)(dian)(dian)(dian)力(li)不足(zu)時，由地面(mian)控制(zhi)(zhi)中心指揮，駛(shi)向指定充(chong)(chong)電(dian)(dian)(dian)(dian)(dian)區(qu)或臺位，由專職(zhi)人員手動完成(cheng)AGV與充(chong)(chong)電(dian)(dian)(dian)(dian)(dian)器之間(jian)的(de)(de)電(dian)(dian)(dian)(dian)(dian)器連接，然后(hou)實(shi)施充(chong)(chong)電(dian)(dian)(dian)(dian)(dian)。完成(cheng)后(hou)也(ye)是人工(gong)去脫離連接電(dian)(dian)(dian)(dian)(dian)路 恢復工(gong)作(zuo)(zuo)狀態。手動充(chong)(chong)電(dian)(dian)(dian)(dian)(dian)AGV 的(de)(de)特點是安全可(ke)靠，簡單(dan)易行，設備成(cheng)本較低(di)。常用于(yu)自動化程度要(yao)求不是很(hen)高，車少人多，標準工(gong)作(zuo)(zuo)制(zhi)(zhi)的(de)(de)場(chang)合。且為保(bao)證AGV的(de)(de)續(xu)航能力(li)需要(yao)配備較大容量的(de)(de)電(dian)(dian)(dian)(dian)(dian)池(chi)。無法(fa)實(shi)現(xian)AGV全天(tian)24小時連續(xu)工(gong)作(zuo)(zuo)。

更換(huan)電(dian)(dian)池(chi)(chi)(chi)充電(dian)(dian)即(ji)當AGV電(dian)(dian)力不(bu)足時(shi)，由專職人員手動更換(huan)電(dian)(dian)池(chi)(chi)(chi)組，AGV即(ji)可投(tou)入(ru)使用。換(huan)下的(de)電(dian)(dian)池(chi)(chi)(chi)組通過(guo)充電(dian)(dian)后待用。其特點是簡單(dan)快(kuai)捷(jie)，可實現(xian)AGV全天24小時(shi)連續工作。但(dan)需(xu)多一倍的(de)電(dian)(dian)池(chi)(chi)(chi)組，成(cheng)本高且方式原始。常用于對(dui)工作響應的(de)及時(shi)性要求較(jiao)高、車(che)不(bu)足的(de)場合。以上兩種方式都需(xu)要專人看(kan)管，浪費(fei)人力，而且自動化程(cheng)度降低。一旦漏充，就會造成(cheng)AGV無法工作。

自(zi)動(dong)充(chong)(chong)(chong)電(dian)(dian)即當AGV需要補(bu)充(chong)(chong)(chong)電(dian)(dian)力時，會自(zi)動(dong)報告并請(qing)求充(chong)(chong)(chong)電(dian)(dian)，由(you)地面(mian)控制(zhi)中心指揮(hui)，駛(shi)(shi)向指定充(chong)(chong)(chong)電(dian)(dian)區(qu)或臺位，車載充(chong)(chong)(chong)電(dian)(dian)連(lian)接器與地面(mian)充(chong)(chong)(chong)電(dian)(dian)系統(tong)自(zi)動(dong)連(lian)接并實施充(chong)(chong)(chong)電(dian)(dian)。充(chong)(chong)(chong)電(dian)(dian)完成(cheng)后AGV小車自(zi)動(dong)脫(tuo)離充(chong)(chong)(chong)電(dian)(dian)系統(tong)，駛(shi)(shi)向工作(zuo)區(qu)或待命區(qu)投(tou)入正(zheng)常運行。自(zi)動(dong)充(chong)(chong)(chong)電(dian)(dian)AGV適用于工作(zuo)周期長，車多(duo)人少，自(zi)動(dong)化程度(du)高的場合。

（4）按充電器電氣連接方法分為：接觸式充電和無線充電

接觸(chu)式(shi)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)即所有充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)回路需(xu)要用電(dian)(dian)(dian)(dian)纜(lan)和充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)觸(chu)頭將車輛與供(gong)電(dian)(dian)(dian)(dian)系(xi)統(tong)連接，以便可以直接對(dui)其進行充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)。接觸(chu)式(shi)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)可提(ti)供(gong)較大的(de)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)電(dian)(dian)(dian)(dian)流，以實(shi)現(xian)快速(su)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)。目前是離線(xian)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)的(de)首選方式(shi)。但其不適用于頻(pin)繁的(de)隨機充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)，且存在(zai)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)觸(chu)頭磨(mo)損(sun)，需(xu)要定期(qi)更換。并可能在(zai)充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)過(guo)程中產生(sheng)火(huo)花(hua)，存在(zai)安(an)全隱患(huan)。另外因為充(chong)(chong)(chong)(chong)電(dian)(dian)(dian)(dian)觸(chu)頭系(xi)暴露(lu)部(bu)件，無法在(zai)低溫凝露(lu)、潮濕、易燃(ran)易爆等環境下正常工作(zuo)。

無(wu)線充(chong)電(dian)(dian)(dian)(dian)即(ji)非接觸(chu)充(chong)電(dian)(dian)(dian)(dian)裝置，不需要用電(dian)(dian)(dian)(dian)纜將(jiang)車輛與供電(dian)(dian)(dian)(dian)系統連接，它拋棄了充(chong)電(dian)(dian)(dian)(dian)觸(chu)頭，充(chong)電(dian)(dian)(dian)(dian)器(qi)及用電(dian)(dian)(dian)(dian)的裝置都(dou)可以做到無(wu)導電(dian)(dian)(dian)(dian)接點外露。無(wu)線充(chong)電(dian)(dian)(dian)(dian)技術(shu)使充(chong)電(dian)(dian)(dian)(dian)端與AGV 儲能系統之間實現電(dian)(dian)(dian)(dian)氣隔離(li)，從根本上消(xiao)除直插式充(chong)電(dian)(dian)(dian)(dian)方法帶來的弊端。更(geng)加安全，適用性更(geng)廣。

現階段的AGV無線(xian)充(chong)(chong)(chong)(chong)電(dian)產品，充(chong)(chong)(chong)(chong)電(dian)效率已和接觸式充(chong)(chong)(chong)(chong)電(dian)系統相當。因其無觸點磨損且(qie)智能(neng)化程(cheng)度(du)較(jiao)高，非常適合(he)在線(xian)充(chong)(chong)(chong)(chong)電(dian)。已完全做到(dao)了(le)即(ji)(ji)(ji)來即(ji)(ji)(ji)充(chong)(chong)(chong)(chong)，即(ji)(ji)(ji)走即(ji)(ji)(ji)停。進一步提高了(le)AGV使用過程(cheng)的自動化程(cheng)度(du)。但(dan)其技術復雜，成(cheng)本(ben)較(jiao)高。且(qie)10KW以上(shang)的無線(xian)充(chong)(chong)(chong)(chong)電(dian)器體積較(jiao)大(da)，不適合(he)AGV使用。