CN104714546B - A kind of AGV power supplys automatic-exchanging system and its control method - Google Patents
A kind of AGV power supplys automatic-exchanging system and its control method Download PDFInfo
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- CN104714546B CN104714546B CN201410728621.1A CN201410728621A CN104714546B CN 104714546 B CN104714546 B CN 104714546B CN 201410728621 A CN201410728621 A CN 201410728621A CN 104714546 B CN104714546 B CN 104714546B
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- battery
- power supply
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- charging
- roller
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- Electric Propulsion And Braking For Vehicles (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The present invention relates to a kind of AGV power supplys automatic-exchanging systems, it is by control centre, power supply fetching device, roller conveyor structure and charge position, the roller-way of the roller conveyor structure picks and places area by power supply, transition region, charging zone and power storage area sequence constitute cyclic structure, the power supply picks and places at area equipped with the power supply fetching device described in one or several, the power supply fetching device is by rack, pick and place driving band and, lifting supporting plate and homing guidance device corresponding with AGV trolleies are constituted, the charging zone is equipped with the charge position described in one or several, charging driving band is equipped between charge position and charging zone.Power supply fetching device may be implemented to replace the battery of AGV, and charging mechanism can charge to the battery changed, and power storage area can be used for storing the battery for being to substitute the bad for the good, in case replacing.Whole system is controlled by control centre, is performed fully automatic, and is participated in without artificial.
Description
Technical field
The present invention relates to a kind of automated guided vehicles, more particularly, to a kind of electricity of the automated guided vehicle of battery type
Replace system in source.
Background technology
AGV is referred to magnetically or optically waiting homing guidances device equipped with electricity, can be travelled, have along defined guide path
The transport vehicle of safeguard protection and various transfer functions is not required to the carrier of driver in commercial Application, with chargeable electric power storage
Pond is its power resources.Generally its travelling route and behavior can be controlled by computer, or utilize electromagnetic path
(electromagnetic path-following system) sets up its travelling route, and electromagnetic path is pasted on floor,
Automatic guided vehicle then relies on message caused by electromagnetic path to be moved and acted.
Problem of the existing technology is：AGV transport vehicles replace battery and need manual operations, reduce it and automate journey
Degree, needs to spend and is largely manually monitored battery usage amount, carries out the replacement of battery.
Invention content
The present invention is mainly that the replacement battery solved present in the prior art needs manual operations, reduces it and automates journey
Degree needs to spend a large amount of the technical issues of being manually monitored battery usage amount, carrying out the replacement of battery, and providing one kind can be certainly
Dynamic monitoring, the battery for replacing AGV, and AGV power supplys automatic-exchanging system and its control method easy to use, easy to operate.
The above-mentioned technical problem of the present invention is mainly to be addressed by following technical proposals：A kind of AGV power supplys are automatic
Replacement system, it is characterised in that it is by control centre, power supply fetching device, roller conveyor structure and charge position, the roller
The roller-way of road conveying mechanism picks and places area, transition region, charging zone and power storage area sequence by power supply and constitutes cyclic structure, described
Power supply pick and place at area be equipped with one or several described in power supply fetching device, the power supply fetching device by rack, pick and place
Drive band and lifting supporting plate and homing guidance device corresponding with AGV trolleies to constitute, if the charging zone set there are one or
The dry charge position is equipped with charging driving band between charge position and charging zone.Power supply fetching device may be implemented to AGV's
Battery is replaced, and charging mechanism can charge to the battery changed, and power storage area can be used for storing charged
Battery, in case replace.Whole system is controlled by control centre, is performed fully automatic, and is participated in without artificial.
Preferably, each power supply fetching device picks and places driving band equipped with side by side two, every picks and places drive
Dynamic band is located on the rack that power supply picks and places the roller-way and power supply fetching device in area, and the loop configuration for picking and placeing driving band is picked and placeed in power supply
The side in area is stayed there are one that can make that AGV trolley battery portions enter into battery area, and driving band and roller-way driving direction phase are picked and placeed
Vertically, the lifting supporting plate is set to described into battery area, and can be into moving up and down in battery area, and described two pick and place drive
The appropriate location of dynamic band has two battery blend stops, and the both ends of each battery blend stop pick and place driving band with two and are connected respectively.
It refers to that the battery to be replaced on AGV is brought by AGV into battery area, and battery can be driven into rising by lifting support supporting plate
Position, the position are in the inside for picking and placeing driving band of loop configuration.
Preferably, the lifting supporting plate is the M type structures for including two notches, two notches and AGV trolley batteries
Two side guard plates of slot are adapted, and the centre of two notches is battery backing board, and one of notch picks and places area with the power supply
Roller-way between be battery directing plate, the lifting supporting plate be in two power supplys pick and place between position raise up,
When lifting supporting plate is in the top of stroke, the upper surface at the position to raise up picks and places the roller-way in area with the power supply
Top is in sustained height.
Preferably, the charging driving band of the charging mechanism is equipped with side by side two, every charging driving band is set
In the roller-way of charging zone and the rack of charging mechanism, charging driving band and roller-way driving direction are perpendicular, two chargings
The appropriate location of driving band has two battery blend stops, and the both ends of each battery blend stop are respectively with two charging drivings with phases
Even.
The present invention also provides the control methods of above-mentioned AGV power supplys automatic-exchanging system, it includes the following steps：
（1）When the battery capacity of AGV trolleies is less than setting value, signal is sent out to control centre, control centre starts certainly
Dynamic guiding device, guiding AGV trolleies pour into appropriate location so that battery case is in into battery area, and battery is in battery backing board
Top, carry out replace battery operation；
（2）Lifting supporting plate rises, and drives battery to be detached from battery case and moves up, until lifting supporting plate rises to the most upper of stroke
End；
（3）Startup picks and places driving band, drives battery movement to reach power supply along battery directing plate by battery shelves item and picks and places area
On roller-way；
（4）Start roller conveyor structure, battery moves on roller-way, picking and placeing area by power supply, by transition region, reaches
Charging zone finally reaches the corresponding position of the charging zone in vacancy；
（5）Start charging driving band, drives power supply to enter charge position by battery blend stop and charge；
（6）After charging complete, and start charging driving band, drive power supply to return on the roller-way of charging zone by battery blend stop,
Start roller-way to drive battery to the storage of power storage area for use；
（7）Carrying out above-mentioned the（4）While step, the battery in power storage area, which is driven, to be entered power supply and picks and places
Area, when the position for the AGV trolleies for needing replacing battery is parked in battery arrival, roller conveyor structure pause, back-to-back starting picks and places
Band is driven, under the drive of battery blend stop, by battery along battery directing plate mobile battery backing board；
（8）Lifting supporting plate declines the bottom for reaching its stroke, and battery is placed in battery case, completes battery more
It changes.
The advantageous effect of the present invention brought is that the replacement battery solved present in the prior art needs manual operations,
Its degree of automation is reduced, needs to spend and is largely manually monitored battery usage amount, the technology for carrying out the replacement of battery is asked
Topic, realizes a kind of battery that can monitor, replace AGV automatically, and AGV power supplys easy to use, easy to operate are replaced automatically
System and its control method.
Description of the drawings
Attached drawing 1 is a kind of structural schematic diagram of the present invention；
Attached drawing 2 is a kind of structural schematic diagram of the charge position of the present invention；
Attached drawing 3 is a kind of structural schematic diagram of the power supply fetching device of the present invention.
Specific implementation mode
Below with reference to the embodiments and with reference to the accompanying drawing the technical solutions of the present invention will be further described.
Embodiment：
As shown in Figure 1, 2, 3, the present invention is a kind of AGV power supplys automatic-exchanging system, it is picked and placeed by control centre 4, power supply
Mechanism 2, roller conveyor structure 1 and charge position 3, the roller conveyor structure pick and place area 11, transition region 12, charging by power supply
Area 13 and power storage area 14 sequentially constitute cyclic structure, and the power supply, which picks and places, to be set at area 11 there are two power supply fetching device 2,
The power supply fetching device by rack 24, pick and place driving band 22 and lifting supporting plate 21 and corresponding with AGV trolleies lead automatically
Leading-in device is constituted, and each power supply fetching device picks and places driving band 22 equipped with two side by side, and every picks and places driving band and is located on
Power supply picks and places the rack of the roller-way and power supply fetching device in area, picks and places the side for driving the loop configuration of band to pick and place area in power supply and stays
There are one that can make that AGV trolley battery portions enter into battery area, picks and places driving band and roller-way driving direction is perpendicular, it is described
Lifting supporting plate 21 be set to it is described into battery area, and can be into moving up and down in battery area, described two pick and place the suitable of driving band
When position has two battery blend stops 23, the both ends of each battery blend stop 23 pick and place driving band 22 with two and are connected respectively.It rises
Drop supporting plate 21 is the M type structures for including two notches, and two side guard plates, 51 phase of two 5 battery cases of notch 212 and AGV trolleies is suitable
Match, the centre of two notches 212 is battery backing board 211, and one of notch and the power supply pick and place between the roller-way in area
Portion is battery directing plate 213, and the lifting supporting plate is in the position that two power supplys pick and place between band and raises up, when lifting is held in the palm
When plate is in the top of stroke, the roller-way top that the upper surface at the position to raise up picks and places area with the power supply is in
Sustained height.The charging zone 13 is equipped with the charge position 3 described in 4, and two chargings are equipped between charge position 3 and charging zone and are driven
Dynamic band 31, every charging driving band 31 are located on the roller-way of charging zone and the rack of charging mechanism, and charging driving band drives with roller-way
Dynamic direction is perpendicular, and the appropriate location of two charging driving bands has two battery blend stops 33, each battery blend stop
33 both ends are connected with two charging driving bands respectively.
In the use of the present invention, its entire control process includes the following steps：
（1）When the battery capacity of AGV trolleies is less than setting value, signal is sent out to control centre, control centre starts certainly
Dynamic guiding device, guiding AGV trolleies pour into appropriate location so that battery case is in into battery area, and battery is in battery backing board
Top, carry out replace battery operation；
（2）Lifting supporting plate rises, and drives battery to be detached from battery case and moves up, until lifting supporting plate rises to the most upper of stroke
End；
（3）Startup picks and places driving band, drives battery movement to reach power supply along battery directing plate by battery shelves item and picks and places area
On roller-way；
（4）Start roller conveyor structure, battery moves on roller-way, picking and placeing area by power supply, by transition region, reaches
Charging zone finally reaches the corresponding position of the charging zone in vacancy；
（5）Start charging driving band, drives power supply to enter charge position by battery blend stop and charge；
（6）After charging complete, and start charging driving band, drive power supply to return on the roller-way of charging zone by battery blend stop,
Start roller-way to drive battery to the storage of power storage area for use；
（7）Carrying out above-mentioned the（4）While step, the battery in power storage area, which is driven, to be entered power supply and picks and places
Area, when the position for the AGV trolleies for needing replacing battery is parked in battery arrival, roller conveyor structure pause, back-to-back starting picks and places
Band is driven, under the drive of battery blend stop, by battery along battery directing plate mobile battery backing board；
（8）Lifting supporting plate declines the bottom for reaching its stroke, and battery is placed in battery case, completes battery more
It changes.
Therefore, the present invention has easy to use, and easy to operate, high degree of automation effectively raises making for AGV system
With efficiency, cost of labor is reduced.
Claims (1)
1. a kind of AGV power supplys automatic-exchanging system, it is characterised in that it is by control centre, power supply fetching device, roller conveyor
Structure and charge position, the roller conveyor structure pick and place area, transition region, charging zone and power storage area sequence by power supply and constitute
Cyclic structure, the power supply are picked and placeed and are picked and placeed equipped with the power supply fetching device described in one or several, the power supply at area
Mechanism by rack, pick and place driving band, lifting supporting plate and homing guidance device corresponding with AGV trolleies are constituted, the charging
Area is equipped with the charge position described in one or several, and charging driving band, each electricity are equipped between charge position and charging zone
Source fetching device picks and places driving band equipped with two side by side, and every picks and places driving band and is located on roller-way and electricity that power supply picks and places area
The rack of source fetching device, the loop configuration for picking and placeing driving band pick and place the side in area in power supply and stay that there are one AGV trolleies can be made electric
Pond part enter into battery area, pick and place driving band and roller-way driving direction be perpendicular, the lifting supporting plate be set to it is described into
Battery area, and can be into moving up and down in battery area, described two appropriate locations for picking and placeing driving band have two batteries
Blend stop, the both ends of each battery blend stop pick and place driving band with two and are connected respectively, the lifting supporting plate be include two notches
M type structures, two notches are adapted with two side guard plates of AGV trolley battery cases, and the centre of two notches is battery backing board,
One of notch and the power supply are battery directing plate between picking and placeing the roller-way in area, and the lifting supporting plate is in two
The position that power supply picks and places between band raises up, when lifting supporting plate is in the top of stroke, the position to raise up
The roller-way top that upper surface picks and places area with the power supply is in sustained height, and the charging driving band of the charging zone is equipped with simultaneously
Two of row, every charging driving band are located on the roller-way of charging zone and the rack of charging mechanism, and charging driving band drives with roller-way
Dynamic direction is perpendicular, and the appropriate location of two charging driving bands has two battery blend stops, each battery blend stop
Both ends are connected with two charging driving bands respectively, and the control method of the system includes the following steps：
（1）When the battery capacity of AGV trolleies is less than setting value, signal is sent out to control centre, control centre starts to be led automatically
Leading-in device, guiding AGV trolleies pour into appropriate location so that battery case is in into battery area, and battery is in the upper of battery backing board
Side carries out replacing battery operation；
（2）Lifting supporting plate rises, and drives battery to be detached from battery case and moves up, until lifting supporting plate rises to the top of stroke；
（3）Startup picks and places driving band, drives battery movement to reach the roller-way that power supply picks and places area along battery directing plate by battery shelves item
On；
（4）Start roller conveyor structure, battery moves on roller-way, picking and placeing area by power supply, by transition region, reaches charging
Area finally reaches the corresponding position of the charging zone in vacancy；
（5）Start charging driving band, drives power supply to enter charge position by battery blend stop and charge；
（6）After charging complete, and start charging driving band, drives power supply to return on the roller-way of charging zone by battery blend stop, start
Battery is driven to power storage area and is stored for use by roller-way；
（7）Carrying out above-mentioned the（4）While step, the battery in power storage area, which is driven, to be entered power supply and picks and places area, should
When the position for the AGV trolleies for needing replacing battery is parked in battery arrival, roller conveyor structure pause, back-to-back starting picks and places driving
Band, under the drive of battery blend stop, by battery along battery directing plate mobile battery backing board；
（8）Lifting supporting plate declines the bottom for reaching its stroke, and battery is placed in battery case, the replacement of battery is completed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728621.1A CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728621.1A CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104714546A CN104714546A (en) | 2015-06-17 |
| CN104714546B true CN104714546B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410728621.1A Expired - Fee Related CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105005286B (en) * | 2015-07-28 | 2018-01-23 | 杭州豪盛电动车辆有限公司 | A kind of AGV battery altering control system and its control method |
| TWI648696B (en) * | 2017-08-08 | 2019-01-21 | 鼎岳科技股份有限公司 | Battery management method |
| CN108909514A (en) * | 2018-07-27 | 2018-11-30 | 杭州蓝芯科技有限公司 | More AGV power management systems and method based on automatic battery replacement |
| CN109987173B (en) * | 2019-04-08 | 2021-07-16 | 广东嘉腾机器人自动化有限公司 | Automatic power supply replacement system and method |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5711648A (en) * | 1994-01-06 | 1998-01-27 | Unlimited Range Electric Car Systems Company | Battery charging and transfer system |
| JPH10145906A (en) * | 1996-11-06 | 1998-05-29 | Meidensha Corp | Battery charging and replacing equipment |
| JP4539887B2 (en) * | 2008-01-31 | 2010-09-08 | トヨタ自動車株式会社 | Charging management method and system for self-propelled vehicles for transportation |
| CN102583002A (en) * | 2011-12-22 | 2012-07-18 | 北京印刷学院 | Tray for battery transmission and transmission equipment |
| CN202827519U (en) * | 2012-06-13 | 2013-03-27 | 林根春 | Electric-driven automobile power battery charging and replacing interlocking system |
| CN204331464U (en) * | 2014-12-03 | 2015-05-13 | 浙江科技学院 | A kind of AGV power supply automatic-exchanging system |
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| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Weng Weibing Inventor after: Mao Weifeng Inventor after: Zhang Yun Inventor after: Zhao Ze Inventor after: Li Qiang Inventor before: Weng Weibing Inventor before: Zhang Yun Inventor before: Zhao Ze Inventor before: Li Qiang |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180824 Termination date: 20181203 |