CN105899398A - 用于运输具有能交换的主电源的下层箱的机器人 - Google Patents

用于运输具有能交换的主电源的下层箱的机器人 Download PDF

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CN105899398A
CN105899398A CN201580003996.4A CN201580003996A CN105899398A CN 105899398 A CN105899398 A CN 105899398A CN 201580003996 A CN201580003996 A CN 201580003996A CN 105899398 A CN105899398 A CN 105899398A
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CN105899398B (zh
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英瓦尔·霍纳兰德
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JACOB HATTELAND LOGISTICS AS
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    • H—ELECTRICITY
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    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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    • H02J13/00006—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network characterised by information or instructions transport means between the monitoring, controlling or managing units and monitored, controlled or operated power network element or electrical equipment
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    • H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
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    • H02J2310/40—The network being an on-board power network, i.e. within a vehicle
    • H02J2310/48—The network being an on-board power network, i.e. within a vehicle for electric vehicles [EV] or hybrid vehicles [HEV]
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Abstract

本发明涉及一种用于从储存系统(3)拾取储存箱(2)的遥控运载车组件(1)，以及一种用于更换布置在运载车组件内的电源(6)的方法。遥控运载车组件包括：车体(4)，具有用于容纳位于储存系统内某处的储存箱的腔体(7)；运载车提升装置(9)，至少间接地连接到车体以将储存箱提升到腔体中；驱动装置(10、11)，连接到车体，允许运载车组件在储存系统内进行远程受控运动；无线通信装置(75)，用于在运载车组件和远程控制单元(例如计算机)之间提供无线通信；一个或多个主电源，对驱动装置供应电力；以及运载车耦接装置(22)，用于使主电源与车体操作且可释放地耦接。

Description

用于运输具有能交换的主电源的下层箱的机器人
技术领域
本发明涉及一种如在权利要求1的前序中限定的用于从储存系统拾取储存箱的遥控运载车、一种用于储存箱的储存系统及一种用于改变电源的方法。
背景技术
用于从储存系统拾取储存箱的遥控运载车是已知的。WO 98/49075中提出了相关的现有技术储存系统的详细描述，并在挪威专利NO317366中公开了适合于这种储存系统的现有技术运载车的细节。这种现有技术储存系统包括三维储存栅格，其包含堆叠在彼此顶部上至一定高度的储存箱。储存栅格通常由通过顶轨互相连接的铝柱构成，并将许多遥控运载车或机器人(robot，遥控设备)布置为在这些顶轨上横向地移动。每个机器人配有用于拾取、携带和放置储存在储存栅格中的箱的升降机，以及可充电电池，以对包含机器人的电机供应电效应。机器人通常经由无线链路与控制系统通信，且当需要时(通常是在晚上)在充电站充电。
图1中示出了现有技术储存系统技术的一个实例。储存系统3包括多个机器人1，其配置为在专用支撑轨13上移动并从箱储存栅格15内的储存柱接收储存箱2。现有技术储存系统3还可包括专用的箱提升装置50，箱提升装置布置为在储存系统3的顶平面处从机器人1接收储存箱2，并在竖直方向上将储存箱2向下运送至传送站，或端口(port，进出口)60。
然而，对于这种已知的系统，由于需要充电，所以就存在不希望有的机器人停工，从而将储存系统3的工作周期整体上缩短至通常每天16小时。
因此，本发明的一个目的是，提供一种使得能够明显增加整体工作周期的解决方案，优选地接近于每天24小时。
发明内容
在主权利要求中阐述了本发明并描述了其特征，而从属权利要求描述了本发明的其他特征。
特别地，本发明涉及一种用于从储存系统拾取储存箱的遥控运载车组件，包括：车体，具有用于容纳位于储存系统内某处的储存箱的腔体；运载车提升装置，至少间接地连接到车体以将储存箱提升到腔体中；驱动装置，连接到车体，允许运载车组件在储存系统内进行远程受控运动；无线通信装置，用于在运载车组件和远程控制单元(例如计算机)之间提供无线通信；一个或多个主电源，对驱动装置供应电力；以及运载车耦接装置，用于使主电源与车体操作且可释放地耦接。将操作耦接定义为确保电源和驱动装置之间的功率流的耦接。
在一个优选实施例中，耦接装置配置为，在从控制单元接收至少一个通信信号之后，允许主电源自动交换/转移到充电站，即，不需要任何的人介入来执行的转移。
在另一优选实施例中，运载车组件进一步包括用于对驱动装置供应电力的一个或多个副电源。除了一个、多个或所有主电源之外，或者在没有一个、多个或所有主电源时，可操作此副电源或这些副电源。
在另一优选实施例中，运载车组件进一步包括用于管理至少一个电源的管理系统。这种管理系统包括用于监测电压、温度、充电状态、放电深度、健康状态、冷却液流量和电流中的至少一个的装置，和/或用于控制与至少一个电源的再充电相关的至少一个参数(例如，一个或多个上述监测参数)的再充电控制装置。
在另一优选实施例中，储存在副电源中的最小量的电力等于在操作过程中将运载车组件从一个充电站移动至相邻的充电站所需的电力。
在另一优选实施例中，一个或多个副电源和一个或多个主电源互相连接，使得在主电源对运载车提供电力的同时，主电源可对副电源充电。
在另一优选实施例中，至少一个电源(即，至少一个主电源和/或至少一个副电源)是电容器，例如超级电容器，例如，双层电容器、赝电容器(pseudocapacitor)和/或混合电容器。
在另一优选实施例中，该至少一个电源(即，至少一个主电源和/或至少一个副电源)是可再充电电池。可再充电电池的实例是锂离子电池、镍镉电池、镍金属氢化物电池、锂离子聚合物电池、锂硫电池、薄膜电池、基于智能电池碳泡沫的铅酸电池、钾离子电池、钠离子电池或其组合。为了监测并控制至少一个电池的性能，运载车组件可进一步包括管理/控制例如对至少一个电源的充电的印刷电路板形式的电池管理系统(BMS)。有利地，此BMS操作地布置在主电源处或布置在主电源内。
在另一优选实施例中，主电源包括接收装置，能够与位于充电站上的对应充电站连接装置可释放地连接，其中，至少一个接收装置有利地可以是钩接收装置，例如凹槽、孔或圈眼(hank)，允许与位于充电站上的对应的可枢转的充电站钩可释放地连接。
在另一优选实施例中，运载车连接装置进一步包括至少一个可枢转地连接到车体的电池钩，使得能够在主电源和车体之间可释放地连接。
本发明还涉及一种用于储存箱的储存系统，例如，具有与在挪威专利申请NO20121488中详细公开的结构类似的结构的储存系统。该系统包括：
-根据以上公开的运载车的一个或多个遥控运载车，
-一个或多个充电站，
-运载车支架，包括多个支撑轨，以及
-箱储存结构，支撑运载车支架，并包含多个储存柱，其中，每个储存柱布置为容纳竖直堆放的储存箱。箱储存结构的主要部分与运载车支架上和支撑轨交叉的位置重合。
本发明还涉及一种用于对布置在遥控运载车中、遥控运载车附近或遥控运载车上的电源充电的方法。这种方法包括以下步骤：
a)将遥控运载车组件移动至第一充电站附近的充电位置，
b)将与运载车组件的车体连接的第一主电源转移至第一充电站，
c)使用对驱动装置供应辅助电力的副电源，将运载车组件移动至第二充电站，并且
d)将与第二充电站连接的第二主电源转移至车体，第二主电源已由第二充电站充电一段时间。
充电站优选地布置在下层支架上，运载车组件在下层支架上移动。
在一个优选实施例中，该方法进一步包括以下步骤：
-在步骤b)和步骤d)的过程中，使车体朝向下层运载车支架降低，从而使主电源与车体分离，并且
-在步骤b)和步骤d)之后，使车体远离下层运载车支架升高，从而允许主电源(6)与充电站连接。
通过伸长装置来实现车体的降低和升高，伸长装置与驱动装置连接，或是驱动装置的整体的部分。
在另一优选实施例中，通过在控制单元和运载车内的无线通信装置之间传递通信信号，来控制这些方法步骤。
该方法中使用的运载车组件有利地可以是如上公开的类型的运载车组件。
在随后的描述中，介绍了许多具体细节，以提供所要求的运载车、系统和方法的实施例的充分理解。然而，相关领域中的技术人员将认识到，无需一个或多个具体细节，或者通过其他部件、系统等，便可实践这些实施例。在其他情况中，未示出或者未详细描述众所周知的结构或操作，以避免使所公开的实施例的这些方面模糊不清。
附图说明
图1是现有技术储存系统的立体图；
图2是根据本发明的遥控运载车的底部立体图；
图3是根据本发明的遥控运载车的顶部立体图；
图4是根据本发明的储存系统的一部分的侧面立体图，其包括箱储存栅格、运载车支架和机器人；
图5是根据本发明的储存系统的一部分的侧面立体图，其包括箱储存栅格、运载车支架、机器人和多个充电站；
图6是示出了主电源和副电源的机器人的结构图，其中，图6(a)和图6(b)示出了与机器人分别操作地连接和分离的主电源；
图7是机器人和充电站的截面图；
图8(a)至图8(d)是机器人和充电站的截面图，其中，图8(a)示出了处于升高位置且离其充电位置一定距离的包含电池的机器人，图8(b)和图8(c)分别示出了处于升高位置和降低位置的，位于其充电位置附近的包含电池的机器人，图8(d)示出了在将电池传送至充电站之后处于降低位置且离其充电位置一定距离的机器人；
图9(a)至图9(c)是提供图8(b)至图8(d)中的连接机构的进一步细节的截面图，其中，图9(a)和图9(b)分别示出了位于升高位置和降低位置中的机器人和充电站上的连接钩，图9(c)示出了在使电池与充电站成功连接之后的连接钩。
具体实施方式
图2和图3以两个不同角度给出了机器人1的立体图，机器人包括：矩形车体或框架4，示出了布置在其内部中心的腔体7；顶盖72，覆盖车体4的顶部；四个第一组车轮10，安装在腔体7内；以及四个第二组车轮11，安装在车体4的外壁。第一车轮和第二组车轮10、11彼此垂直定向。为了清楚起见，示出了笛卡尔坐标系，其中，X、Y和Z轴沿着矩形车体4的主方向(principle direction)对齐。腔体7的尺寸适于容纳用于提升装置9(见图4)的必要部件，并适于容纳旨在由机器人1拾取的最大的储存箱2。
图4示出了储存系统2的一部分，其中，机器人1处于运载车支架14上的升高位置，位于支撑箱储存结构15内的储存柱8的正上方。使运载车提升装置9降低一定距离，进入储存柱8，以便钩在柱8内的任何储存箱2上并将储存箱提起。
通过无线通信装置19和远程控制单元来控制机器人1的所有操作。这包括控制机器人运动、运载车提升装置9以及任何运载车位置测量。
和图4中一样，在图5中将机器人1示出为布置在由多个支撑轨13组成的运载车支架14上，将运载车支架14支撑在组成多个储存柱8的箱储存结构15上。图5的机器人1包括：主电池6；电池保持装置22-24，用于在操作过程中保持主电池6，并使得必要的电力能够流至机器人1的驱动装置10、11；封闭盖73，具有把手74；以及控制面板75。为了允许对主电池6充电，创造性的储存系统3进一步包括多个充电站20、20’，充电站在这样的位置中固定至运载车支架14，在该位置中可接触车体的包括主电池6和/或机器人连接装置22-24的部分。每个充电站20、20’包括对应的充电站连接装置25、26，充电站连接装置帮助转移主电池6，并确保稳定连接和充电。图5示出了机器人1正在接近充电站20以将几乎放完电的主电池6转移至电池空闲充电站20的特殊情况。在成功转移之后，使机器人1移动至另一充电站20’，通常是最近的充电站20’，其包含充电至完全工作水平的主电池6。可通过如在图6的结构图中示意性地表示的副电源或副电池21，来确保从第一充电站20沿着运载车支架14到第二充电站20’的这种运动，其中，图6(a)和图6(b)分别示出了与主电池连接和分离的机器人1。当连接时，主电池6的端子与电路板19电连接，这再次控制了到驱动装置10、11的功率流(power flow)。应当注意的是，驱动装置10、11包括至少确保横向运动的在机器人1内的所有机构和/或部件，包括车轮、电机、齿轮等。此外，图6(a)和图6(b)都表示了上述副电池21，副电池的端子与和主电池6相同的电路板19电连接。因此，机器人1可通过此结构对驱动装置10、11提供足够的电力，以甚至在完全没有主电池6(包括物理的和/或电的)的情况下(图6(b))，允许机器人1的操作(横向运动、升高、提升装置9的操作)。当连接主电池6时，副电池21可在机器人1的连续操作过程中保持断电或用作附加电源。
图7是布置在运载车支架14的顶部上的机器人1和充电站20的截面图，进一步详细地示出了主电池6的位置(在此实施例中，主电池布置在专用的主电池腔体24内)、以及组成位于机器人1的一侧上的组成机器人容纳装置22、23和位于充电站20的一侧上的充电站容纳装置25、26的部件。将机器人连接装置22、23示出为至少一个机器人钩22和至少一个机器人孔23，机器人钩可枢转地固定至主电池腔体24的侧壁，从而将主电池6固定在适当位置，机器人孔位于主电池6的面向充电站20、20’的一侧。同样地，充电站20、20’的面向机器人1的侧面包括至少一个可枢转的充电站钩25和至少一个充电站孔26，充电站钩能够可释放地固定至机器人孔23，充电站孔能够可释放地接收可枢转的机器人钩22。机器人1处于图7所示的可在竖直方向(即，垂直于运载车支架14)上调节的横向位置，以确保将机器人钩22和充电站钩25可靠且简单地固定在它们相应的机器人孔23和充电站孔26中。图8中进一步详细示出了这种运动，图8示出了从机器人1到充电站20、20’的主电池转移过程的四个不同的阶段(a)-(d)。在第一阶段中(图8(a))，包含主电池6的机器人1接近处于升高位置的充电站20、20’。当机器人1相对于充电站20、20’处于横向转移位置时(图8(b))，引导位于充电站处的充电站钩25进入其对应的位于主电池处的机器人孔23。随后机器人1朝向下层运载车支架14降低预定距离(图8(c))，导致从主电池6释放机器人钩22。最后，机器人1在保持在降低位置的同时，使用副电源22而从充电站20、20’收回(图8(d))。然后，机器人1可重新回到升高位置，并沿着运载车支架14移动至具有充满电的主电池6的充电站20’。
图9(a)至图9(c)提供了从机器人1到充电站20的主电池转移过程的更详细的展示。图9(a)与图8(b)所示的情况对应，即，当升高的机器人1已经相对于充电站20移动至转移位置且充电站钩25已成功地引导并钩至对应的机器人孔23时。此外，图9(b)与图8(c)所示的情况对应，即，当机器人1已经降低，从而将机器人钩22从主电池6释放时。最后，图9(c)与图8(d)所示的情况对应，即，当通过副电源21使机器人1从充电站20收回，使主电池与充电站20保持充电连接时。
在前面的描述中，已经参考说明性的实施例描述了根据本发明的设备的各种方面。为了说明的目的，阐述了具体的数字、系统和结构，以提供该设备及其工作的充分理解。然而，此描述并非旨在在限制性的意义上进行解释。对于所公开的主题所属的领域中的技术人员来说显而易见的说明性实施例的各种修改和变化，以及该设备的其他实施例，都认为是在本发明的范围内。
参考数字/字母的列表：
1 遥控运载车组件/机器人
2 储存箱
3 储存系统
4 车体/框架
6 主电源/主电池
7 腔体
8 储存柱
9 运载车提升装置
10 第一组运载车滚动装置/第一组车轮/驱动装置
11 第二组运载车滚动装置/第二组车轮/驱动装置
13 支撑轨
14 运载车支架
15 箱储存结构/箱储存栅格
19 电路板/管理系统/电池管理系统
20 充电站/第一充电站
20’ 相邻的充电站/第二充电站
21 副电源/副电池
22 运载车连接装置/机器人钩
23 接收装置/机器人孔
24 主电池腔体
25 充电站连接装置/充电站钩
26 充电站孔
50 箱提升装置
60 传送站/端口
72 顶盖
73 封闭盖
74 把手
75 无线通信装置/控制面板

Claims (16)

1.一种遥控运载车组件(1)，用于从下层储存系统(3)拾取储存箱(2)，所述运载车组件包括：
车体(4)，具有用于容纳位于所述储存系统(3)内的储存箱(2)的腔体(7)，
运载车提升装置(9)，至少间接地连接至所述车体(4)，以将所述储存箱(2)从所述下层储存系统(3)竖直地提升到所述腔体(7)中，
驱动装置(10、11)，连接至所述车体(4)，允许所述运载车组件(1)在所述储存系统(3)内进行远程受控运动，
无线通信装置(75)，用于在所述运载车组件(1)和远程控制单元之间提供无线通信，以及
主电源(6)，向所述驱动装置(10、11)供应电力，
其特征在于，所述运载车组件(1)还包括：
运载车耦接装置(22)，用于使所述主电源(6)与所述车体(4)能释放地耦接，
其中，所述耦接装置(22、23)配置为，在从所述控制单元接收至少一个通信信号之后，允许所述主电源(6)与固定的充电站(20)进行交换。
2.根据权利要求1所述的运载车组件(1)，
其特征在于，所述运载车组件(1)还包括用于向所述驱动装置(10、11)供应电力的副电源(21)。
3.根据权利要求1或2所述的运载车组件(1)，
其特征在于，所述运载车组件(1)还包括用于管理至少一个电源(6、21)的管理系统(19)，
所述管理系统(19)包括：
用于监测电压、温度、充电状态(SOC)、放电深度(DOD)、健康状态(SOH)、冷却剂流量和电流中的至少一个的装置，以及
再充电控制装置，用于控制与至少一个电源(6、21)的再充电相关的至少一个参数。
4.根据权利要求3所述的运载车组件(1)，
其特征在于，在所述运载车(1)的操作过程中，储存在所述副电源(21)中的最小量的电力等于将所述运载车组件(1)从一个充电站(20)移动至相邻的充电站(20’)所需的电力。
5.根据权利要求3或4所述的运载车组件(1)，其特征在于，所述副电源(21)和所述主电源(6)互相连接，使得当所述主电源(6)与所述运载车组件(1)操作地连接时，所述主电源(6)能对所述副电源(21)进行充电。
6.根据前述权利要求中的一项所述的运载车组件(1)，其特征在于，至少一个电源(6、21)是电容器。
7.根据前述权利要求中的一项所述的运载车组件(1)，其特征在于，至少一个电源(6、21)是能再充电电池。
8.根据权利要求7所述的运载车组件(1)，其特征在于，所述运载车组件(1)还包括管理至少一个电源(6、21)的电池管理系统(BMS)(19)。
9.根据前述权利要求中的一项所述的运载车组件(1)，其特征在于，所述主电源(6)包括：
接收装置(23)，能够与位于充电站(20、20’)上的对应充电站连接装置(25)能释放地连接。
10.根据权利要求9所述的运载车组件(1)，其特征在于，所述接收装置(23)中的至少一个是钩接收装置。
11.根据前述权利要求中的一项所述的运载车组件(1)，其特征在于，所述运载车连接装置(22)还包括：
至少一个电池钩(22)，能枢转地连接至所述车体(4)，使得在所述主电源(6)和所述车体(4)之间能释放地连接。
12.用于储存箱(2)的储存系统(3)，其特征在于，所述储存系统包括：
-根据权利要求1至11中任一项所述的遥控运载车组件(1)，
-充电站(20、20’)，
-运载车支架(14)，以及
-箱储存结构(15)，支撑所述运载车支架(14)，所述箱储存结构(15)包括多个储存柱(8、8a、8b)，其中，
每个所述储存柱(8、8a、8b)均布置为容纳竖直堆放的所述储存箱(2)。
13.用于对布置在遥控运载车组件(1)中的电源(6、6’)充电的方法，所述方法包括以下步骤：
a)将所述遥控运载车组件(1)移动至第一充电站(20)附近的充电位置，
b)将与所述运载车组件(1)的车体(4)连接的第一主电源(6)转移至所述第一充电站(20)，
c)使用对驱动装置(10、11)供应辅助电力的副电源(21)，将所述运载车组件(1)移动至第二充电站(20’)，并且
d)将与所述第二充电站(20’)连接的第二主电源(6’)转移至所述车体(4)，所述第二主电源(6’)已由所述第二充电站(20)充电一段时间(T)。
14.根据权利要求13所述的方法，其特征在于，
-在步骤b)和步骤d)的过程中，使所述车体(4)朝向下层运载车支架(14)降低，从而使主电源(6)与所述车体(4)分离，并且
-在步骤b)和步骤d)之后，使所述车体(4)远离所述下层运载车支架(14)升高，从而允许主电源(6)与充电站(20、20’)连接，
其中，通过伸长装置来实现所述车体(4)的降低和升高，所述伸长装置与所述驱动装置(10、11)连接，或是所述驱动装置的整体的部分。
15.根据权利要求14所述的方法，其特征在于，通过在控制单元和所述运载车组件(1)内的无线通信装置(75)之间传递通信信号，来控制所述方法的步骤。
16.根据权利要求14或15所述的方法，其特征在于，所述运载车(1)是根据权利要求1至11中任一项所述的运载车。
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EP3092187B1 (en) 2021-07-28
EP3092187B2 (en) 2024-06-12
PL3092187T3 (pl) 2021-11-22
US20160325932A1 (en) 2016-11-10
CN105899398B (zh) 2018-10-23
CA2934020A1 (en) 2015-07-16
JP2021119739A (ja) 2021-08-12
NO20140015A1 (no) 2015-07-09
AU2015205653A1 (en) 2016-07-07
WO2015104263A3 (en) 2015-10-01
CA2934020C (en) 2021-11-16
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US9821959B2 (en) 2017-11-21
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DK3092187T3 (da) 2021-08-23
EA201691338A1 (ru) 2016-12-30
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