CN108501897A - A kind of AGV trolleies of automatic replacement battery - Google Patents
A kind of AGV trolleies of automatic replacement battery Download PDFInfo
- Publication number
- CN108501897A CN108501897A CN201810269166.1A CN201810269166A CN108501897A CN 108501897 A CN108501897 A CN 108501897A CN 201810269166 A CN201810269166 A CN 201810269166A CN 108501897 A CN108501897 A CN 108501897A
- Authority
- CN
- China
- Prior art keywords
- battery
- layers
- charging station
- electromagnet
- expansion bend
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000005611 electricity Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 4
- BGPVFRJUHWVFKM-UHFFFAOYSA-N N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] Chemical compound N1=C2C=CC=CC2=[N+]([O-])C1(CC1)CCC21N=C1C=CC=CC1=[N+]2[O-] BGPVFRJUHWVFKM-UHFFFAOYSA-N 0.000 description 4
- 229910052742 iron Inorganic materials 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/30—Constructional details of charging stations
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T90/00—Enabling technologies or technologies with a potential or indirect contribution to GHG emissions mitigation
- Y02T90/10—Technologies relating to charging of electric vehicles
- Y02T90/12—Electric charging stations
Abstract
A kind of AGV trolleies of automatic replacement battery, belong to automatic charging field, it is characterized in that, a kind of AGV robots of automatic replacement battery include AGV trolleies and fixed charging station, it is characterized in that by vehicle frame, wheel, battery, battery guide rail, battery chamber door, battery chamber door expansion bend, laser range finder mounting bracket, laser range finder, servo motor, servomotor controller, singlechip controller, lifting platform expansion bend, lifting platform, one layer of charging station, two layers of charging station, three layers of charging station, one layer of electromagnet, two layers of electromagnet, three layers of electromagnet, guide rail expansion bend, capture expansion bend, with crawl expansion bend retainer composition, the program is advantageous in that：Laser guidance position location is accurate；Replace battery speed does not influence AGV work soon；Battery altering is ready at all times in precharge.
Description
Technical field
The present invention relates to a kind of AGV trolleies of automatic replacement battery, specifically use laser guidance positioning and electricity
The device of magnetic expansion bend belongs to automatic charging field.
Background technology
AGV is the abbreviation of Automated Guided Vehicle, implies that " automated guided vehicle ", refers to equipped with electricity
Magnetically or optically equal homing guidances device, it can be travelled along defined guide path, have safeguard protection and various transfer work(
The transport vehicle of energy, AGV belong to the scope of wheel type mobile trolley (WMR-- Wheeled Mobile Robot).In general AGV
Working strength and the duration it is larger, this requires AGV battery capacities are big, however charging time mistake needed for high capacity cell
It is long, the work of AGV is influenced, then expects replacing battery, but the device of battery is replaced without AGV on the market, so being badly in need of one
The automatic AGV trolleies for replacing battery of kind.
Invention content
In view of the above-mentioned deficiencies, the present invention provides a kind of AGV trolleies of automatic replacement battery.
The present invention is achieved by the following technical solutions：A kind of AGV trolleies of automatic replacement battery include AGV trolleies and
Fixed charging station, it is characterised in that：It is by vehicle frame, wheel, battery, battery guide rail, battery chamber door, battery chamber door expansion bend, swashs
Optar mounting bracket, laser range finder, servo motor, servomotor controller, singlechip controller, lifting platform expansion bend,
Lifting platform, one layer of charging station, two layers of charging station, three layers of charging station, one layer of electromagnet, two layers of electromagnet, three layers of electromagnet, guide rail
What expansion bend, crawl expansion bend and crawl expansion bend retainer formed, wheel is mounted on bottom of frame, servo motor, servo electricity
Machine controller and singlechip controller are mounted on frame interior, and laser range finder is mounted on laser range finder mounting bracket, one layer
Electromagnet is mounted on one layer of charging station, and two layers of electromagnet are mounted on the crawl expansion bend of two layers of charging station, three layers of electromagnet
On three layers of charging station, one layer of charging station, two layers of charging station and three layers of charging station are vertically arranged successively from top to bottom, installation
Behind the lifting platform supported by lifting platform expansion bend, lifting platform expansion bend is mounted in the groove below lifting platform, and two layers rise
Crawl expansion bend and guide rail expansion bend are installed, the lifting platform is divided into two layers whole and one layer of charging station and two layers in drop platform
The total height of charging station is contour, and described one layer to rush power station, two layers of charging station and three layers of charging station contour between each other, described
The telescopic rod of guide rail expansion bend is identical as the battery rail shapes of AGV trolleies, and opposite ground mounting height is identical.
The program is advantageous in that：Laser guidance position location is accurate；Replace battery speed does not influence AGV works soon
Make；Battery altering is ready at all times in precharge.
Description of the drawings
Attached drawing 1 is AGV structure charts, and attached drawing 2AGV plan views, attached drawing 3 is fixed charging station overall diagram, and Fig. 4 is fixed charges
It stands part-structure figure, Fig. 5 is fixed charging station part-structure figure, and Fig. 6 is fixed charging station part-structure figure.
In figure, 1, battery chamber door expansion bend, 2, battery chamber door, 3, battery, 4, battery guide rail, 5, fixed magnet, 6, monolithic
Machine controller, 7, controllor for step-by-step motor, 8, stepper motor, 9, vehicle frame, 10, wheel, 11, laser range finder mounting bracket, 12, swash
Optar, 13, one layers of charging station, 14, two layers of charging station, 15, three layers of charging station, 16, one layers of electromagnet, 17, two layers of electromagnetism
Iron, 18, three layers of electromagnet, 19, crawl expansion bend, 20, crawl expansion bend mounting bracket, 21, guide rail expansion bend, 22, lifting platform,
23, lifting platform expansion bend.
Specific implementation mode
A kind of AGV trolleies of automatic replacement battery include AGV trolleies and fixed charging station, it is characterised in that be by vehicle frame 9,
Wheel 10, battery 3, battery guide rail 4, battery chamber door 2, battery chamber door expansion bend 1, laser range finder mounting bracket 11, laser ranging
Instrument 12, servo motor 8, servomotor controller 7, singlechip controller 6, lifting platform expansion bend 23, lifting platform 22, one layer of charging
Stand 13, two layers of charging station 14, three layers of charging station 15, one layer of electromagnet 16, two layers of electromagnet 17, three layers of electromagnet 18, guide rail is stretched
Contracting device 21 captures expansion bend 19, and captures 20 composition of expansion bend retainer, and wheel 10 is mounted on 9 bottom of vehicle frame, servo motor
8, servomotor controller 7 and singlechip controller 6 are mounted on inside vehicle frame 9, and laser range finder peace 12 is mounted in laser range finder
On mounting bracket 11, one layer of electromagnet 16 is mounted on one layer of charging station 13, and two layers of electromagnet peace 17 are grabbed mounted in two layers of charging station
It takes on expansion bend 19, three layers of electromagnet 18 are mounted on three layers of charging station 15, one layer of charging station, 13, two layers of charging station 14 and three layers
Charging station 15 is vertically arranged successively from top to bottom, behind the lifting platform 22 supported by lifting platform expansion bend 23, lifting platform
Expansion bend 23 is mounted in the groove of 22 lower section of lifting platform, and crawl expansion bend mounting bracket 20 is equipped in two layers of lifting platform 14 and is led
Rail expansion bend 21 captures and is equipped with crawl expansion bend 19. on expansion bend mounting bracket 20
The device at runtime, when trolley not enough power supply to control system send out signal by laser range finder 12 positioning lead
Boat goes to fixed charging station automatically, and in fixed charging station positioning, battery case is directed at lifting platform 22 by accurate stop, at this time lifting platform
22 2 layers of alignment rear are equipped with two layers of charging station 14 of crawl expansion bend 19, and one layer of charging station 13 is pre-placed one piece of battery 3,
One layer of electromagnetism, 16 are fixed to connect and charge with the fixed magnet 5 on battery 3, and charging, which finishes, to be automatically powered off, and battery case is stretched
Contracting device 1 opens battery chamber door 2, and the stretching of guide rail expansion bend 21 connects with battery guide rail 4, and crawl expansion bend 19 stretches out, and crawl is flexible
Two layers of electromagnet 17 on device 19 are fixed with the fixed magnet 5 on battery to be connect, and is then captured expansion bend 19 and is drawn battery
Into two layers of lifting platform 22, expansion bend 19 is captured later and unclamps battery 3, one layer of electromagnet 16 powers off, and lifting platform expansion bend 23 will rise
Drop platform 22 is put down, and dead battery 3 enters three layers of 15 corresponding height and position of charging station, and the battery 3 being pre-placed declines therewith,
Decline finishes, and two layers of electromagnet 17 must be electric, and three layers of electromagnet 18 obtain electric, the fixed magnet 5 in dead battery 3 and three layers of electromagnetism
Iron 18 is attracted positioning and charges, and the fixed magnet 5 on battery 3 being pre-placed is attracted with two layers of electromagnet 17, and crawl is stretched
Device 19 stretches out, and battery 3 is installed into trolley, two layers of 17 dead electricity of electromagnet unclamp battery 3, and guide rail expansion bend 21 is withdrawn, and crawl is stretched
Contracting device 19 is withdrawn, and battery case expansion bend 1, which stretches out, closes battery chamber door, and when next time replaces battery 3, lifting platform 22 rises out of power electricity
Pond 3 rises to one layer of charging station 13 and charges, and trolley changes the battery 3 of precharge.The AGV trolleies for finishing changing battery 3 are sent out to system
Charging finishes signal, and location tasks place works if having task, and no task enters Accreditation Waiting Area waiting.
For the ordinary skill in the art, introduction according to the present invention, do not depart from the principle of the present invention with
In the case of spirit, changes, modifications, replacement and modification that embodiment is carried out still fall within protection scope of the present invention it
It is interior.
Claims (6)
1. a kind of AGV trolleies of automatic replacement battery, which is characterized in that a kind of AGV trolleies of automatic replacement battery include AGV small
Vehicle and fixed charging station, it is characterised in that be by vehicle frame, wheel, battery, battery guide rail, battery chamber door, battery chamber door expansion bend,
Laser range finder mounting bracket, laser range finder, servo motor, servomotor controller, singlechip controller, lifting platform are flexible
Device, lifting platform, one layer of charging station, two layers of charging station, three layers of charging station, one layer of electromagnet, two layers of electromagnet, three layers of electromagnet,
Guide rail expansion bend captures expansion bend, and captures expansion bend retainer composition.
2. a kind of AGV trolleies of automatic replacement battery as described in claim 1, which is characterized in that one layer of electromagnet,
Two layers of electromagnet and three layers of electromagnet are identical as the fixed magnet shape on battery.
3. a kind of AGV trolleies of automatic replacement battery as described in claim 1, which is characterized in that the lifting platform is divided into
Two layers whole contour with the total height of one layer of charging station and two layers of charging station.
4. a kind of AGV trolleies of automatic replacement battery as described in claim 1, which is characterized in that described one layer is rushed power station, two
Layer charging station and three layers of charging station are contour between each other.
5. a kind of AGV trolleies of automatic replacement battery as described in claim 1, which is characterized in that the guide rail expansion bend
Telescopic rod it is identical as the battery rail shapes of AGV trolleies, opposite ground mounting height is identical.
6. a kind of AGV trolleies of automatic replacement battery as described in claim 1, which is characterized in that the lifting platform is most
When lower position, the fixed magnet and three layers of electromagnet being placed on the battery of lifting platform low layer are contour.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810269166.1A CN108501897A (en) | 2018-03-29 | 2018-03-29 | A kind of AGV trolleies of automatic replacement battery |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810269166.1A CN108501897A (en) | 2018-03-29 | 2018-03-29 | A kind of AGV trolleies of automatic replacement battery |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108501897A true CN108501897A (en) | 2018-09-07 |
Family
ID=63379194
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810269166.1A Pending CN108501897A (en) | 2018-03-29 | 2018-03-29 | A kind of AGV trolleies of automatic replacement battery |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108501897A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112356648A (en) * | 2020-11-12 | 2021-02-12 | 北京特种机械研究所 | AGV and method for replacing battery of transfer robot |
| CN112455275A (en) * | 2019-09-06 | 2021-03-09 | 杭州海康机器人技术有限公司 | AGV positioning mechanism and positioning method |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994008814A1 (en) * | 1992-10-14 | 1994-04-28 | Aureliano Storelli | An integrated system for the exchange of the rechargeable electric accumulators for vehicles |
| CN201538304U (en) * | 2009-12-04 | 2010-08-04 | 贵阳普天物流技术股份有限公司 | Electric bus power battery-rapidly-replaced vehicle |
| CN102556009A (en) * | 2012-01-05 | 2012-07-11 | 中国电力科学研究院 | Replacing device for battery boxes of electric vehicle |
| CN202669767U (en) * | 2012-07-17 | 2013-01-16 | 张相保 | Quick charging and replacement device for battery of electric vehicle |
| CN203611952U (en) * | 2013-11-28 | 2014-05-28 | 西安航天精密机电研究所 | Side picking device for electric automobile automatic battery replacement mechanism |
| CN104842964A (en) * | 2015-06-05 | 2015-08-19 | 上海振华重工(集团)股份有限公司 | Battery replacing equipment of electric vehicle |
| CN105005286A (en) * | 2015-07-28 | 2015-10-28 | 杭州豪盛电动车辆有限公司 | AGV battery replacing control system and control method thereof |
| CN105059269A (en) * | 2015-08-17 | 2015-11-18 | 天津三源电力信息技术有限公司 | Battery replacing device for electric automobile |
| KR20160143903A (en) * | 2015-06-04 | 2016-12-15 | 한국생산기술연구원 | Battery replacement apparatus for electric vehicle and battery replacement method of the same |
-
2018
- 2018-03-29 CN CN201810269166.1A patent/CN108501897A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO1994008814A1 (en) * | 1992-10-14 | 1994-04-28 | Aureliano Storelli | An integrated system for the exchange of the rechargeable electric accumulators for vehicles |
| CN201538304U (en) * | 2009-12-04 | 2010-08-04 | 贵阳普天物流技术股份有限公司 | Electric bus power battery-rapidly-replaced vehicle |
| CN102556009A (en) * | 2012-01-05 | 2012-07-11 | 中国电力科学研究院 | Replacing device for battery boxes of electric vehicle |
| CN202669767U (en) * | 2012-07-17 | 2013-01-16 | 张相保 | Quick charging and replacement device for battery of electric vehicle |
| CN203611952U (en) * | 2013-11-28 | 2014-05-28 | 西安航天精密机电研究所 | Side picking device for electric automobile automatic battery replacement mechanism |
| KR20160143903A (en) * | 2015-06-04 | 2016-12-15 | 한국생산기술연구원 | Battery replacement apparatus for electric vehicle and battery replacement method of the same |
| CN104842964A (en) * | 2015-06-05 | 2015-08-19 | 上海振华重工(集团)股份有限公司 | Battery replacing equipment of electric vehicle |
| CN105005286A (en) * | 2015-07-28 | 2015-10-28 | 杭州豪盛电动车辆有限公司 | AGV battery replacing control system and control method thereof |
| CN105059269A (en) * | 2015-08-17 | 2015-11-18 | 天津三源电力信息技术有限公司 | Battery replacing device for electric automobile |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112455275A (en) * | 2019-09-06 | 2021-03-09 | 杭州海康机器人技术有限公司 | AGV positioning mechanism and positioning method |
| CN112356648A (en) * | 2020-11-12 | 2021-02-12 | 北京特种机械研究所 | AGV and method for replacing battery of transfer robot |
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|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180907 |
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| RJ01 | Rejection of invention patent application after publication |