CN112644604A

CN112644604A - AGV robot and trade power station

Info

Publication number: CN112644604A
Application number: CN202011458507.3A
Authority: CN
Inventors: 李想; 徐旭海; 谢维贵; 传国强
Original assignee: Chongqing Ganeng Electric Vehicle Technology Co ltd
Current assignee: Chongqing Ganeng Electric Vehicle Technology Co ltd
Priority date: 2020-12-10
Filing date: 2020-12-10
Publication date: 2021-04-13

Abstract

An AGV robot includes a main body; the driving module is arranged on the main body and comprises a walking driving piece and a plurality of walking wheels, and the walking wheels are arranged at the output end of the walking driving piece and used for driving the walking wheels to rotate; the navigation module is electrically connected with the driving module and is used for setting or planning a moving route from the main body to a target object; the lifting mechanism is arranged on the main body, is electrically connected with the navigation module and comprises a lifting plate for bearing a battery; the navigation module can control the walking driving piece to move the main body along the moving route according to the obtained moving route from the main body to the target object, and when the main body moves to a preset position, the lifting mechanism is controlled to lift the lifting plate so as to lift or lower the battery. The application also provides a power conversion station.

Description

AGV robot and trade power station

Technical Field

The application relates to an AGV robot and trade power station.

Background

At present, a battery pack of a new energy battery replacing vehicle is large and difficult to directly draw out from the bottom of the vehicle, and a battery replacing robot needs to be used for replacing a battery at the bottom of the vehicle. In order to match a fixed battery replacement route of the battery replacement robot, a vehicle to be replaced needs to be parked at a preset position, certain requirements are imposed on a driver parking technology, and the battery replacement robot is often large in thickness, difficult to directly enter the lower portion of a chassis of the vehicle to be replaced, and needs to be modified on a site. For example, some power conversion stations need drivers to drive the vehicles to the lifting machine, and the devices lift the vehicles to convert power after adjusting the postures of the vehicles; some trade power stations need drive the car to a trade on the electric overpass, have some direction and location structure on the bridge simultaneously, wait that the car stops accurately the back, the equipment trades the electric to the vehicle under the bridge. No matter which kind of mode, all there are processes such as accurate parking of driver, equipment adjustment vehicle gesture, have certain requirement to personnel's operation, equipment is also comparatively huge and complicated simultaneously.

Disclosure of Invention

In view of the above situation, there is a need for an AGV robot and a battery replacement station, so as to solve the problems that a vehicle to be replaced needs to be parked at a fixed position for replacing the battery, and the battery replacement robot has a large thickness and is difficult to directly enter the lower part of a vehicle chassis.

The embodiment of the application provides an AGV robot, which comprises a main body, a driving module, a navigation module and a lifting mechanism, wherein the driving module is arranged on the main body; the driving module is arranged on the main body and comprises a walking driving piece and a plurality of walking wheels, and the walking wheels are arranged at the output end of the walking driving piece and used for driving the walking wheels to rotate; the navigation module is electrically connected with the driving module and is used for setting or planning a moving route from the main body to a target object; the lifting mechanism is arranged on the main body, is electrically connected with the navigation module and comprises a lifting plate for bearing a battery; the navigation module can control the walking driving piece to move the main body along the moving route according to the obtained moving route from the main body to the target object, and when the main body moves to a preset position, the lifting mechanism is controlled to lift the lifting plate so as to lift or lower the battery.

The main body provides an installation foundation for installing the driving module, the lifting mechanism and the navigation module, and a battery position is arranged on the main body to accommodate the battery so as to carry the battery. The navigation module obtains external information and sends out an instruction to control the driving module and the lifting mechanism to perform corresponding actions so as to convey the battery to a battery replacement area where a target object exists, and the battery is lifted to a vehicle to be replaced in the battery replacement area. Correspondingly, the main body can be driven to the battery replacement area through the driving module and the navigation module, a battery on the vehicle to be replaced is lowered into the battery position through the lifting mechanism, and then the vehicle is driven away from the battery replacement area through the driving module. The navigation module can adapt the AGV robot to the parking position of the vehicle to be replaced, and the AGV robot actively approaches and is in butt joint with the battery replacing area corresponding to the vehicle to be replaced.

Further, in some embodiments of the present application, the mobile terminal further includes a communication module electrically connected to the navigation module, and configured to be communicatively connected to the console to receive the start signal.

The communication module is communicated with an external control console, so that the information of the battery replacement of the vehicle to be replaced can be remotely obtained, and the vehicle to be replaced enters a working state after the information of the battery replacement of the vehicle to be replaced is obtained. Under the working state, the AGV robot finishes a series of battery replacement actions. In addition, the outside control cabinet also can send the information such as model, battery position of vehicle to AGV robot to reduce the navigation degree of difficulty of navigation module.

Further, in some embodiments of the present application, the navigation module includes a plurality of laser positioning heads for sensing a positioning member of the electric vehicle to be replaced to determine a battery position.

Look for the setting element of waiting to trade electric vehicle through laser positioning head, wait to trade electric vehicle and set up the battery box that is used for fixed battery, the setting element can be around the battery setting on the battery box, fixes a position the back when all laser positioning heads and the setting element that corresponds, can judge that the AGV robot has been located and trades the electric region, and the battery position of AGV robot deposits the position butt joint that corresponds the battery with the battery box this moment.

Further, in some embodiments of the present application, the navigation module includes a camera for shooting the shape information of the electric vehicle to be replaced, and the shape information of the electric vehicle to be replaced is used for analyzing the position of the target object.

The camera shoots the appearance information of the vehicle to be replaced to judge the position of the battery, and the positioning navigation method can be suitable for positioning navigation when the AGV robot is far away from the battery replacing area, so that the AGV robot can gradually approach the battery replacing area.

Further, in some embodiments of the present application, the navigation module further includes a plurality of laser navigation heads for sensing a navigation component corresponding to the electric vehicle to be replaced to navigate the AGV robot to approach the target object.

The laser navigation head also uses the laser form to butt joint corresponding parts on the electric vehicle to be replaced like the laser positioning head, but the navigation part arranged on the electric vehicle to be replaced is planned outside the target object so as to navigate the AGV robot to the target object.

Further, in some embodiments of the present application, the number of laser positioning heads is at least four, and there are at least three laser positioning heads that are not collinear.

In order to improve the positioning accuracy, the number of the laser positioning heads is set to be at least four, and if all the laser positioning heads are collinear, the posture of the AGV robot (the posture of the AGV robot is not changed, namely the battery position only translates but does not rotate) is easily not adjusted well, so that at least three laser positioning heads are not collinear, and at least one triangular positioning area is formed. After the three laser positioning heads which are arranged in a triangular mode are in butt joint with the positioning piece, the fact that the AGV robot is at least close to the battery replacement area is known, whether the remaining laser positioning heads are in the butt joint state or not is judged, if the laser positioning heads are in the butt joint state, the fact that the AGV robot is not only in the battery replacement area, but also the gesture of the AGV robot accords with the gesture of a battery on the vehicle to be replaced, and the battery replacement requirement is met.

Further, in some embodiments of the present application, the navigation module includes a plurality of proximity switches for cooperating with a protrusion of a chassis of the vehicle to be changed to determine the battery position.

Besides laser positioning through the laser positioning head, positioning can also be performed through the touch mode of the proximity switch, and the positioning mode is similar to that of the laser positioning head.

Further, in some embodiments of the present application, the communication module further includes a near field communication module, configured to perform near field communication with a vehicle to be powered to exchange power exchange information.

The near field communication module can improve the direct interaction capacity of the AGV robot and the vehicle to be replaced, and the AGV robot is prevented from completely depending on an external communication platform to interact.

Further, in some embodiments of the present application, the battery swapping information includes: the information of whether the electric vehicle to be replaced is communicated with the near field communication module or not is used for confirming whether the AGV robot is close to the battery replacing area or not; and the communication module transmits an unlocking signal to the vehicle to be changed so as to unlock the battery of the vehicle to be changed.

Because the near field communication module can communicate only when the distance is close, whether the AGV robot is close to the battery replacement area can be judged by judging whether the vehicle to be replaced is communicated with the near field communication module. That is, if the vehicle to be switched is not communicated with the near field communication module, that is, the AGV robot has a certain distance from the power switching area, if the vehicle to be switched is communicated with the near field communication module, that is, the AGV robot is in the power switching area, pairing of the AGV robot and the vehicle to be switched is performed, and mispairing of the AGV robot and other vehicles can be avoided in the subsequent process. In addition, when the AGV robot is in a battery replacement area and lifts the lifting mechanism to a corresponding height, the AGV robot can directly send an unlocking signal to a vehicle to be replaced through the near-field communication module, the vehicle to be replaced unlocks the battery after receiving the unlocking signal, the battery is directly borne on the lifting plate to be lifted, wireless communication can be established with the vehicle to be replaced through other modules in a battery replacement station where the AGV robot is located, and the battery to be replaced is unlocked by uniformly sending a communication instruction through the battery replacement station.

Further, in some embodiments of the present application, the road wheels comprise mecanum wheels or omni-directional wheels.

Mecanum wheel and omniwheel all can realize carrying out plane displacement under the condition of not changing AGV robot gesture for AGV robot can rotate or the translation on the face that bears AGV robot. Of course, a wheel system like a steering wheel of a Mecanum wheel and an omni wheel can be used to achieve similar technical effects.

Further, in some embodiments of the present application, a floating member is elastically disposed on the lifting plate, and a side of the floating member away from the lifting plate is used for bearing a battery.

Further, in some embodiments of the present application, a side of the body remote from the entrance has a bottom plate, the lifting mechanism is disposed on the bottom plate, the lifting plate has opposite first and second sides, and a virtual surface is disposed between the first and second sides. The lifting mechanism further comprises a lifting control piece, a plurality of lifting force arms and a lifting plate. The lifting control piece is arranged on the bottom plate and is provided with a rotating shaft which can be close to or far away from the bottom plate; one end of a lifting force arm is hinged with the lifting control part through the rotating shaft, the other end of the lifting force arm is matched with the lifting plate, and the part of the lifting force arm close to the first side and the part of the lifting force arm close to the second side are symmetrically arranged relative to the virtual plane; the lifting plate has a lowering state, and when in the lowering state, the lifting plate is positioned below the rotating shaft.

During the use, through the lifting arm of force of being connected with the rotation of lift control piece to the lifter plate application of force, can realize that the lifting arm of force is kept away from the one end of lift control piece and rotates to the direction that is close to the bottom plate for the lifter plate of being connected with the lifting arm of force is close to bottom plate place plane as far as possible, also promptly, the lifter plate is lowering and is putting the later stage and get into and fall and put the state, when falling and putting the state, the lifter plate is located the below of pivot. Through the lifting force arms which are symmetrically arranged on the two sides of the virtual surface, horizontal forces in opposite directions can be provided to offset the horizontal forces, and the same vertical force is provided to jointly lift the lifting plate.

Further, in some embodiments of the present application, the lifting control member includes a sliding assembly, a first force arm and a second force arm, the first force arm and the second force arm are hinged to each other, the sliding assembly includes a lifting driving member and a sliding block, an end of the second force arm far away from the first force arm is hinged to the bottom plate through a first shaft, the first shaft is located below the rotating shaft, an end of the first force arm far away from the second force arm is hinged to the sliding block, and the lifting driving member is disposed on the main body to drive the sliding block to be close to or far away from the first shaft.

Let the slider be close to or keep away from the primary shaft through sliding assembly for the contained angle between first arm of force and the second arm of force reduces or increases, further lets lift the arm of force and lift control's pin joint position rise or descend, thereby accomplishes lifting or falling of the arm of force to the lifter plate and put. Namely, the vertical displacement of the lifting plate can be converted into the horizontal displacement of the sliding block.

The embodiment of the application also provides a battery replacement station, which comprises a battery replacement parking place, a power vending device, a battery management system and the AGV robot; the electric vending machine is used for providing a battery for the AGV robot; the battery management system is in communication connection with the electric vending machine and the AGV robot; the power exchange station is used for parking a vehicle to be subjected to power exchange; the AGV robot is used for taking out the battery in the battery compartment, through the drive module with the navigation module displacement arrives the battery position of waiting to trade electric vehicle, again through the lifting mechanism with the battery lift to trade in the electric vehicle.

The battery replacement station can be navigated to a corresponding area of the vehicle to be replaced by the AGV robot to perform battery replacement operation, and the battery is transported to the vehicle to be replaced or transported out of the vehicle to be replaced, so that the battery replacement operation of the vehicle to be replaced is realized.

Drawings

FIG. 1 is a schematic diagram of an AGV robot in one embodiment of the present application as it stores batteries in battery slots.

FIG. 2 is a schematic diagram of an AGV robot in one embodiment of the present application lifting a battery out of a battery position.

Fig. 3 is a schematic view of the battery of fig. 2 with the battery removed.

Fig. 4 is a schematic view of the battery of fig. 1 with the battery removed.

FIG. 5 is a system diagram of an AGV robot in one embodiment of the present application.

FIG. 6 is a schematic diagram of a first perspective of a lift mechanism in an embodiment of the present application.

Fig. 7 is a schematic structural diagram of a lifting drive unit in a lifted state in one embodiment of the present application.

Fig. 8 is a schematic structural view of a lifting drive unit in a lowered state in one embodiment of the present application.

Fig. 9 is a partial enlarged view of the area IX in fig. 6.

FIG. 10 is a schematic diagram of a second perspective of a lift mechanism in an embodiment of the present application.

Description of the main elements

AGV robot 001

Battery 002

Main body 010

Battery position 011

Communication module 020

Near field communication module 021

Control module 030

Virtual surface 040

Drive module 050

Traveling wheel 051

Lifting mechanism 070

Navigation module 090

Laser positioning head 091

Camera 093

Base plate 100

Lift control 200

First force arm 210

Second moment arm 230

First shaft 250

Rotating shaft 270

Sliding assembly 290

Sliding block 291

Slide rail 293

Lifting drive 295

Driving motor 2951

Screw 2953

Lifting force arm 400

Sliding shaft 410

Sleeve 411

Lifting plate 600

Elongated hole 610

Guiding telescopic rod 700

The following detailed description will further illustrate the present application in conjunction with the above-described figures.

Detailed Description

The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments.

It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. When an element is referred to as being "disposed on" another element, it can be directly on the other element or intervening elements may also be present.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The main body provides an installation foundation for installing the driving module, the lifting mechanism and the navigation module, and a battery position is arranged on the main body to accommodate the battery so as to carry the battery. The navigation module obtains external information and sends out an instruction to control the driving module and the lifting mechanism to perform corresponding actions so as to convey the battery to the battery replacement area, and the battery is lifted to the vehicle to be replaced in the battery replacement area. Correspondingly, the main body can also be driven to the battery replacing area through the driving module and the navigation module, a battery on the vehicle to be replaced is lowered into the battery position through the lifting mechanism, and then the vehicle is driven away from the battery replacing area through the driving module. The navigation module can adapt the AGV robot to the parking position of the vehicle to be replaced, and the AGV robot actively approaches and is in butt joint with the battery replacing area corresponding to the vehicle to be replaced.

Embodiments of the present application will be further described with reference to the accompanying drawings.

Example one

Referring to fig. 1, fig. 2 and fig. 5, the present embodiment provides an AGV robot 001 according to the present application, which includes a main body 010, a driving module 050, a navigation module 090 and a lifting mechanism 070; the driving module 050 is arranged on the main body 010 and comprises a walking driving part and a plurality of walking wheels 051, and the walking wheels 051 are arranged at the output end of the walking driving part and used for driving the walking wheels 051 to rotate; the navigation module 090 is electrically connected with the driving module 050 and is used for setting or planning a moving route from the main body 010 to a target object; the lifting mechanism 070 is arranged on the main body 010, is electrically connected with the navigation module 090, and comprises a lifting plate 600 used for bearing the battery 002; the navigation module 090 can control the walking driving unit to move the main body 010 along the movement route according to the acquired movement route from the main body 010 to the target object, and control the lifting mechanism 070 to lift and lower the lifting plate 600 to lift or lower the battery 002 when the main body 010 moves to a predetermined position.

The target object in this application needs to carry out the object that the battery exchanged with the AGV robot promptly, and main part 010 provides the installation basis with installation drive module 050, lifting mechanism 070 and navigation module 090, sets up battery 002 position with the holding battery 002 on main part 010, and then carries battery 002. In order to facilitate linkage and matching among the modules, a control module is directly arranged on the AGV robot, and it should be noted that in other embodiments, the control module 030 may be arranged at a far end. The navigation module 090 obtains external information and sends an instruction to the control module 030, the control module 030 analyzes the obtained external information to control the driving module 050 and the lifting mechanism 070 to perform corresponding actions so as to convey the battery 002 to a battery replacement region corresponding to the target object, and the battery 002 is lifted to the vehicle to be replaced in the battery replacement region. Correspondingly, the main body 010 can be driven to the battery replacement region through the driving module 050 and the navigation module 090, the battery 002 on the vehicle to be replaced is lowered into the battery 002 position through the lifting mechanism 070, and then the vehicle is driven out of the battery replacement region through the driving module 050. Navigation module 090 can be with AGV robot 001 adaptation treat trading the parking position of electric vehicle, the electric region is traded that treats that the electric vehicle corresponds of active access and butt joint.

The AGV robot 001 is in a standby state at ordinary times, and when a vehicle to be changed is in place, a starting signal needs to be obtained to start the AGV robot 001. Therefore, AGV robot 001 still sets up communication module 020, and communication module 020 can receive wireless signal. Still be provided with a control cabinet outside AGV robot 001, the control cabinet can respond to the admission of waiting to trade electric vehicle in a large scale, and the control cabinet transmits start signal to AGV robot 001 after obtaining the signal of waiting to trade electric vehicle admission. The console can be linked with the vehicle to be replaced through various forms, for example, a monitoring camera can be used for monitoring whether the vehicle enters or not, and the gesture posture of a driver is monitored to judge whether the battery needs to be replaced or the position or the number of the battery 002 needing to be replaced; or the power supply switching system can be connected through a server, and the driver sends a power switching requirement to the server (the power switching requirement comprises whether power switching is needed or not and the position or the number of the battery 002 to be replaced). In addition, the control console can also judge whether the position where the electric vehicle to be changed stops is proper, if not, the control console does not send a signal to the AGV robot, and informs the electric vehicle to be changed of correcting the position. The console can be converted into position information after obtaining the signal and transmits the position information to the AGV robot 001, and the AGV robot 001 can better position the battery 002 of the vehicle to be replaced according to the position information.

The navigation module 090 may navigate in a variety of ways to guide the AGV robot 001 to accurately displace. Referring to fig. 1 and 2, the navigation module 090 includes a positioning sub-module, the positioning sub-module includes six laser positioning heads 091, the laser positioning heads 091 are configured to sense a positioning member of the vehicle to be replaced to determine the battery position 011, the positioning member on the vehicle to be replaced may be a bump, the laser positioning heads 091 determine whether to be butted with the positioning member in a distance measurement manner, the positioning member on the vehicle to be replaced may also be a reflector, and whether to be butted with the positioning member is determined by whether a light sensing element on the AGV robot 001 receives reflected laser light, and one or more types may be adopted in many forms. The laser positioning head 091 emits laser by utilizing the characteristic that the energy of the laser beam is concentrated but not diffused, so that the positioning is more accurate. Six laser positioning heads 091 of navigation module 090 distribute in the hexagonal of a protruding hexagon, and arbitrary three laser positioning heads 091 are all isolines, also can all form a triangle-shaped for arbitrary three laser positioning heads 091, and this kind makes laser positioning heads 091 distribution area wider, makes wherein arbitrary laser positioning head 091 just in time form the butt joint with the setting element easily in the 001 displacement process of AGV robot. If all the laser positioning heads 091 are collinear, so that all the laser positioning heads 091 are gathered together, it is difficult to butt any one of the laser positioning heads 091 during butt joint, and there may be a case that all the laser positioning heads 091 are butted with the positioning member, but the orientation of the AGV robot 001 is just opposite.

In addition, the navigation module 090 may further include another laser navigation head, or may use a part of the laser positioning head 091 to perform the operation of the laser navigation head at the same time. The laser navigation head can be matched with a navigation piece corresponding to the bottom of the vehicle to be changed, so that navigation and posture adjustment of the AGV robot are achieved. The navigation feature may have different characteristics than the positioning feature such that the laser navigation head recognizes the component as a navigation feature rather than a positioning feature.

In other embodiments, the number of the laser positioning heads 091 may be different from six, and the docking accuracy may be improved by increasing the number, but the computation amount and the production cost of the navigation module 090 may be correspondingly increased.

In other embodiments, the laser positioning head 091 may not be used for butt joint, but may be in the form of a proximity switch or the like. In the embodiment of adopting the proximity switch for butt joint, a chassis of the vehicle to be electrified needs to be provided with a bulge, and the proximity switch can be judged to be matched with the bulge by touching the bulge. The effect of the different position layouts of the contact switch and the protrusion is the same as the effect of the different position layouts of the laser positioning head 091, and because the effect of the different position layouts of the laser positioning head 091 has been described previously, the position layouts of the contact switch and the protrusion will not be discussed in detail. It is contemplated that the positioning sub-module may also be formed using a combination of a hybrid laser positioning head 091 and proximity switch.

The laser positioning head 091 is used for butting the AGV robot 001 and a vehicle to be replaced, so as to guide the AGV robot 001 to be close to a battery replacing area, and equipment with a larger visual field is required to be used. In order to enable the AGV robot 001 to gradually approach the battery replacement area, the navigation module 090 further includes a camera 093, the camera 093 can capture the shape information of the vehicle to be replaced, and the shape information of the vehicle to be replaced is used for analyzing the position of the target object and then determining the relative position of the battery replacement area and the AGV robot 001, so as to instruct the driving module 050 to operate so as to approach the battery replacement area.

Referring to fig. 5, in order to realize the direct docking between the AGV robot 001 and the vehicle to be replaced, the communication module 020 further includes a near field communication module 021, and the near field communication module 021 communicates with the vehicle to be replaced to exchange the battery replacement information.

The battery replacement information comprises information about whether a vehicle to be replaced is communicated with the near-field communication module 021, and the AGV robot 001 and the vehicle to be replaced are accurately paired through the information, so that the near-field communication module of the AGV robot 001 is prevented from being mistakenly paired with other devices. Since the communication between the console and the vehicle to be replaced is non-near-field communication, other vehicles may be misjudged as the vehicle to be replaced. Through the pairing of the AGV robot 001 and the vehicle to be replaced, and the pairing information is stored until the battery replacement is finished, the situation can be avoided.

In addition, the battery replacement information can also be used for confirming whether the AGV robot 001 is close to the battery replacement area, and particularly, since the near field communication module 021 needs to communicate under the condition that the distance is close, whether the AGV robot 001 is close to the battery replacement area can be judged through whether the battery to be replaced is communicated with the near field communication module 021. That is, if the battery replacement vehicle is not communicated with the near field communication module 021, it indicates that the AGV robot 001 is a certain distance away from the battery replacement region, and if the battery replacement vehicle is communicated with the near field communication module 021, it indicates that the AGV robot 001 is close to the battery replacement region or is in the battery replacement region.

The battery replacement information also comprises an unlocking signal transmitted to the vehicle to be replaced by the communication module 020, and the vehicle to be replaced can be informed to unlock the battery 002 through the information. Specifically, when the AGV robot 001 is in the battery replacement area and lifts the lifting mechanism 070 to the corresponding height, the AGV robot 001 can directly send an unlocking signal to the vehicle to be replaced through the near field communication module 021, the vehicle to be replaced unlocks the battery 002 after receiving the unlocking signal, and the battery 002 is directly loaded on the lifting plate for lifting.

The posture of the AGV robot 001 that this application refers also describes the angle that the AGV robot 001 rotated on the fixed position: when AGV robot 001 was in trading electric regional and AGV robot 001's gesture was correct, AGV robot 001 need not turned angle and can realize that battery position 011 matches the battery 002 case of holding battery 002 on waiting to trade electric vehicle, and AGV robot 001 need not the translation but need rotate certain angle and just can realize that battery position 011 matches the battery 002 case of holding battery 002 on waiting to trade electric vehicle when trading electric vehicle's gesture is incorrect at that time AGV robot 001. Because the butt joint is accomplished with waiting to trade the electric vehicle to AGV robot 001, not only want AGV robot 001 to enter into and trade the electric region, still need AGV robot 001 have with wait to trade the electric vehicle bottom and be used for the battery 002 case of holding battery 002 to have the gesture that matches, consequently need the wheel to have in each direction translation or simply rotate the function. The walking wheels 051 adopt Mecanum wheels or omni wheels to realize translation in all directions or simply rotate at determined positions, and through algorithm setting, the AGV robot 001 can perform random linear and curvilinear motion and rotate in situ on the bearing surface through the walking wheels 051, so that the AGV robot can be positioned more quickly and accurately.

Since the AGV robot 001 can only shift on the carrying surface to match the position of the battery 002 on the vehicle to be replaced, it is difficult to match the inclination angle of the battery 002 on the vehicle to be replaced. If the AGV robot 001 shifts on the horizontal plane to match different to-be-replaced vehicles, but the included angles between the batteries 002 placed on part of to-be-replaced vehicles and the horizontal plane are different, and the AGV robot 001 needs to take out the batteries 002 smoothly and place the batteries into the battery position 011, then the inclination angles of the batteries 002 on different to-be-replaced vehicles need to be matched. Elastic set up the floating piece (not shown in the figure) on lifter plate 600, one side of keeping away from lifter plate 600 through the floating piece bears battery 002, when lifter plate 600 up rises near the battery 002 of waiting to trade the electric vehicle, battery 002 pushes down floating piece local position and makes other positions of floating piece can contact battery 002 by the volume as much as possible, each floating piece can laminate battery 002 as far as possible this moment, and when waiting to trade electric vehicle unblock battery 002 so that battery 002 accomplishes and bear on lifter plate 600, the position that is pushed down before can rebound the come-up properly, and the position that is not pushed down before can suitably elasticity push down, finally battery 002 can bear smoothly on lifter plate 600. The floating member prevents damage that may be caused by the battery 002 falling rigidly by elastically supporting the battery 002, effectively protecting the battery 002. The floating member may be realized by directly using an elastic member such as a rubber block, or by connecting one end of a pressure spring to one end of the lifting plate 600 to connect a hard plate, as long as one end of the floating member away from the lifting plate 600 can elastically contact the battery 002.

Referring to fig. 1, 2, 3, and 4, in order to reduce the overall thickness of the AGV robot 001 carrying the battery 002 (the thickness is the height of the highest point of the AGV robot 001 including the battery 002 when the AGV robot 001 carrying the battery 002 moves on the horizontal plane), the battery 002 needs to be lowered as much as possible.

Referring to fig. 6, the lifting unit includes a lifting plate 600 and four lifting driving units, a bottom plate 100 is disposed on a surface of the main body 010 away from the entrance, and the lifting driving units are disposed on the bottom plate 100. The lifting plate 600 has a virtual surface 040 perpendicular to the lifting plate 600 in the middle thereof, the lifting plate 600 has a first side and a second side located on both sides of the virtual surface 040, two lifting drive units are provided on the first side, two lifting drive units are provided on the second side, and the lifting drive unit on the first side and the lifting drive unit on the second side are provided symmetrically with respect to the virtual surface 040.

Referring to fig. 6, 7 and 8, the lifting driving unit includes a lifting controller 200, a sliding assembly 290 and a lifting arm 400.

The lifting control member 200 includes a first moment arm 210 and a second moment arm 230, a first end of the first moment arm 210 and a first end of the second moment arm 230 are hinged to form a yoke structure through a rotation shaft 270, a second end of the second moment arm 230 is hinged to the base plate 100 through a first shaft 250, and the rotation shaft 270 is parallel to the first shaft 250, so that an included angle between the first moment arm 210 and the second moment arm 230 can be changed by pushing one end of the first moment arm 210 away from the second moment arm 230, and thus an included angle between the second moment arm 230 and the base plate 100 can be changed.

The sliding assembly 290 includes a lifting drive 295 and a slider 291, the lifting drive 295 is disposed on the base plate 100 for driving the slider 291 to move closer to or away from the first shaft 250 to articulate the slider 291 with the second end of the first force arm 210.

The lifting arm 400 is hinged to the lifting control member 200 through the rotation shaft 270 at a first end and connected to the lifting plate 600 at a second end.

Referring to fig. 6, 7 and 8, when the lifting driving member 295 drives the sliding block 291 to slide and further drives one end of the first force arm 210 away from the second force arm 230 to move, an included angle between the second force arm 230 and the bottom plate 100 is increased or decreased, that is, a connection position between the lifting force arm 400 and the lifting control member 200 is raised or lowered, and meanwhile, a certain horizontal displacement is provided along with the lifting control member 200 so that the included angle between the lifting force arm 400 and the lifting plate 600 matches a lifting amount of the lifting plate 600.

When the lifting device is used, the lifting plate 600 carried by the lifting force arm 400 is lifted or lowered along with the lifting force arm 400 being lifted or lowered, wherein when the lifting plate 600 is further lowered to the state that the lifting plate 600 is lowered, as shown in fig. 8, the sliding block 291 is at the first position far away from the first shaft 250, as shown in fig. 7, and when the lifting driving unit is in the lifting state, the sliding block 291 is at the second position near the first shaft 250.

The lifting moment arm 400 is hinged to the lifting control member 200 through the rotation shaft 270, such that the lifting moment arm 400 is disposed at the crossing position of the first force arm 210 and the second force arm 230, and in other embodiments, a mounting shaft parallel to the rotation shaft 270 may be separately disposed at other positions of the lifting control member 200, and the lifting moment arm 400 is hinged through the mounting shaft.

Referring to fig. 6 and 10, further, the lifting driving member 295 includes a driving motor 2951 and a lead screw 2953, the sliding block 291 is provided with an internal thread, and the internal thread of the sliding block 291 cooperates with the lead screw 2953 to form a lead screw pair. The output end of the driving motor 2951 is in circumferential limit connection with the lead screw 2953, the lead screw 2953 driven by the driving motor 2951 rotates around the axis, and the slider 291 can move along the axial direction of the lead screw 2953 while the lead screw 2953 rotates. The form of adopting the screw pair to drive the slider 291 to slide can accurately control the displacement of the slider 291, and can form self-locking to keep the position of the slider 291 when the motor stops rotating, and in addition, the application of the screw pair makes the power requirement on the driving motor 2951 lower, and the driving of the slider 291 can be realized by using the driving motor 2951 with small volume.

To further control the displacement direction of the slider 291 and to reduce the radial force applied by the slider 291 on the screw 2953, the sliding assembly 290 further includes two sliding rails 293 fixedly disposed on the bottom plate 100. The two slide rails 293 are respectively arranged on two sides of the slide block 291, the slide block 291 is provided with a slide groove matched with the slide rail 293, and the slide block 291 is in sliding connection with the slide rail 293 by the slide rail 293 penetrating through the slide groove. The slide rail 293 is provided in parallel with the screw 2953, and when the slider 291 moves in the axial direction of the screw 2953, the slider 291 is guided, and the radial force and the circumferential force applied to the slider 291 are transmitted to the slide rail 293, thereby reducing the load on the screw 2953.

Because the lifting force arm 400 on the first side is symmetrical to the lifting force arm 400 on the second side, the lifting force arm 400 on the first side exerts an oblique supporting force on the lifting plate 600 in a direction away from the second side, the lifting force arm 400 on the second side exerts an oblique supporting force on the lifting plate 600 in a direction away from the first side, a horizontal component force generated by the lifting force arm 400 on the first side is offset with a horizontal component force generated by the lifting force arm 400 on the second side, and a vertical component force generated by the lifting force arm 400 on the first side is in the same direction as a vertical component force generated by the lifting force arm 400 on the second side, so that the lifting force arm 400 on the first side and the lifting force arm 400 on the second side jointly lift the lifting plate 600 in a vertical direction.

Since one end of the lifting force arm 400 is hinged to the lifting control member 200 and the other end is directly matched with the lifting plate 600, the lifting force arm 400 is not limited by other stress points between the lifting control member 200 and the lifting plate 600, and therefore, one end of the lifting force arm 400 far away from the lifting control member 200 can be rotated to a position below the rotating shaft 270. Therefore, the lifting plate 600 carried by the lifting arm 400 is lifted or lowered by lifting the lifting arm 400, and when the lifting arm 400 is lifted or lowered in use, the lifting plate 600 carried by the lifting arm 400 is lifted or lowered, wherein the lifting plate 600 is further lowered until the lifting plate 600 is in a lowered state, as shown in fig. 4 and 8, the sliding block 291 is at a first position far away from the first shaft 250, and at this time, the lifting plate 600 is located below the rotating shaft 270. As shown in fig. 3 and 7, when the lifting driving unit is in the lifted state, the sliding block 291 is at the second position close to the first shaft 250, and the lifting plate 600 is located above the rotating shaft 270.

Specifically, in order to enable a pair of symmetrically arranged lifting driving units to synchronously move, the pair of symmetrically arranged lifting driving units share the same driving motor 2951, the driving motor 2951 is connected with a rotating wheel through a transmission belt, and two lead screws 2953 are respectively arranged on two sides of the rotating wheel in a circumferential limiting manner. When the driving motor 2951 rotates, the sliding blocks 291 on the lead screws 2953 on the two sides of the rotating wheel can be driven to synchronously move. The two drive motors 2951 may have different power outputs so that the lift plate 600 has a slight tilt to match the tilt of the battery 002 on the electric vehicle to be replaced.

In addition, since the lifting arm 400 is hinged to the lifting control member 200, one end of the lifting arm supporting the lifting plate 600 can rotate freely. When lifting and lowering of the lifting plate 600 are performed through four lifting driving units, the lifting plate 600 is difficult to avoid the tendency of movement of further displacement on the connecting lines of the first side and the second side, in order to avoid the displacement of the lifting plate 600 to both sides, four guiding telescopic rods 700 are added between the lifting plate 600 and the bottom plate 100, one ends of the guiding telescopic rods 700 are hinged to the bottom plate 100 through second shafts, the other ends of the guiding telescopic rods are hinged to the lifting plate 600, the second shafts are perpendicular to the first shaft 250, so that the guiding telescopic rods 700 can prevent the lifting plate 600 from being displaced on the connecting lines of the first side and the second side, and meanwhile, the lifting and lowering of the lifting plate 600 are not influenced.

Referring to fig. 6 and 9, in order to make the lifting plate 600 as close as possible to the plane of the bottom plate 100 when the lifting plate 600 is lowered, the lifting plate 600 is connected to the lifting arm 400 through the sliding shaft 410.

Specifically, the lifting plate 600 is provided with a long hole 610, one end of the lifting force arm 400, which is far away from the lifting control member 200, is provided with a sliding shaft 410, and the sliding shaft 410 is inserted into the long hole 610 to realize connection between the lifting force arm 400 and the lifting plate 600. In the lifting process of the lifting plate 600, the sliding shaft 410 abuts against one side of the long hole 610 far away from the virtual surface 040, when the lifting plate 600 is lowered, the lifting plate 600 is close to the plane where the bottom plate 100 is located, so that the sliding shaft 410 abuts against one side of the long hole 610 close to the virtual surface 040, at the moment, the lifting force arm and the horizontal plane form a negative included angle, the lifting plate 600 further slides downwards to reduce the height of the lifting plate 600, and the degree of the flush between the lowest part of the lifting plate 600 and the lowest part of the bottom plate 100 can be achieved.

It should be noted that when the lowest portion of the lifting plate 600 is flush with the lowest portion of the bottom plate 100, the first force arm 210 and the second force arm 230 are arranged at an obtuse angle and cannot be arranged at 180 °, so that when the lifting plate 600 is lifted next time, the horizontal force of the sliding block 291 is transferred to the first force arm 210, and a certain vertical component is formed on the first force arm 210.

Since the sliding shaft 410 and the inner wall of the long hole 610 need to be relatively displaced, it is necessary to reduce the frictional force when the sliding shaft 410 is engaged with the long hole 610. Specifically, a sleeve 411 is disposed at an end of the lifting arm 400 away from the lifting control member 200, one end of the sliding shaft 410 is rotatably disposed in the sleeve 411, the other end of the sliding shaft 410 is inserted into the slot 610, and grease or other lubricant is added between the sliding shaft 410 and the sleeve 411 to reduce friction.

In addition, the four lifting driving units respectively lift and lower the lifting plate 600, and the lifting plate 600 can be inclined to match the angle of the battery on the vehicle to be replaced through the respective control of the four lifting driving units, so that better support is provided.

Can treat through this kind of AGV robot 001 butt joint accurately and trade electric vehicle to battery 002 gets and put, have less thickness when transporting battery 002 moreover, so that AGV robot 001 can get into the lower electric vehicle below of waiting to trade in chassis.

Example two

A second embodiment of the present application provides a battery replacement station, which is used for replacing a battery of a new energy battery-replacement vehicle. The battery replacement station comprises a battery replacement parking place, a power vending device, a battery management system and an AGV robot 001 in the first embodiment; the power vendor is used for providing a battery 002 for the AGV robot 001; the battery management system is in communication connection with a power vending machine and an AGV robot 001; the battery replacing parking place is used for parking a vehicle to be replaced; the AGV robot 001 is used for taking out the battery 002 in the battery compartment, moves to the position where the battery 002 of the vehicle to be replaced needs to be placed through the driving module 050 and the navigation module 090, and lifts the battery 002 into the vehicle to be replaced through the lifting mechanism 070.

This kind trades power station passes through AGV robot 001 with the accurate corresponding position of waiting to trade the electric vehicle of transporting of battery 002 in the electric vending treasure to with waiting to trade the electric vehicle with battery 002.

In addition, other changes may be made by those skilled in the art within the spirit of the present application, and it is understood that such changes are encompassed within the scope of the present disclosure.

Claims

1. An AGV robot, comprising:

a main body;

the driving module is arranged on the main body and comprises a walking driving piece and a plurality of walking wheels, and the walking wheels are arranged at the output end of the walking driving piece and used for driving the walking wheels to rotate;

the navigation module is electrically connected with the driving module and is used for setting or planning a moving route from the main body to a target object;

the lifting mechanism is arranged on the main body, is electrically connected with the navigation module and comprises a lifting plate for bearing a battery;

the navigation module can control the walking driving piece to move the main body along the moving route according to the obtained moving route from the main body to the target object, and when the main body moves to a preset position, the lifting mechanism is controlled to lift the lifting plate so as to lift or lower the battery.

2. The AGV robot of claim 1, further comprising a communication module electrically connected to the navigation module for communicating with the console to receive the activation signal.

3. The AGV robot of claim 2, wherein the navigation module includes a plurality of laser positioning heads for sensing corresponding positioning members of the vehicle to be changed to determine the battery position.

4. The AGV robot of claim 2, wherein the navigation module includes a camera for capturing information of the shape of the vehicle to be replaced, and the information of the shape of the vehicle to be replaced is used for analyzing the position of the target object.

5. The AGV robot of claim 2, wherein the navigation module further comprises a plurality of laser navigation heads for sensing corresponding navigation elements of the electric vehicle to be replaced to navigate the AGV robot to approach the target object.

6. The AGV robot of claim 2, wherein the navigation module includes a plurality of proximity switches for engaging corresponding protrusions on the chassis of the vehicle to be changed to determine the battery position.

7. The AGV robot of claim 2, wherein the communication module further comprises a near field communication module for pairing with a vehicle to be powered and maintaining the pairing, and for near field communication with the vehicle to be powered to exchange power swapping information, the power swapping information comprising:

the information of whether the electric vehicle to be replaced is communicated with the near field communication module or not is used for confirming whether the AGV robot approaches the target object or not;

and the communication module transmits an unlocking signal to the vehicle to be changed so as to unlock the battery of the vehicle to be changed.

8. The AGV robot of claim 1, wherein the road wheels comprise one of mecanum wheels, omni wheels, and steerable wheels.

9. The AGV robot of claim 1, wherein said lift plate is resiliently provided with a float, a side of said float remote from said lift plate for carrying a battery.

10. The AGV robot of claim 9, wherein said body has a floor, said lift mechanism is disposed on said floor, said lift plate has first and second opposing sides with a virtual surface therebetween, said lift mechanism further comprising:

the lifting control piece is arranged on the bottom plate and is provided with a rotating shaft which can be close to or far away from the bottom plate;

one end of each lifting force arm is hinged with the corresponding lifting control piece through the corresponding rotating shaft, the other end of each lifting force arm is matched with the corresponding lifting plate, and the part of the lifting force arm close to the first side and the part of the lifting force arm close to the second side are symmetrically arranged relative to the virtual plane;

the lifting plate is provided with a descending state, and when the lifting plate is in the descending state, the lifting plate is located below the rotating shaft.

11. The AGV robot of claim 10, wherein said lift control includes a slide assembly including a lift actuator and a slider, a first arm and a second arm hingedly connected to each other, said second arm being connected to said base plate at an end remote from said first arm by a first shaft, said first shaft being located below said pivot, said first arm being connected to said slider at an end remote from said second arm, said lift actuator being disposed on said body to drive said slider toward or away from said first shaft.

12. A swap station, comprising a swap bay, a vendor, a battery management system, and an AGV robot according to any one of claims 1-11;

the electric vending machine is used for providing a battery for the AGV robot;

the battery management system is in communication connection with the electric vending machine and the AGV robot;

the battery replacing parking place is used for parking a vehicle to be replaced;

the AGV robot is used for taking out the battery in the battery compartment, through drive module with the navigation module displacement arrives the battery position of waiting to trade electric vehicle, the rethread lifting mechanism lifts the battery to trade in the electric vehicle.