CN113320411B - AGV charging device - Google Patents
AGV charging device Download PDFInfo
- Publication number
- CN113320411B CN113320411B CN202110673297.8A CN202110673297A CN113320411B CN 113320411 B CN113320411 B CN 113320411B CN 202110673297 A CN202110673297 A CN 202110673297A CN 113320411 B CN113320411 B CN 113320411B
- Authority
- CN
- China
- Prior art keywords
- agv
- electric
- agv body
- main trailer
- battery
- 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.)
- Active
Links
Images
Classifications
-
- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
- B60L53/14—Conductive energy transfer
-
- 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
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and 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
- B60L53/50—Charging stations characterised by energy-storage or power-generation means
- B60L53/53—Batteries
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D53/00—Tractor-trailer combinations; Road trains
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/063—Automatically guided
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F9/00—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes
- B66F9/06—Devices for lifting or lowering bulky or heavy goods for loading or unloading purposes movable, with their loads, on wheels or the like, e.g. fork-lift trucks
- B66F9/075—Constructional features or details
- B66F9/07504—Accessories, e.g. for towing, charging, locking
-
- 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
-
- 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
- Y02T90/14—Plug-in electric vehicles
Landscapes
- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Structural Engineering (AREA)
- Civil Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Geology (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Charge And Discharge Circuits For Batteries Or The Like (AREA)
Abstract
The invention discloses an AGV charging device, comprising: the AGV comprises an AGV body, a lifting mechanism and an electric connecting plate, wherein the lifting mechanism is provided with a movable piece, the lifting mechanism drives the movable piece to lift along the vertical direction, and the electric connecting plate is arranged on the top surface of the movable piece; main trailer, its below is left the confession the AGV body sneaks into the space, main trailer is equipped with accumulate device, accumulate device has the electric connector, the electric connector stretches into downwards in the space of sneaking into, the position of electric connector with the position of electric link plate is corresponding. According to the AGV charging device, the AGV body is connected with the main trailer, so that the AGV body can work continuously, long-time charging is performed without stopping the operation of the AGV body, and the utilization rate of the AGV body is improved. The method can be applied to the field of AGV equipment.
Description
Technical Field
The invention relates to the field of AGV equipment, in particular to an AGV charging device.
Background
The AGV device is an automatic guided vehicle, which can travel along a predetermined guide path and has safety protection and various transfer functions. The AGV device embeds usually has the battery, and the battery provides the electric energy for the AGV device, and the AGV device transports the material according to the guide route, and when the battery power of AGV device was not enough, the AGV device can stop current transport worker and remove charging device department and charge. However, the charging time of the AGV device is long, and the AGV device stops operating during the charging process, which results in a low utilization rate of the AGV device.
Disclosure of Invention
The present invention is directed to an AGV charging device, which solves one or more of the problems of the prior art and provides at least one of the advantages of the AGV charging device.
The technical scheme adopted for solving the technical problems is as follows:
an AGV charging device comprising:
the AGV comprises an AGV body, a lifting mechanism and an electric connection plate, wherein the lifting mechanism is provided with a movable member, the lifting mechanism drives the movable member to lift in the vertical direction, and the electric connection plate is arranged on the top surface of the movable member;
main trailer, its below is left the confession the AGV body sneaks into the space, main trailer is equipped with accumulate device, accumulate device has the electric connector, the electric connector stretches into downwards in the space of sneaking into, the position of electric connector with the position of electric link plate is corresponding.
The invention has the beneficial effects that: in the space of sneaking into of AGV body entering main trailer below, the lifting mechanism drive moving part of AGV body rises, make the electric connector contact of power storage device in electric connection board and the main trailer of moving part top surface, then power storage device provides the electric energy for the AGV body, the AGV body drives main trailer walking and carries out the material and pull, various work such as the material is born, after the electric energy in the power storage device exhausts, the lifting mechanism drive moving part of AGV body descends, make the AGV body break away from with the main trailer that the electric energy exhausts, afterwards the AGV body removes the main trailer department that the electric quantity is sufficient, make the AGV body be connected with the main trailer that the electric quantity is sufficient, thereby guarantee that the AGV body lasts work, need not the AGV body and stop the function and charge for a long time, improve the utilization ratio of AGV body.
As a further improvement of the above technical scheme, a connecting column is arranged at the bottom of the main trailer, the connecting column extends downwards into the submerging space, the connecting column and the electric connectors are arranged at intervals, a concave cavity is arranged on the top surface of the movable part, and the shape of the concave cavity is matched with that of the connecting column.
After the AGV body dives into the space of diving into of main trailer, lifting mechanism drive moving part rises and makes cavity and spliced pole cooperation to make the AGV body be connected with main trailer, make the AGV body can pull the walking of main trailer.
As a further improvement of the above technical solution, there are at least two connecting columns, all the connecting columns are arranged at intervals, there are at least two cavities, and the positions of the cavities correspond to the positions of the connecting columns one to one.
The position of spliced pole and the position one-to-one of cavity, a plurality of spliced poles and a plurality of cavity cooperation back reduce angular deviation and positional deviation between AGV body and the main trailer, and the AGV body is more accurate with the relative position of main trailer, guarantees that electric connection board and electric connector are accurate to dock.
As a further improvement of the technical scheme, the bottom end edge of the connecting column is provided with a fillet, and the opening of the cavity is of a tapered structure with a large upper part and a small lower part.
The bottom edge of spliced pole post is equipped with the fillet, and the opening of cavity is big-end-up's toper structure, if there is less position deviation between AGV body and the main trailer, when the spliced pole inserted the cavity, the opening of cavity and the fillet of reference column extruded each other, thereby made AGV body and main trailer carry out little removal correction position.
As a further improvement of the above technical scheme, the AGV body is provided with a storage battery and a charging module, the storage battery is electrically connected with the charging module, the charging module is electrically connected with the electric connecting plate, and the electricity storage device is charged by the storage battery through the charging module.
The AGV comprises an AGV body, a storage battery, a power storage module, an energy storage device and a power supply module, wherein the storage battery is arranged in the AGV body and provides electric energy for normal work of the AGV body; after the storage battery charges, AGV body and the separation of main trailer, the AGV body can rely on the battery autonomous working again to make the AGV body can keep work in charging process, improve the utilization ratio of AGV body.
As a further improvement of the technical scheme, the storage battery provides electric energy for the AGV body.
The in-process of the conversion of power between battery and accumulate device of current AGV body need cut off circuit and restart, the battery provides the electric energy for the AGV body, reduce power conversion's operation, accumulate device charges to the battery through the module of charging, make the battery provide the electric energy for the normal work of AGV body while charging, when the AGV body is connected with the host trailer or when separating, the power of AGV body need not to convert between battery and accumulate device, it is more convenient to make the control of AGV body, the data that cause when avoiding the AGV body to restart lose the scheduling problem.
As a further improvement of the above technical solution, the electrical connector includes:
the mounting seat is arranged at the bottom of the main trailer, a mounting hole is formed in the bottom of the mounting seat, and the bottom end of the mounting hole is communicated with the submerging space;
a contact head which is arranged in the mounting hole in a way of moving up and down;
and the elastic piece is arranged in the mounting hole, two ends of the elastic piece respectively support and press the top wall of the mounting hole and the contact head, and the elastic piece pushes the contact head to downwards extend into the submerging space.
The contact can set up in the mounting hole of mount pad with reciprocating, the elastic component promotes the contact and stretches into in the space of diving into, after lifting mechanism drive moving part rises, the electric connection board and the contact of moving part meet, make electric connection board and electric connection, the moving part continues to rise afterwards and makes the electric connection board promote the contact extrusion elastic component, when the bottom surface is uneven and causes the AGV body to jolt along upper and lower direction for main trailer, the elastic component promotes contact butt in the electric connection board, thereby ensure that electric connection board and electric connection are in the state of meeting.
As a further improvement of the technical scheme, the top end of the movement stroke of the movable piece is higher than the top end of the submerging space.
The top of moving part motion stroke is higher than the top of sneaking into the space, and lifting mechanism drive moving part rises the back, and the moving part lifts main trailer, makes the AGV body bear main trailer, and the elastic component promotes the downward butt of contact head in the electric link plate to guarantee that electric link and electric link plate are in the state of in close contact with, drive the in-process of main trailer work at the AGV body, avoid the road surface inequality reason to lead to electric link and electric link plate separation.
As a further improvement of the above technical solution, the area of the electrical connection plate is larger than the area of the bottom surface of the electrical connector.
After the AGV body moved the space of sneaking into below the main trailer, the AGV body need be according to the position adjustment gesture of electric connector, and the electric connector that makes the AGV body is just right with power storage device's electric connector, because the area of electric connector is greater than the bottom surface area of electric connector, the AGV body is more easy according to the position adjustment gesture of electric connector, makes the butt joint of electric connector and electric connector more swift.
As a further improvement of the above technical solution, the main trailer includes a traveling device and a battery compartment, the traveling device is disposed at the bottom of the battery compartment, the traveling device supports the battery compartment to form the submerging space, the power storage device is disposed in the battery compartment, and the electrical connector penetrates through the bottom of the battery compartment and extends into the submerging space.
Running gear supports the formation with the battery compartment and dives the space, and power storage device sets up in the battery compartment, because the AGV body gets into and dives the in-process in space and probably collides the main trailer, and running gear will prop up and place in the walking route top of AGV body to avoid AGV body collision battery compartment.
Drawings
The invention is further described with reference to the accompanying drawings and examples;
FIG. 1 is a schematic diagram of an AGV charging apparatus according to an embodiment of the present invention;
FIG. 2 is a schematic left side view of an AGV charging apparatus according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of an AGV charging apparatus according to an embodiment of the present invention, wherein the AGV charging apparatus includes a main trailer;
FIG. 4 is a schematic cross-sectional view of an embodiment of a primary trailer of an AGV charging apparatus according to the present invention;
FIG. 5 is an enlarged schematic view of A in FIG. 4;
FIG. 6 is a schematic diagram of an AGV charging apparatus according to an embodiment of the present invention;
FIG. 7 is an enlarged schematic view of B of FIG. 6;
fig. 8 is a schematic diagram of an AGV charging device according to an embodiment of the present invention, wherein a main trailer pulls a material trailer.
100. The AGV comprises an AGV body, 120, a lifting mechanism, 121, a movable piece, 122, a cavity, 140, an electric connecting plate, 200, a main trailer, 201, a traveling device, 202, a battery bin, 210, a submerging space, 220, an electricity storage device, 221, an electric connector, 2211, a mounting seat, 2212, a mounting hole, 2213, a contact head, 2214, an elastic piece, 230, a connecting column, 300 and a material trailer.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, if words such as "a plurality" are described, the meaning is one or more, the meaning of a plurality is two or more, more than, less than, more than, etc. are understood as excluding the present number, and more than, less than, etc. are understood as including the present number.
In the description of the present invention, unless otherwise specifically limited, terms such as set, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention by combining the specific contents of the technical solutions.
Referring to fig. 1 to 8, the AGV charging apparatus of the present invention is implemented as follows:
the AGV charging apparatus includes an AGV body 100 and a main trailer 200.
The AGV body 100 includes a housing, a battery, a charging module, a moving device, a lifting mechanism 120, and an electrical connection board 140. The inside of casing is equipped with the open accommodation space in top, and the battery, the module of charging, lifting mechanism 120 all set up in accommodation space, and the mobile device sets up in the bottom of casing, and the battery is the inside consumer power supply of AGV body 100, and the battery provides the electric energy for mobile device and lifting mechanism, electric link plate 140 and the module electric connection that charges, the module and the battery electric connection that charge. The moving device drives the AGV body 100 to move. The lifting mechanism 120 has a movable member 121, the movable member 121 is a flat plate structure horizontally disposed, the movable member 121 covers the top end of the accommodating space, the lifting mechanism 120 drives the movable member 121 to move in the up-down direction, and the lifting mechanism 120 is a scissor-fork type lifting mechanism. Two cavities 122 are arranged on the top surface of the movable part 121, the cavities 122 are arranged at intervals from left to right, the cavities 122 are circular holes, and the openings of the cavities 122 are in conical structures with large top and small bottom, so that the top end edge of the cavity 122 is in a horn shape with large top and small bottom. The two electrical connection plates 140 are disposed on the top surface of the movable element 121, the two electrical connection plates 140 are disposed at intervals in front of and behind the movable element 121, and the two electrical connection plates 140 are respectively a positive electrode and a negative electrode.
The main trailer 200 comprises a walking device 201 and a battery compartment 202, the walking device 201 is arranged at the bottom of the battery compartment 202, the walking device 201 is composed of four support legs with rollers, and the walking device 201 supports the battery compartment 202 to be separated from the ground, so that a submerging space 210 is formed below the battery compartment 202. The height of the submerging space 210 is greater than the height of the AGV body 100, and the width of the submerging space 210 in the left-right direction is greater than the width of the AGV body 100 in the left-right direction, so that the AGV body 100 can be submerged in the submerging space 210. The bottom of the battery bin 202 is provided with two connecting columns 230, the connecting columns 230 extend downwards into the submerging space 210, the two connecting columns 230 are arranged at left and right intervals, the connecting columns 230 are cylindrical, the edges of the bottom ends of the connecting columns 230 are provided with round corners, and the distribution positions of the connecting columns 230 correspond to the distribution positions of the cavities 122.
The battery compartment 202 is provided with an electric storage device 220 inside, the electric storage device 220 is a device for storing electric energy, the electric storage device 220 is provided with a discharge module for discharging electric energy, the electric storage device 220 is provided with an electric connector 221, the discharge module is electrically connected with the electric connector 221, the electric connector 221 is arranged at the bottom of the battery compartment 202, and the electric connector 221 extends into the submerging space 210. The two electric connectors 221 are arranged at intervals from front to back, the positions of the two electric connectors 221 correspond to the positions of the two electric connection plates 140 one by one, and the area of each electric connection plate 140 is larger than the area of the bottom surface of each electric connector 221. The electrical connector 221 includes a mounting base 2211, a contact 2213, and an elastic member 2214, wherein the mounting base 2211 is disposed at the bottom of the battery compartment 202, a mounting hole 2212 penetrating in the vertical direction is disposed in the mounting base 2211, the bottom end of the mounting hole 2212 communicates with the submerging space 210, the shape of the contact 2213 matches the shape of the mounting hole 2212, the contact 2213 is disposed in the mounting hole 2212 so as to be movable up and down, the elastic member 2214 is disposed inside the mounting hole 2212, the elastic member 2214 is a compression spring, two ends of the elastic member 2214 respectively press against the top end of the mounting hole 2212 and the contact 2213, the elastic member 2214 pushes the contact 2213 to extend downwards into the submerging space 210, and the area of the bottom of the contact 2213 is smaller than the area of the electrical connector 140.
When the AGV body 100 needs to be connected to the master trailer 200, the AGV body 100 is submerged in the submerging space 210 below the master trailer 200, the AGV body 100 adjusts the posture so that the cavities 122 are aligned to the connecting posts 230 of the master trailer 200, that is, the positions of the two connecting posts 230 correspond to the positions of the two cavities 122 one by one, and the two electrical connection plates 140 correspond to the two electrical connectors 221 respectively. Then the lifting mechanism 120 drives the movable member 121 to ascend, the movable member 121 ascends to enable the connecting column 230 to be inserted into the cavity 122, then the tapered structure at the top end of the cavity 122 is contacted with the round corner of the connecting column 230, so that the relative position between the AGV body 100 and the main trailer 200 is corrected, the lifting mechanism 120 continues to drive the movable member 121 to ascend, the connecting column 230 is inserted into the cavity 122, the AGV body 100 is connected with the main trailer 200, the contact 2213 of the electric connector 221 is butted with the electric connecting plate 140, and therefore the electric storage device 220 in the main trailer 200 charges a storage battery inside the AGV body 100 through the charging module. The lifting mechanism 120 drives the movable member 121 to ascend, the top end of the stroke is higher than the top end of the submerging space 210, the movable member 121 continues to ascend, the top surface of the movable member 121 abuts against the bottom surface of the main trailer 200, finally, the movable member 121 lifts the main trailer 200, the AGV body 100 bears the main trailer 200, meanwhile, the electric connection plate 140 pushes the contact head 2213 of the electric connection head 221 to move upwards, the elastic member 2214 pushes the contact head 2213 to abut against the electric connection plate 140 downwards, and the electric connection plate 140 and the contact head 2213 are kept in abutting joint. At this time, the power storage device 220 charges the storage battery inside the AGV body 100, and the storage battery supplies power to the electric equipment of the AGV body 100, so that the AGV body 100 continuously works.
The AGV body 100 is charged and transports the material, for example, the AGV body 100 includes a front portion and a rear portion, the front portion of the AGV body 100 is used for connecting with the main trailer 200, the rear portion of the AGV body 100 extends out of the rear portion of the main trailer 200, the rear portion of the AGV body 100 is provided with a lifting device or a traction device, the AGV body 100 drives the main trailer 200 to move, and the rear portion transports the material through the lifting device or the traction device; or, the material trailer 300 is connected to the rear side of the master trailer 200, the material is placed on the material trailer 300, and after the AGV body 100 is connected to the master trailer 200, the AGV body 100 simultaneously pulls the master trailer 200 and the material trailer 300 to transport; or, the AGV body 100 includes anterior and rear portion, and the rear portion of AGV body 100 is used for connecting master trailer 200, and the front portion of AGV body 100 stretches out in the place ahead of master trailer 200, and the front portion of AGV body 100 is equipped with the material frame that is used for placing the material, and AGV body 100 transports the material on the material frame.
For those skilled in the art, the AGV body 100 should be provided with sensors such as a laser scanning sensor, an infrared sensor or a visual navigation sensor for detecting the material, and the sensors such as the visual navigation sensor are used for detecting the obstacle in front of the traveling direction of the AGV body 100 to help the AGV body 100 to adjust the posture. For example, a detection sensor is arranged on the rear side wall of the AGV body 100, and when the AGV body 100 travels forward, the detection sensor detects a front obstacle and adjusts the travel track of the AGV body 100, so as to prevent the AGV body 100 from colliding with the obstacle; the rear side wall of the AGV body 100 is provided with a detection sensor, when the AGV body 100 needs to enter the submerging space 210, the position of the traveling device 201 at the bottom of the main trailer 200 is detected by the detection sensor, so that the AGV body 100 can enter the submerging space 210 from between two support legs of the traveling device 201, and the AGV body 100 can be ensured to accurately move to the submerging space 210 of the main trailer 200. The related control program and algorithm for adjusting the posture of the AGV body 100 also belong to the conventional techniques commonly used in the AGV technology.
In some embodiments, when the AGV body 100 is connected to the main trailer 200, the power storage device 220 supplies power to the electric devices of the AGV body 100, the storage battery stops supplying power, and the power storage device 220 charges the storage battery through the charging module, so that the storage battery is charged with power more quickly; certainly, when AGV body 100 is changed into power storage device 220 power supply by the battery power supply, need carry out the outage to AGV body 100 and restart, change AGV body 100's power supply mode during the restart, make AGV body 100's internal circuit change into power storage device 220 power supply by the battery power supply, avoid changing the internal circuit of in-process electric current sudden change and cause AGV body 100 to burn out.
While the preferred embodiments of the present invention have been illustrated and described, it will be understood by those skilled in the art that the present invention is not limited to the details of the embodiments shown and described, but is capable of numerous equivalents and substitutions without departing from the spirit of the invention as set forth in the claims appended hereto.
Claims (8)
1. An AGV charging device which characterized in that: the method comprises the following steps:
the AGV comprises an AGV body (100) which is provided with a lifting mechanism (120) and an electric connection plate (140), wherein the lifting mechanism (120) is provided with a movable member (121), the lifting mechanism (120) drives the movable member (121) to lift in the vertical direction, and the electric connection plate (140) is arranged on the top surface of the movable member (121);
the AGV comprises a main trailer (200), a submerging space (210) for submerging the AGV body (100) is reserved below the main trailer (200), the main trailer (200) is provided with an electricity storage device (220), the electricity storage device (220) is provided with an electric connector (221), the electric connector (221) downwards extends into the submerging space (210), the position of the electric connector (221) corresponds to the position of the electric connecting plate (140), the bottom of the main trailer (200) is provided with a connecting column (230), the connecting column (230) downwards extends into the submerging space (210), the connecting column (230) is arranged at intervals of the electric connector (221), a concave cavity (122) is arranged on the top surface of the movable part (121), the shape of the concave cavity (122) is matched with the shape of the connecting column (230), the bottom end edge of the connecting column (230) is provided with a round corner, and the opening of the concave cavity (122) is of a conical structure with a large upper part and a small part.
2. The AGV charging apparatus of claim 1, wherein: the number of the connecting columns (230) is at least two, all the connecting columns (230) are arranged at intervals, the number of the cavities (122) is at least two, and the positions of the cavities (122) correspond to the positions of the connecting columns (230) one by one.
3. The AGV charging apparatus of claim 1, wherein: AGV body (100) are equipped with the battery and the module of charging, the battery with the module electric connection that charges, the module of charging with electricity link plate (140) electric connection, power storage device (220) pass through the module of charging is the battery charges.
4. The AGV charging apparatus of claim 3, wherein: the storage battery provides electric energy for the AGV body (100).
5. The AGV charging apparatus of claim 1, wherein: the electrical connector (221) includes:
a mounting seat (2211) arranged at the bottom of the main trailer (200), wherein a mounting hole (2212) is formed in the bottom of the mounting seat (2211), and the bottom end of the mounting hole (2212) is communicated with the submerging space (210);
a contact head (2213) which is provided in the mounting hole (2212) so as to be movable up and down;
an elastic member (2214) disposed in the mounting hole (2212), wherein two ends of the elastic member (2214) respectively press against the top wall of the mounting hole (2212) and the contact head (2213), and the elastic member (2214) pushes the contact head (2213) to extend downwards into the submerging space (210).
6. The AGV charging apparatus of claim 5, wherein: the top end of the movement stroke of the movable piece (121) is higher than the top end of the submerging space (210).
7. The AGV charging apparatus of claim 1, wherein: the area of the electric connection plate (140) is larger than the area of the bottom surface of the electric connector (221).
8. The AGV charging device of claim 1, wherein: the main trailer (200) comprises a walking device (201) and a battery compartment (202), the walking device (201) is arranged at the bottom of the battery compartment (202), the walking device (201) supports the battery compartment (202) to form the submerging space (210), the power storage device (220) is arranged in the battery compartment (202), and the electric connector (221) penetrates through the bottom of the battery compartment (202) and extends into the submerging space (210).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110673297.8A CN113320411B (en) | 2021-06-17 | 2021-06-17 | AGV charging device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110673297.8A CN113320411B (en) | 2021-06-17 | 2021-06-17 | AGV charging device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113320411A CN113320411A (en) | 2021-08-31 |
| CN113320411B true CN113320411B (en) | 2022-10-25 |
Family
ID=77423739
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110673297.8A Active CN113320411B (en) | 2021-06-17 | 2021-06-17 | AGV charging device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113320411B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207631381U (en) * | 2017-12-20 | 2018-07-20 | 苏州威联加信息科技有限公司 | A kind of extending formula trailer for AGV trolleies |
| CN108365370A (en) * | 2018-02-06 | 2018-08-03 | 苏州功业肆点零智能科技有限公司 | A kind of device for facilitating robot to charge |
| CN211252847U (en) * | 2019-10-15 | 2020-08-14 | 上海烁逸电子科技有限公司 | Lifting charging brush device for AGV |
| CN212289537U (en) * | 2020-04-29 | 2021-01-05 | 三丰智联(上海)智能科技有限公司 | Automatic lifting type charging device of AGV |
| WO2021032342A1 (en) * | 2019-08-19 | 2021-02-25 | Ims Gear Se & Co. Kgaa | Charging robot and charging apparatus for charging an electrical energy store of a vehicle, and vehicle, the electrical energy store of which can be charged with such a charging apparatus |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11267653B2 (en) * | 2019-10-07 | 2022-03-08 | Google Llc | Modular multifunctional workcells for autonomous guided vehicle applications |
-
2021
- 2021-06-17 CN CN202110673297.8A patent/CN113320411B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN207631381U (en) * | 2017-12-20 | 2018-07-20 | 苏州威联加信息科技有限公司 | A kind of extending formula trailer for AGV trolleies |
| CN108365370A (en) * | 2018-02-06 | 2018-08-03 | 苏州功业肆点零智能科技有限公司 | A kind of device for facilitating robot to charge |
| WO2021032342A1 (en) * | 2019-08-19 | 2021-02-25 | Ims Gear Se & Co. Kgaa | Charging robot and charging apparatus for charging an electrical energy store of a vehicle, and vehicle, the electrical energy store of which can be charged with such a charging apparatus |
| CN211252847U (en) * | 2019-10-15 | 2020-08-14 | 上海烁逸电子科技有限公司 | Lifting charging brush device for AGV |
| CN212289537U (en) * | 2020-04-29 | 2021-01-05 | 三丰智联(上海)智能科技有限公司 | Automatic lifting type charging device of AGV |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113320411A (en) | 2021-08-31 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209981619U (en) | Plugging mechanism for connector, socket unit and battery rack | |
| CN105005286A (en) | AGV battery replacing control system and control method thereof | |
| CN210338327U (en) | Unmanned aerial vehicle automatic positioning base that charges | |
| CN105811507A (en) | Robot charging mechanism, robot employing same and charging method | |
| KR102019285B1 (en) | Charging connector, docking soket and docking assembly for electric vehicle charging | |
| CN110386010B (en) | Battery turnover method based on direct type charging bin | |
| CN211034131U (en) | Roller butt-joint type automatic guide transport vehicle | |
| CN113320411B (en) | AGV charging device | |
| JP2002158062A (en) | External power connecting device for mobile robot | |
| CN214929053U (en) | Charging protection device of AGV device | |
| CN213199514U (en) | Battery storage system for battery replacement station and battery replacement station | |
| CN113320606A (en) | AGV device | |
| CN214822693U (en) | Charging matching system for automatic driving vehicle | |
| CN215698879U (en) | Automatic welding mechanism for cover cap lug of lithium battery | |
| CN214755661U (en) | Automatic charging pile of inspection robot | |
| CN215204521U (en) | Battery charging bin, charging rack, charging room and battery changing station | |
| CN114475326A (en) | Charging positioning structure and method for intelligent self-walking equipment | |
| JP2001273945A (en) | External power supply connecting structure of mobile robot | |
| CN109532529B (en) | Unmanned automatic charging platform of electric bus | |
| CN210100027U (en) | Automatic charging monitoring robot | |
| CN215622331U (en) | AGV device | |
| CN114256925A (en) | Robot automatic charging system and charging method thereof | |
| CN210591453U (en) | Multi-dimensional adjusting structure and automatic guiding transport vehicle charging pile | |
| CN210174664U (en) | Automatic induction type RFID charging pile | |
| CN208993511U (en) | The positioning device that charges and system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |