CN113370836A

CN113370836A - AGV robot and trade power station

Info

Publication number: CN113370836A
Application number: CN202110819857.6A
Authority: CN
Inventors: 黄晓微; 谢维贵; 徐旭海; 陈卫; 李想; 孙春明
Original assignee: Chongqing Ganeng Electric Vehicle Technology Co ltd
Current assignee: Chongqing Ganeng Electric Vehicle Technology Co ltd
Priority date: 2021-07-20
Filing date: 2021-07-20
Publication date: 2021-09-10

Abstract

The application provides an AGV robot for transport the battery between battery strorage device and trade electric vehicle, including main part, drive module and two at least lifting mechanisms. The driving module is arranged on the main body and used for driving the main body to move. The at least two lifting mechanisms are arranged on the main body in parallel. The lift mechanism includes a lift assembly and a carrier. The bearing piece is used for bearing a battery. One end of the lifting assembly is connected with the main body, and the other end of the lifting assembly is provided with the bearing piece so as to drive the bearing piece to be close to or far away from the main body. All the lifting assemblies are electrically connected and can simultaneously drive all the bearing pieces to lift the whole battery pack. Can bear a modularization battery alone by every lifting mechanism, also can bear a whole package battery through all lifting mechanisms jointly, not only adapt to two kinds of modes of trading, can also improve the efficiency that the branch case traded the electricity. The application also provides a power conversion station.

Description

AGV robot and trade power station

Technical Field

The application relates to the field of transport robots, in particular to an AGV robot and a battery replacement station.

Background

The battery replacement is an important mode for supplementing the electric energy of the electric vehicle, and the current main battery replacement mode is the whole-pack battery replacement and the sub-box battery replacement. However, the existing power change station can only provide a power change mode. Moreover, the current battery replacement station has long battery replacement time for box-divided battery replacement, and particularly the battery replacement time is basically over five minutes when three or more batteries are replaced, so that the waiting time of a user is too long, and the rapid development of a battery replacement market is prevented.

Disclosure of Invention

In view of the above, it is desirable to provide an AGV robot and a battery replacement station to solve the problem of single battery replacement method of the battery replacement station.

The embodiment of the application provides an AGV robot for transport the battery between battery strorage device and trade electric vehicle, including main part, drive module and two at least lifting mechanisms. The driving module is arranged on the main body and used for driving the main body to move. The at least two lifting mechanisms are arranged on the main body in parallel. The lift mechanism includes a lift assembly and a carrier. The bearing piece is used for bearing a battery. One end of the lifting assembly is connected with the main body, and the other end of the lifting assembly is provided with the bearing piece so as to drive the bearing piece to be close to or far away from the main body. All the lifting assemblies are electrically connected and can simultaneously drive all the bearing pieces to lift the whole battery pack.

By arranging a plurality of lifting mechanisms, each lifting mechanism can independently bear a modular battery, and all lifting mechanisms can jointly bear a whole-pack battery. The AGV robot can take out corresponding battery according to the actual demand of waiting to trade electric vehicle, carries the battery to the position of waiting to trade electric vehicle again, finally installs the battery on waiting to trade electric vehicle. The AGV robot can carry out pertinence adjustment according to the demand of difference, can accomplish the trade of waiting to trade electric vehicle through once transporting as far as possible.

In a possible embodiment, the main body has a mounting groove, and the lifting assembly is received in the mounting groove.

The mounting groove can be when the carrier is close to the main part holding lifting subassembly, on the one hand, can protect the lifting subassembly, and on the other hand, because the setting up of drive module makes the main part have under the circumstances of injecing the height, can reduce AGV robot's overall height.

In a possible embodiment, the lifting assembly comprises a lifting driving member and a scissor member, the lifting driving member is disposed on the main body, one end of the scissor member is connected to the lifting driving member, and the other end of the scissor member is disposed on the carrier.

The displacement in one direction can be converted into the displacement in the other vertical direction through the shearing fork piece, so that the lifting driving piece in the main body can be driven, and one end of the shearing fork piece, which is far away from the main body, is close to or far away from the main body. The scissors are capable of driving the carrier and the batteries on the carrier toward or away from the body.

In a possible embodiment, the carrier comprises a carrier plate and a flange. The bearing plate is used for bearing a battery. The flanging is arranged on the periphery of the bearing plate and extends towards the main body. The flanging is connected with the scissor piece.

Space for installing the scissors element can be provided through the flanging. In addition, the flanging and the bearing plate form a cover body, so that when the bearing plate is close to the main body, the supporting piece can cover the part arranged on the mounting groove and in the protection mounting groove.

In a possible embodiment, the gap between two adjacent carriers is less than 30 mm.

Reducing the gap between the carriers can reduce the overall size of the AGV robot, but if the gap is too small, the position conflict between two adjacent batteries is easily caused

In a possible embodiment, the driving module comprises a walking driving component and a walking wheel, and the walking wheel is arranged at the output end of the walking driving component.

The traveling driving part and the traveling wheels are driven, so that the AGV robot can run stably, the running route is not fixed, and the running route can be selected according to the type and the parking condition of the electric vehicle to be replaced.

In one possible embodiment, the road wheel comprises one of a mecanum wheel, an omni wheel, and a steering wheel.

Mecanum wheel, omniwheel and steering wheel all can make AGV robot can carry out the displacement at optional position with arbitrary gesture, make things convenient for the butt joint of AGV robot and the vehicle of waiting to trade.

In one possible embodiment, the number of travel drives corresponds one to the number of travel wheels.

Each walking wheel is driven independently, so that the displacement of the AGV robot is more flexible, and the AGV robot is accurately butted with a vehicle to be changed.

In a possible embodiment, the system further comprises a positioning module, wherein the positioning module comprises a plurality of sensors for sensing the position of the vehicle to be powered.

The inductor can respond to the appearance information of waiting to trade the electric vehicle or the positional information of specific characteristics, and the information that obtains through a plurality of sensors is synthesized and is learnt the battery box position of waiting to trade the electric vehicle, just can be with the battery lifting to the battery box on the AGV robot in with the battery box position butt joint back of waiting to trade the electric vehicle.

In a possible embodiment, the sensor comprises one of a laser sensor, a camera, and a proximity sensor.

The laser sensor can interact with specific features on the electric vehicle to be replaced, and therefore the relative position of the AGV robot and the battery box is obtained through calculation. The camera can sense the appearance information of the vehicle to be replaced, the position and the vehicle type of the vehicle to be replaced are obtained through calculation, and the specific position of a battery box of the vehicle to be replaced is comprehensively known. The proximity sensor can interact with specific features on the electric vehicle to be replaced, so that the relative position of the AGV robot and the battery box is calculated.

The embodiment of the application further provides a trade power station, including trading power parking stall, battery strorage device and foretell AGV robot. The battery replacement parking place is used for parking a vehicle to be replaced. The battery storage device is used for providing a battery for the AGV robot. The AGV robot is used for obtaining the battery demand of waiting to trade electric vehicle, and according to the battery demand takes out battery in the battery strorage device, through drive module displacement arrives wait to trade the battery position of electric vehicle, the rethread lifting mechanism with the battery lifting in waiting to trade electric vehicle.

The power exchanging station is used for parking a vehicle to be exchanged through the power exchanging parking space, and when the fact that the vehicle to be exchanged enters the parking position is sensed, the AGV robot is started. The AGV robot can take out corresponding battery in battery strorage device according to the actual demand of waiting to trade the electric vehicle, carries the battery to the position of waiting to trade the electric vehicle again, finally installs the battery on waiting to trade the electric vehicle. The AGV robot can carry out pertinence adjustment according to the demand of difference, can accomplish the trade of waiting to trade electric vehicle through once transporting as far as possible.

Drawings

FIG. 1 is a schematic diagram of a first perspective of an AGV robot in one embodiment of the present application.

Fig. 2 is a schematic diagram of an AGV robot according to an embodiment of the present application after hiding one of the carriers.

Figure 3 is a schematic diagram of the structure of a lifting mechanism in one embodiment of the present application.

FIG. 4 is a schematic diagram of a second perspective of an AGV robot in one embodiment of the present application.

Fig. 5 is a schematic structural diagram of a driving module in an embodiment of the present application.

Description of the main elements

AGV robot 010

Modularized battery 031

Whole pack battery 033

Main body 100

Driving module 200

Lifting mechanism 300

Carrier 330

Mounting groove 110

Scissor assembly 310

First lever 311

Second bar 313

First rotating shaft 315

Slider 317

Second rotating shaft 319

Supporting plate 331

Flanging 333

First hole 311a

Second hole 313a

First rotating rod 335

Second rotating rod 337

Travel drive 210

Traveling wheel 230

Coupling 250

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.

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

Example one

Referring to fig. 1, an embodiment of the present application provides an AGV robot 010 for transporting batteries between a battery storage device and a battery replacement vehicle. This AGV robot 010 includes a main body 100, a drive module 200, and three lifting mechanisms 300. The driving module 200 is used for driving the AGV robot 010 to integrally move so as to realize the displacement of the AGV robot 010 between the battery storage device and the vehicle to be replaced.

Three lifting mechanisms 300 are juxtaposed on the main body 100, the lifting mechanisms 300 including a lifting assembly and a carrier 330. One end of the lifting assembly is connected to the main body 100 and the other end forms a free end, which can be driven close to the main body 100 or away from the main body 100. A carrier 330 is provided at the free end, the carrier 330 being able to move towards or away from the main body 100 under the drive of the lift assembly. The side of the carrier 330 facing away from the lift assembly carries the batteries, one carrier 330 can carry just one modular battery, and three carriers 330 can together carry one integral whole pack of batteries.

After the battery is placed at the corresponding position on the lifting mechanism 300, the lifting mechanism 300 is driven according to the actual condition of the battery, and then the battery can be lifted and lowered.

Specifically, the three lifting mechanisms 300 are electrically connected, so that the three lifting mechanisms 300 can act respectively or simultaneously. When the vehicle to be replaced is a vehicle using the modular batteries, and one or more modular batteries of the vehicle to be replaced need to be replaced, the one or more modular batteries are placed on the corresponding lifting mechanism 300. After the AGV robot 010 drives one or more modular batteries to be transported to corresponding positions of the vehicles to be replaced, the lifting assembly bearing the modular batteries lifts the corresponding bearing part 330, so that the batteries on the bearing part 330 enter the corresponding positions of the vehicles to be replaced.

When the vehicle to be replaced is a vehicle using a whole battery pack, and the vehicle to be replaced needs to replace the whole battery pack, the whole battery pack is placed on the lifting mechanism 300. The battery pack has a larger volume than the modular battery, and therefore occupies the surface of the three carriers 330, and the battery pack is carried by the three carriers 330. After the AGV robot 010 drives the whole-package battery to be transported to the corresponding position of the vehicle to be replaced, the three lifting assemblies work together to synchronously lift the three bearing pieces 330, so that the whole-package battery is lifted to enter the corresponding position of the vehicle to be replaced.

Referring to fig. 1 and 2, the main body 100 of the AGV robot 010 has three mounting slots 110 arranged in parallel, and each mounting slot 110 corresponds to one lifting assembly. The lift assembly includes a lift drive member (not shown) and a scissors assembly 310. One end of the scissors 310 is engaged with the bottom of the mounting groove 110 and is the driving end of the scissors 310. The other end of the scissor element 310 is capable of displacement when the drive end is active, being the active end of the scissor element 310, i.e. the active end of the lifting assembly.

The lifting drive member includes a motor and a pull rod, the motor drives the pull rod to move axially, and the pull rod pulls the drive end of the scissor element 310 to move horizontally. The movable end can be relatively close to or far from the body 100 by the horizontal movement of the driving end. The support provided at the movable end can also be relatively close to or far from the body 100.

Referring to fig. 2 and 3, in particular, the scissors 310 includes two first rods 311 and two second rods 313, the two first rods 311 are disposed in parallel, the two second rods 313 are disposed in parallel, and the middle of the first rods 311 is hinged to the middle of the second rods 313. One end of one of the first rods 311, which is located at the bottom of the mounting groove 110, is provided with a first rotating shaft 315, the first rotating shaft 315 is rotatably connected with a pull rod, and the pull rod drives the first rotating shaft 315 to move in the horizontal direction. The other end of the first rod 311 at the bottom of the mounting groove 110 may not be engaged with the main body 100, or a horizontal groove may be formed in the main body 100, and a slider 317 may be provided on the first rod 311, so that the slider 317 can move in the horizontal direction in the sliding groove, and the slider 317 may also rotate relative to the main body 100. One ends of the two second rods 313 at the bottom of the mounting groove 110 are rotatably connected with the main body 100 by a second rotating shaft 319. When the first rotating shaft 315 is close to the second rotating shaft 319 under the action of the lifting driving member, the movable end drives the supporting member to lift, and correspondingly, when the first rotating shaft 315 is far away from the second rotating shaft 319, the movable end and the supporting member are lowered.

The support member includes a bearing plate, and in order to facilitate the fitting of the support member and the scissors 310, the bearing plate is further provided with a flange 333 toward the main body 100. The movable end of the scissors 310 is clamped between two flanges 333, a first hole 311a is formed at the end of the first rod 311, which is away from the main body 100, a second hole 313a is formed at the end of the second rod 313, which is away from the main body 100, a first rotating rod 335 and a second rotating rod 337 are arranged between the two flanges 333, wherein the first rotating rod 335 is slidably connected with the two flanges 333, so that the first rotating rod 335 can slide in the horizontal direction relative to the support member. The first rotating bar 335 is inserted into the two first holes 311a and the second rotating bar 337 is inserted into the two second holes 313a so that the support can match the movement of the first and

second bars

311 and 313. When the driving end of the scissors member 310 is driven, the first hole 311a and the second hole 313a of the movable end are also relatively displaced, and the relative displacement is accommodated by the first rotating rod 335 which is capable of sliding.

In addition, the flange 333 and the loading plate form a cover body so that the support member can cover the components disposed on the mounting groove 110 to protect the components in the mounting groove 110 when the loading plate is adjacent to the main body 100.

In order to avoid the position conflict between the two supporting members, a certain gap is required between the two supporting members. However, in order to ensure the compactness of the AGV robot 010 and provide a larger area of support for the whole battery pack, so that the whole battery pack can be stably transported and lifted, the gap between the two support members is not too large. The gap between the two supporting pieces is controlled within 30mm, so that sundries can be effectively prevented from entering between the two supporting pieces, and a large-range support can be provided for the whole battery pack.

Referring to fig. 4 and 5, the driving module 200 includes a travel driving unit 210 and a travel wheel 230, and the travel wheel 230 is disposed at an output end of the travel driving unit 210.

Specifically, the travel driving member 210 is a motor, and a rotor of the motor is connected to the travel wheel 230 through a coupling 250. The coupler 250 can adopt a double-diaphragm coupler 250, so that when the travelling wheel 230 is deviated when meeting an obstacle, the deviation moment is eliminated at the double-diaphragm coupler 250, and the damage to the motor is avoided.

The traveling wheels 230 are rotatably coupled to the main body 100 by bearings, the main body 100 is substantially square, and the traveling wheels 230 are disposed at four corners of the outer circumference of the main body 100. The traveling wheels 230 are mecanum wheels, four mecanum wheels are symmetrically disposed at four corners of the main body 100, that is, two mecanum wheels at opposite corners face the same direction, and the four mecanum wheels are driven by the respective independent traveling driving members 210 to realize various displacements such as straight traveling, pivot turning, oblique traveling, and the like.

In order to enable the AGV robot 010 to actively search for a corresponding position of the battery replacement vehicle, the AGV robot 010 further includes a positioning module (not shown in the figure). The positioning module comprises a plurality of sensors for sensing the position of the vehicle to be changed, and the position of the vehicle to be changed, which needs to be changed, can be obtained through analysis by the sensing of the sensors, so that the driving module 200 is guided to transport the battery to the position corresponding to the vehicle to be changed.

The sensor includes at least one of a laser sensor, a camera, and a proximity sensor.

The laser sensor can measure the relative position with waiting to trade the electric vehicle on the one hand, and on the other hand is interactive with the characteristics on waiting to trade the electric vehicle to learn AGV robot 010 and wait to trade and carry out accurate counterpoint on the electric vehicle.

The camera can shoot the appearance of the vehicle to be replaced, so that the position of the vehicle to be replaced is judged, the model of the vehicle to be replaced can be known, the position of a battery box of the vehicle to be replaced is obtained comprehensively, and the driving module 200 is guided to convey the AGV robot 010 to the position in butt joint with the battery box. On the other hand, the camera can also be used for detecting obstacles in the battery replacement position, so that the AGV robot 010 is guided to avoid the obstacles.

The proximity sensor can be in butt joint with protruding features on the vehicle to be replaced, and therefore alignment of the AGV robot 010 and a battery replacing box of the vehicle to be replaced is achieved.

Such an AGV robot 010 can have two modes when actually operating:

one or more modular batteries are transported for the replacement of the battery of the vehicle to be replaced using the modular batteries. The AGV robot 010 with the support piece in the vacant state moves to the position of the battery box of the vehicle to be replaced, the corresponding support piece is lifted to a certain height by the lifting assembly, the locking state of the modular battery to be unloaded in the battery box of the vehicle to be replaced is released, and the modular battery to be unloaded is loaded on the bearing piece 330. The AGV robot 010 transports the unloaded modular battery to the battery storage position so that the support of the AGV robot 010 is empty again. Each supporting piece of the AGV robot 010 bears one modular battery, after the AGV robot 010 is transported to a battery box position of a vehicle to be switched, a lifting assembly bearing the modular batteries lifts the corresponding modular batteries into the battery box, and the vehicle to be switched is locked with the modular batteries. The number of the modular batteries to be transported is selected according to the actual requirement of the vehicle to be changed, and the modular batteries required by the vehicle to be changed are transported to the battery box at one time, so that all the required modular batteries can be installed for the vehicle to be changed through one-time transportation.

And secondly, transporting a whole-package battery for replacing the battery of the vehicle to be replaced by using the whole-package battery. The AGV robot 010 with the support pieces in the vacant state moves to the position of the battery box of the vehicle to be replaced, the lifting assembly lifts all the support pieces to a certain height, the vehicle to be replaced releases the locking state of the whole batteries in the battery box, and the whole batteries are borne by all the bearing pieces 330. The AGV robot 010 transports the unloaded whole pack of batteries to the battery storage position so that the support of the AGV robot 010 is empty again. All carriers 330 of AGV robot 010 bear a whole package battery jointly, transport through AGV robot 010 and wait to trade battery box position of electric vehicle after, the synchronous lifting of all lifting subassemblies will be put in a whole package battery lifting to the battery box, wait to trade electric vehicle locking modularization battery. This mode increases the carrying area by the simultaneous operation of all the carriers 330, thereby smoothly transporting a large block of entire batteries.

It should be noted that the number of the lifting mechanisms 300 of the AGV robot 010 may be two, four or other than three, as long as the lifting of the plurality of modular batteries respectively and the lifting of the entire battery pack can be realized by operating simultaneously.

It should be noted that the traveling wheels 230 of the AGV robot 010 may use omni wheels or steering wheels instead of mecanum wheels, and the AGV robot 010 may also steer in place or walk diagonally through the omni wheels and the steering wheels.

By means of the AGV robot 010, the battery replacement of different vehicles can be achieved by using the same device, and the different vehicles comprise a vehicle using a whole battery pack and a vehicle using a modular battery. Since each lifting mechanism 300 is driven independently, vehicles with different numbers of modular batteries can also be replaced. Moreover, the AGV robot 010 can automatically navigate to a battery box of a vehicle to be replaced, can actively align vehicles of different types and different positions, and accurately convey the battery to the battery box of the vehicle to be replaced.

Example two

Referring to fig. 1, an embodiment of the present application provides a power swapping station for swapping a battery of a vehicle to be swapped. The battery replacement station comprises a battery replacement position, a battery storage device and an AGV robot 010 provided by the first embodiment. The battery replacement parking place is used for parking a vehicle to be replaced. The battery storage device is used for providing a battery for the AGV robot 010. The AGV robot 010 is used for acquiring the battery requirement of the vehicle to be replaced, taking out the battery in the battery storage device according to the battery requirement, displacing the battery to the position of the vehicle to be replaced through the driving module 200, and lifting the battery into the vehicle to be replaced through the lifting mechanism 300.

The power exchanging station is used for parking a vehicle to be exchanged through the power exchanging parking space, and when the fact that the vehicle to be exchanged enters the parking position is sensed, the AGV robot 010 is started. The AGV robot 010 can take out a corresponding battery in the battery storage device according to the actual requirement of the vehicle to be replaced, then conveys the battery to the position of the vehicle to be replaced, and finally installs the battery on the vehicle to be replaced. The AGV robot 010 can adapt to vehicles using a modular battery and a whole battery pack, so that a battery replacement station with only one AGV robot 010 can replace various vehicles of different types.

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 for transporting a battery between a battery storage device and a battery replacement vehicle, comprising:

a main body;

the driving module is arranged on the main body and used for driving the main body to move;

at least two lifting mechanisms arranged on the main body in parallel;

the lifting mechanism comprises a lifting assembly and a bearing piece;

the bearing piece is used for bearing a battery;

one end of the lifting assembly is connected with the main body, and the other end of the lifting assembly is provided with the bearing piece so as to drive the bearing piece to be close to or far away from the main body;

all the lifting assemblies are electrically connected and can simultaneously drive all the bearing pieces to lift the whole battery pack.

2. The AGV robot of claim 1, wherein said body has a mounting slot and said lift assembly is received in said mounting slot.

3. The AGV robot of claim 1, wherein the lifting assembly includes a lifting drive member and a scissor member, the lifting drive member being disposed on the body, the scissor member having one end connected to the lifting drive member and the other end disposed to the carrier.

4. The AGV robot of claim 3, wherein said carrier includes a load floor and a flange;

the bearing plate is used for bearing a battery;

the flanging is arranged on the periphery of the bearing plate and extends towards the main body;

the flanging is connected with the scissor piece.

5. The AGV robot of claim 1, wherein said drive module includes a travel drive and travel wheels, said travel wheels being disposed at an output of said travel drive.

6. The AGV robot of claim 5, wherein the road wheels comprise one of mecanum wheels, omni wheels, and steerable wheels.

7. The AGV robot of claim 5, wherein the number of travel drives corresponds one-to-one to the number of travel wheels.

8. The AGV robot of claim 5, further comprising a positioning module including a plurality of sensors for sensing the position of the vehicle to be changed.

9. The AGV robot of claim 8, wherein said sensor comprises one of a laser sensor, a camera, and a proximity sensor.

10. A battery replacement station, characterized by comprising a battery replacement station, a battery storage device and an AGV robot as claimed in any one of claims 1 to 9;

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

the battery storage device is used for providing a battery for the AGV robot;

the AGV robot is used for obtaining the battery demand of waiting to trade electric vehicle, and according to the battery demand takes out battery in the battery strorage device, through drive module displacement arrives wait to trade the battery position of electric vehicle, the rethread lifting mechanism with the battery lifting in waiting to trade electric vehicle.