CN115991172A - AGV trades electric dolly - Google Patents
AGV trades electric dolly Download PDFInfo
- Publication number
- CN115991172A CN115991172A CN202310160183.2A CN202310160183A CN115991172A CN 115991172 A CN115991172 A CN 115991172A CN 202310160183 A CN202310160183 A CN 202310160183A CN 115991172 A CN115991172 A CN 115991172A
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- lifting
- agv
- unlocking
- locking
- main frame
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- 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
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- 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
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Abstract
The invention discloses an AGV battery changing trolley, which comprises an AGV traveling mechanism, a main frame locking and unlocking motor and a lifting arm lifting mechanism, wherein the AGV traveling mechanism is connected with the main frame locking and unlocking motor; the main frame is arranged on the AGV travelling mechanism, a pair of lifting forks are arranged at the front end of the main frame through a sliding assembly, and the lifting forks are driven up and down through a lifting fork lifting mechanism; the locking and unlocking mechanism and the locking and unlocking motor are arranged on the pair of lifting arms, the pair of lifting arms are respectively connected with the fixing frames on the left side and the right side of the main frame in a sliding mode, and the lifting arms are driven up and down through the lifting arm lifting mechanism. According to the AGV battery changing trolley, the floor area is small in a battery pack changing mode at the side of the AGV battery changing trolley, and the AGV battery changing trolley is used for changing the battery pack, so that vehicle battery changing of different vehicle types can be met, and the flexibility is high; the two lifting forks are independently lifted, the lifting fork is provided with an inclination angle which can meet the requirement of front and rear inclination of a vehicle, and the vehicle has large compatible error and wide application range.
Description
Technical Field
The invention relates to the field of new energy automobile power conversion, in particular to an AGV power conversion trolley.
Background
With the rising and development of the new energy automobile power conversion field, the requirement on the new energy automobile power charging and conversion is increasing. Most of the existing commercial vehicle power exchanging stations are in the form of hanging battery packs or RGV trolleys for power exchanging.
Such as the patent: in CN210437163U, an RGV battery-changing trolley is provided, and an RGV trolley track is arranged inside the battery-changing platform and the battery compartment, and the RGV removes the battery from the battery-changing platform and transfers the battery to the inside of the battery compartment, and then transfers the full-power battery from the inside of the battery compartment and installs the full-power battery on the trolley. The RGV intelligently runs on a fixed track, if the vehicle battery cannot be exactly matched with the RGV running track, the RGV cannot remove the battery, and the battery replacement cannot be completed; the power conversion mode is large in occupied area, inflexible in power conversion and small in compatible vehicle error.
In addition, the current electric dolly that trades does not have angle adjustment function, when height or control highly inconsistent around in the commercial car, the battery package bottom surface has an inclination, and the lifting fork of trading the electric dolly can't be rather than perfect match, and then makes dismouting device can't match with battery package locking mechanism, can not realize the battery package and change the function.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide an AGV power-changing trolley so as to solve the problems of large occupied area, inflexible power changing, small error of compatible vehicles and the like.
Therefore, the invention provides an AGV battery-changing trolley, which comprises an AGV traveling mechanism, a main frame, a lifting fork lifting mechanism, a locking and unlocking motor and a lifting arm lifting mechanism; the main frame is arranged on the AGV travelling mechanism, a pair of lifting forks are arranged at the front end of the main frame through a sliding assembly, and the lifting forks are driven up and down through the lifting fork lifting mechanism; the locking and unlocking mechanism and the locking and unlocking motor are arranged on a pair of lifting arms, the lifting arms are respectively and slidably connected with the fixing frames on the left side and the right side of the main frame, and the lifting arms are driven up and down through the lifting arm lifting mechanism.
Further, the bottom of the main frame is rotationally connected with the frame of the AGV running mechanism through a hinge, a rear fixing frame fixedly connected with the rear end of the frame is arranged at the rear end of the frame, and a telescopic driving mechanism is arranged between the rear fixing frame and the main frame.
Further, the telescopic driving mechanism is a first pair of electric cylinders, one ends of the first electric cylinders are connected with the rear fixing frame, and the other ends of the first electric cylinders are connected with the main frame.
Further, the lifting fork lifting mechanism comprises a cam arranged on the main frame, a baffle plate fixed at the upper end of the lifting fork and a lifting motor; and the front end of the cam is provided with a boss, the boss is matched with the baffle, and the lifting motor is in transmission connection with the cam through a coupler.
Further, the lifting arm lifting mechanism comprises a guide rail sliding block assembly and a second electric cylinder, wherein the guide rail sliding block assembly is arranged between the lifting arm and the fixed frame and extends along the vertical direction; and the second electric cylinder is arranged between the lifting arm and the fixing frame.
Further, a floating piece is arranged between the locking and unlocking mechanism, the locking and unlocking motor and the lifting arm.
Further, the floating piece comprises an unlocking gun mounting plate and a plurality of steel wire ropes, the locking and unlocking mechanism and the locking and unlocking motor are fixedly mounted on the unlocking gun mounting plate, and the unlocking gun mounting plate is arranged on the lower side of the lifting arm and is in floating connection through the steel wire ropes.
Further, the unlocking gun mounting plate is also provided with a locating pin, and the top of the locating pin is higher than the top of the locking and unlocking mechanism and can be matched with a locating hole on the battery pack in advance.
Further, AGV running gear includes frame, a plurality of walking driving motor, a plurality of Mecanum wheel and a plurality of universal wheel.
Further, each of the Mecanum wheels is individually driven by the travel drive motor.
According to the AGV battery changing trolley provided by the invention, 1) the battery pack is changed through the side of the AGV battery changing trolley, the occupied area is small, and the AGV battery changing trolley is used for changing the battery pack, so that the vehicle battery changing of different vehicle types can be met, and the flexibility is high; 2) The two lifting forks are adopted to independently lift and the lifting fork is provided with an inclination angle which can meet the requirement of front and rear inclination of a vehicle, so that the compatible error is large and the application range is wide; 3) The power conversion efficiency is improved, and meanwhile, the structure adopts a modularized design and is simple.
In addition to the objects, features and advantages described above, the present invention has other objects, features and advantages. The present invention will be described in further detail with reference to the drawings.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention and together with the description serve to explain the invention. In the drawings:
FIG. 1 is a schematic diagram of the external configuration of an AGV battery change cart of the present invention;
FIG. 2 is a schematic perspective view of an AGV battery change cart according to the present invention;
FIG. 3 is a schematic diagram of a second perspective view of the AGV battery change cart of the present invention;
FIG. 4 is an enlarged view of part of the AGV of the present invention at A;
FIG. 5 is a front view of the AGV battery change cart of the present invention;
FIG. 6 is a side view of the AGV battery change cart of the present invention;
FIG. 7 is a top view of the AGV battery change cart of the present invention;
description of the reference numerals
1. A walking driving motor; 2. mecanum wheel; 3. a rear fixing frame; 4. a housing; 5. an electric cylinder I; 6. lifting fork; 7. lifting a motor; 8. a cam; 9. an electric cylinder II; 10. a positioning pin; 11. locking and unlocking the motor; 12. a locking and unlocking mechanism; 13. a fixing frame; 14. a hinge; 15. a lifting arm; 16. unlocking the gun mounting plate; 17. a guide rail slide block assembly; 18. a baffle; 19. and a main frame.
Detailed Description
It should be noted that, in the case of no conflict, the embodiments and features in the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
As shown in fig. 1 to 7, the AGV battery changing trolley of the present invention includes an AGV traveling mechanism, a main frame 19, a housing 4, a lifting fork 6, a lifting fork lifting mechanism, a locking and unlocking mechanism 12, a lifting arm lifting mechanism, and the like; the main frame 19 sets up in AGV running gear upper end to realize rotating the connection through articulated elements 14, a pair of fork 6 that lifts sets up in the main frame front end through sliding component, and drives from top to bottom through lifting fork elevating system, and locking release mechanism 12 installs on a pair of lifting arm 15, and lifting arm 15 and the mount 13 of main frame left and right sides respectively sliding connection, and drive from top to bottom through lifting arm elevating system.
Specifically, as shown in fig. 2, 5 and 6, the AGV running mechanism comprises a frame, a plurality of running driving motors 1, a plurality of Mecanum wheels 2 and a plurality of universal wheels; the universal wheels and the Mecanum wheels 2 are respectively arranged at the bottom of the frame, and each Mecanum wheel 2 is independently driven by a walking driving motor 1; the AGV traveling mechanism specifically comprises four Mecanum wheels 2 and four universal wheels; the four walking driving motors 1 drive the Mecanum wheels 2 to realize the steering and movement of the AGV trolley.
As shown in fig. 2, 3 and 7, the main frame 19 is installed at the middle position of the upper end of the frame, meanwhile, the bottom of the main frame 19 is connected with the frame through a hinge 14, in addition, the rear end of the frame is provided with a rear fixing frame 3 fixedly connected with the bottom of the main frame, a telescopic driving mechanism is arranged between the rear fixing frame 3 and the main frame 19, the telescopic driving mechanism is a pair of electric cylinders I5, one end of each electric cylinder I5 is connected with the rear fixing frame 3, and the other end of each electric cylinder I5 is connected with the main frame 19; the telescopic movement of the first electric cylinders 5 drives the whole main frame 19 and the lifting fork 6 and the locking and unlocking mechanism 12 which are arranged on the main frame to deflect, so that the whole main frame is offset by a certain angle to adapt to a battery pack. The tilting mechanism is mainly suitable for the situation that the left and right heights of the automobile where the replaced battery is located are inconsistent.
A pair of lifting forks 6 are arranged at the front end of the main frame through a sliding assembly and are driven up and down through a pair of lifting fork lifting mechanisms, wherein each lifting fork lifting mechanism comprises a cam 8 arranged on the main frame 19, a baffle 18 fixed at the upper end of the lifting fork 6 and a lifting motor 7; the front end of the cam 8 is provided with a boss which is matched with the baffle 18, and the lifting motor 7 is in transmission connection with the cam 8 through a coupler; when the lifting motor 7 works and drives the cam 8 to rotate, the cam 8 drives the lifting fork 6 to lift to the unlocking position of the battery pack, and then the bottom of the battery pack is supported.
The two lifting forks 6 are independently controlled by the two lifting motors 7, and the two lifting forks 6 can be controlled to be lifted to different heights by controlling the two lifting motors 7 to rotate at different angles, so that the situation that the heights of the battery packs in the front-rear direction are inconsistent is adapted.
As shown in fig. 2 and 3, the left and right sides of the main frame 19 are respectively provided with a fixed frame 13, the outer side of the fixed frame 13 is provided with a pair of lifting arms 15 parallel to the lifting fork 6, and the locking and unlocking mechanism 12, the positioning pin 10 and the locking and unlocking motor 11 are arranged on the pair of lifting arms 15; the lifting arm 15 is connected with the fixed frame 13 through a guide rail sliding block assembly 17 extending along the vertical direction, and meanwhile, the lifting arm lifting mechanism is formed by the guide rail sliding block assembly 17 and the electric cylinder II 9 through the electric cylinder II 9 arranged on the main frame 19 in an up-down driving mode.
The lifting arm 15 is also provided with a locating pin 10, the height of the locating pin 10 is higher than that of the locking and unlocking mechanism 12, the locating pin can be matched with a locating hole on the battery pack in advance, accurate locating is achieved, and then the locking and unlocking motor 11 drives an unlocking gun of the locking and unlocking mechanism 12 to take the battery pack out of the vehicle.
As shown in fig. 4, a floating member is arranged between the locking and unlocking mechanism 12, the positioning pin 10, the locking and unlocking motor 11 and the lifting arm 15, wherein the floating member is an unlocking gun mounting plate 16 and a plurality of steel wires, the locking and unlocking mechanism 12, the positioning pin 10 and the locking and unlocking motor 11 are fixedly mounted on the unlocking gun mounting plate 16, the unlocking gun mounting plate 16 is arranged on the lower side of the lifting arm 15 and is in floating connection through the steel wires, a certain floating amount is provided, and the locking and unlocking mechanism 12 and a bolt on a battery pack are conveniently and rapidly abutted.
It should be noted that, in order to achieve the same function of the present invention, other structures may be adopted instead, for example, the first electric cylinder 5 and the second electric cylinder 9 of the present invention may be replaced by a linear motor, or may even be replaced by an air cylinder or an oil cylinder, and in addition, a spring may replace a wire rope to achieve a floating function, which all fall within the protection scope of the present application.
In summary, the invention discloses an AGV battery-changing trolley for a commercial vehicle, which mainly comprises an AGV lifting fork lifting assembly, an AGV traveling mechanism and an inclination angle assembly. The AGV traveling part is driven by four traveling driving motors 1 to drive Mecanum wheels 2 so as to realize the steering and the movement of the AGV trolley. After moving to the unlocking position, the position of the battery pack relative to the vehicle is visually identified, and the AGV adjusts the gesture to adapt to the XY direction of the vehicle. The deviation of the vehicle in the Z direction drives the whole main frame 19, the locking and unlocking mechanism 12 and the lifting fork 6 to deflect through the first electric cylinder 5, so that the deviation is enabled to be suitable for a battery pack by a certain angle.
Lifting motor 7 drives lift fork 6 to lift to battery package bolt head department along Z through the mode of cam, and the unblock rifle is installed on unblock rifle mounting panel 16, extends to battery package bolt fixed part unblock through electric jar two 9, and wherein, unblock rifle mounting panel 16 passes through wire rope with lifting arm 15 and is connected, provides certain amount of float. The unlocking gun is driven by the locking and unlocking motor 11 to unlock the battery pack from the vehicle beam, the lifting fork descends, the battery pack is taken out, and the battery pack is moved to the battery bin. And taking a new battery pack from the battery compartment, and installing the new battery pack on the battery replacement car to complete the whole battery replacement process.
The working principle and working process of the AGV battery changing trolley are briefly described below with reference to the accompanying drawings.
Firstly, a walking driving motor 1 drives a Mecanum wheel 2 to move to a power conversion position, a lifting motor 7 works and drives a cam 8 to rotate, so that a boss is matched with a baffle 18 at the upper end of a lifting fork 6, and the lifting fork 6 is driven to rise to a battery pack unlocking position; through visual recognition angle regulation, the first electric cylinder 5 pulls the main frame 19 provided with the lifting fork 6 and the locking and unlocking mechanism 12, so that the whole body rotates around the hinge 14, and in addition, the two lifting forks 6 can be controlled to be lifted to different heights by controlling the two lifting motors 7 to rotate at different angles, thereby meeting the Z-direction deviation of the battery pack and further supporting the bottom of the battery pack.
Then, the lifting arm 15 is driven to move up and down through the second electric cylinder 9, the position of the locking and unlocking mechanism 12 and the position of the bolt meet unlocking requirements through the floating piece, the locking and unlocking motor 11 drives the unlocking gun of the locking and unlocking mechanism 12 to take out the battery pack from the vehicle, and the battery pack is lowered through the pair of lifting forks 6 to be kept at the battery bin.
And finally, taking a new battery pack from the battery compartment, and installing the new battery pack on the battery replacement car to complete the whole battery replacement process.
The above description is only of the preferred embodiments of the present invention and is not intended to limit the present invention, but various modifications and variations can be made to the present invention by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. The AGV power-changing trolley is characterized by comprising an AGV traveling mechanism, a main frame (19), a lifting fork (6), a lifting fork lifting mechanism, a locking and unlocking mechanism (12), a locking and unlocking motor (11) and a lifting arm lifting mechanism;
the main frame (19) is arranged on the AGV travelling mechanism, a pair of lifting forks (6) are arranged at the front end of the main frame (19) through a sliding assembly, and the lifting forks (6) are driven up and down through the lifting fork lifting mechanism;
the locking and unlocking mechanism (12) and the locking and unlocking motor (11) are arranged on a pair of lifting arms (15), the lifting arms (15) are respectively connected with fixing frames (13) on the left side and the right side of the main frame (19) in a sliding mode, and the lifting arms (15) are driven up and down through the lifting arm lifting mechanism.
2. The AGV battery changing trolley according to claim 1, wherein the bottom of the main frame (19) is rotatably connected with a frame of the AGV traveling mechanism through a hinge (14), a rear fixing frame (3) fixedly connected with the frame is arranged at the rear end of the frame, and a telescopic driving mechanism is arranged between the rear fixing frame (3) and the main frame (19).
3. The AGV battery changing trolley according to claim 2, wherein the telescopic driving mechanism is a pair of first electric cylinders (5), one ends of the first electric cylinders (5) are connected with the rear fixing frame (3), and the other ends of the first electric cylinders (5) are connected with the main frame (19).
4. The AGV battery changing trolley according to claim 1, wherein the lifting fork lifting mechanism comprises a cam (8) mounted on the main frame (19), a baffle plate (18) fixed at the upper end of the lifting fork (6), and a lifting motor (7); the front end of the cam (8) is provided with a boss, the boss is matched with the baffle (18), and the lifting motor (7) is in transmission connection with the cam (8) through a coupler.
5. The AGV battery changing trolley according to claim 1, wherein the lifting arm lifting mechanism comprises a guide rail slide block assembly (17) and a second electric cylinder (9), the guide rail slide block assembly (17) being arranged between the lifting arm (15) and the fixed frame (13) and extending in a vertical direction; the second electric cylinder (9) is also arranged between the lifting arm (15) and the fixing frame (13).
6. The AGV battery changing trolley according to claim 1, wherein a float is provided between the locking and unlocking mechanism (12), the locking and unlocking motor (11) and the lifting arm (15).
7. The AGV battery changing trolley according to claim 6, wherein the floating member comprises an unlocking gun mounting plate (16) and a plurality of steel wire ropes, the locking and unlocking mechanism (12) and the locking and unlocking motor (11) are fixedly mounted on the unlocking gun mounting plate (16), and the unlocking gun mounting plate (16) is arranged on the lower side of the lifting arm (15) and is in floating connection through the steel wire ropes.
8. The AGV battery changing trolley according to claim 7, wherein a positioning pin (10) is further arranged on the unlocking gun mounting plate (16), and the top of the positioning pin (10) is higher than the top of the locking and unlocking mechanism (12) and can be matched with a positioning hole on the battery pack in advance.
9. The AGV battery exchange cart of claim 1, wherein the AGV travel mechanism comprises a frame, a plurality of travel drive motors (1), a plurality of mecanum wheels (2), and a plurality of universal wheels.
10. The AGV battery exchange cart according to claim 9, wherein each of said mecanum wheels (2) is individually driven by said travel drive motor (1).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310160183.2A CN115991172A (en) | 2023-02-21 | 2023-02-21 | AGV trades electric dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310160183.2A CN115991172A (en) | 2023-02-21 | 2023-02-21 | AGV trades electric dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN115991172A true CN115991172A (en) | 2023-04-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310160183.2A Pending CN115991172A (en) | 2023-02-21 | 2023-02-21 | AGV trades electric dolly |
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| Country | Link |
|---|---|
| CN (1) | CN115991172A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117325823A (en) * | 2023-11-28 | 2024-01-02 | 宁德时代新能源科技股份有限公司 | Power conversion method for commercial vehicle |
-
2023
- 2023-02-21 CN CN202310160183.2A patent/CN115991172A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117325823A (en) * | 2023-11-28 | 2024-01-02 | 宁德时代新能源科技股份有限公司 | Power conversion method for commercial vehicle |
| CN117325823B (en) * | 2023-11-28 | 2024-05-07 | 宁德时代新能源科技股份有限公司 | Power conversion method for commercial vehicle |
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