CN116620099B - Power changing method of AGV power changing vehicle - Google Patents
Power changing method of AGV power changing vehicle Download PDFInfo
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- CN116620099B CN116620099B CN202310918620.2A CN202310918620A CN116620099B CN 116620099 B CN116620099 B CN 116620099B CN 202310918620 A CN202310918620 A CN 202310918620A CN 116620099 B CN116620099 B CN 116620099B
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- 238000000034 method Methods 0.000 title claims abstract description 31
- 238000013519 translation Methods 0.000 claims abstract description 63
- 238000007667 floating Methods 0.000 claims abstract description 59
- 238000006243 chemical reaction Methods 0.000 claims abstract description 51
- 150000001875 compounds Chemical class 0.000 claims description 20
- 230000000712 assembly Effects 0.000 claims description 13
- 238000000429 assembly Methods 0.000 claims description 13
- 230000000149 penetrating effect Effects 0.000 claims description 2
- 239000002131 composite material Substances 0.000 description 5
- 241000239290 Araneae Species 0.000 description 1
- 238000005452 bending Methods 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000000717 retained effect Effects 0.000 description 1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
- B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
- B60S5/06—Supplying batteries to, or removing batteries from, vehicles
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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
Abstract
The invention discloses a power exchanging method of an AGV power exchanging vehicle, which comprises the following steps: s10, remotely controlling the AGV to move to the tail of the vehicle to be replaced; s20, calculating and adjusting the position and the posture of a battery bracket in the floating battery-changing device which does not bear the battery box according to the data obtained by the camera so that the battery bracket is aligned to a battery compartment of the vehicle; s30, the floating power conversion device which does not bear the battery box moves the battery box in the vehicle to the bracket; s40, controlling the AGV to horizontally move in a left-right translation mode, and positioning a floating battery changing device loaded with a full-power battery box to one side of a battery compartment in the vehicle; s50, pushing the battery box into a battery compartment of the vehicle by the floating power conversion device carrying the full-power battery box. According to the invention, the AGV drives the whole equipment to move to the tail part of the new energy commercial vehicle, and the camera scans the mark at the tail part of the vehicle to adjust the position and the gesture of the battery bracket in the floating power conversion device in real time, so that the commercial vehicle can be parked at any position and the power conversion process can be ensured to be carried out smoothly.
Description
Technical Field
The invention belongs to the technical field of power exchange equipment, and particularly relates to a power exchange method of an AGV power exchange vehicle.
Background
With the development of new energy technology, more and more commercial vehicles (such as trucks, vans, logistics vehicles and the like) adopt an electric drive mode. In order to solve the problem of endurance of the new energy commercial vehicle, a power exchanging mode is often adopted to realize quick electric energy supplement.
The new energy commercial vehicle generally adopts a push-pull mode at the tail part of the new energy commercial vehicle to replace a battery. In the process of power exchange, the most critical step is to position the power exchange equipment and the power exchange position of the vehicle body. In the prior art, as disclosed in CN 115535907A, the power switching device often drives the power switching platform to move and position to the power switching position of the vehicle through XYZ three directions. The above technical solution has strict requirements on the parking position of the vehicle, and if a certain deviation is exceeded, positioning is difficult to achieve.
In addition, the height position of a battery compartment in the vehicle can be changed due to the fact that the load of the vehicle is large, the load is off-load or not, and the weight of the battery is changed in the process of pulling the battery by the battery replacement equipment, so that the positioning difficulty is increased.
Disclosure of Invention
The invention aims to solve the problem of providing a power changing method of an AGV power changing vehicle, which is characterized in that the whole equipment is moved to a power changing side at the tail part of a new energy commercial vehicle by the AGV, and then the floating power changing device is adjusted to be aligned to a battery compartment of the new energy commercial vehicle, and the battery compartment can be adjusted in real time in the moving process of the battery compartment, so that the vehicle can be parked at any position to realize power changing.
In order to solve the technical problems, the invention adopts the following technical scheme: a power exchanging method of an AGV power exchanging vehicle comprises the following steps:
s10, controlling the AGV to move to the tail of the vehicle to be replaced and enabling a floating power exchanging device which does not bear a battery box on the AGV to be positioned to one side of a battery bin in the vehicle;
s20, a camera on the AGV battery replacement vehicle scans the tail of the vehicle or the mark at the tail of a battery compartment of the vehicle, and then the position and the gesture of a battery bracket in the floating battery replacement device which does not bear the battery box are calculated and adjusted according to data obtained by the camera so that the battery bracket is aligned to the battery compartment of the vehicle;
s30, the floating power conversion device which does not bear the battery box moves the battery box in the vehicle to the bracket;
s40, controlling the AGV to horizontally move in a sliding mode, positioning the floating power exchange device carrying the full-power battery box to one side of a battery compartment in the vehicle, and repeating the step S20 to enable a battery bracket in the floating power exchange device carrying the full-power battery box to be aligned with the battery compartment of the vehicle;
s50, pushing the battery box into a battery compartment of the vehicle by the floating power conversion device carrying the full-power battery box.
Further, in step S20, the position adjustment of the battery carriage includes lifting and translation, and the posture adjustment includes pitching and yawing.
Further, in step S30, the camera scans the identifier during the process that the battery box in the vehicle moves onto the bracket, and the position and posture of the battery bracket in the floating power conversion device which does not bear the battery box are calculated and adjusted in real time according to the data obtained by the camera, so that the battery bracket is aligned to the battery compartment of the vehicle.
Further, in step S50, during the process that the battery box of the floating power exchange device carrying the full battery box moves toward the battery compartment of the vehicle, the position and posture of the battery bracket in the floating power exchange device carrying the full battery box are calculated and adjusted in real time by the data obtained by the camera so that the battery bracket is aligned to the battery compartment of the vehicle.
Further, AGV trades electric car includes AGV, sets up lift drive on the AGV, set up lift drive end trade the electric platform, set up camera and the side by side that trade on the electric platform and set up two sets of floating electric device that trade on the electric platform.
Further, a translation driving assembly for driving the two groups of floating power conversion devices to translate synchronously is arranged on the power conversion platform;
the floating power conversion device comprises a battery bracket for bearing a battery box, a battery box push-pull assembly arranged on the battery bracket, a cross shaft assembly arranged between the head of the battery bracket and the translation driving assembly, and a compound driving assembly arranged between the tail of the battery bracket and the translation driving assembly and used for driving the battery bracket to rotate by taking the cross shaft assembly as a rotation center.
Further, the translation driving assembly comprises a first translation connecting plate connected with a cross shaft assembly in the floating power conversion device, a first translation guiding assembly arranged between the power conversion platform and the first translation connecting plate, a first screw rod sliding table arranged on the power conversion platform and connected with the first translation connecting plate, a second translation connecting plate connected with a compound driving assembly in the floating power conversion device, a second translation guiding assembly arranged between the power conversion platform and the second translation connecting plate, and a second screw rod sliding table arranged on the power conversion platform and connected with the second translation connecting plate;
the cross shaft assembly comprises a longitudinal shaft rotatably arranged at the head of the battery bracket, and a transverse shaft penetrating through the longitudinal shaft and limited on a mounting seat, and the mounting seat is connected with the first translation connecting plate;
the compound drive assembly comprises a connecting shaft, a hinge shaft, a connecting seat, a middle connecting plate, a crank connecting rod assembly, a compound drive motor, a crank connecting rod assembly and a compound drive motor, wherein the connecting shaft is limited at the tail part of the battery bracket, the hinge shaft penetrates through the connecting shaft, the connecting seat is used for installing the hinge shaft, the middle connecting plate is hinged with the connecting seat and the second translation connecting plate at two ends of the middle connecting plate respectively, the crank connecting rod assembly is connected with the battery bracket at the driving end of the crank connecting rod assembly, the compound drive motor is used for driving a crank in the crank connecting rod assembly, and the compound drive motor is fixed on the second translation connecting plate.
Further, the battery box push-pull assembly comprises a push-pull pin matched with the battery box, a reciprocating driving device for driving the push-pull pin to reciprocate along the length direction of the battery bracket, and a reciprocating driving device guide assembly arranged between the reciprocating driving device and the battery bracket;
the reciprocating driving device guide assemblies are arranged on the battery bracket side by side, and each group of reciprocating driving device guide assemblies comprises a guide rail fixed on the battery bracket and a sliding block matched with the guide rail;
the sliding blocks in the two groups of reciprocating driving device guide assemblies are connected with the reciprocating sliding table, and the push-pull pins are connected with the reciprocating sliding table;
the reciprocating driving device comprises a reciprocating driving motor fixed on the reciprocating sliding table, a gear connected with an output shaft of the reciprocating driving motor and a rack fixed on the battery bracket and meshed with the gear.
Further, a mounting device for driving the push-pull pin to move upwards into the traction hole of the battery box or downwards and leave the traction hole is arranged on the reciprocating sliding table, and the mounting device comprises a driving plate fixed at the bottom of the push-pull pin, a mounting driving plate fixed on the driving plate, a screw rod in threaded connection with the mounting driving plate and a mounting driving motor for driving the screw rod to rotate.
Further, a linear sliding table component for driving the camera to move is arranged below the level changing table head, and the moving direction of the camera is perpendicular to the moving direction of the battery box.
According to the invention, the AGV drives the whole equipment to move to the tail part of the new energy commercial vehicle, and the camera scans the mark at the tail part of the vehicle to adjust the position and the gesture of the battery bracket in the floating power conversion device in real time, so that the commercial vehicle can be parked at any position and the power conversion process can be ensured to be carried out smoothly.
The present invention will be described in detail with reference to the accompanying drawings.
Drawings
FIG. 1 is a front view of a method of changing power for an AGV of the present invention;
FIG. 2 is a side view of FIG. 1;
FIG. 3 is a top view of FIG. 1;
FIG. 4 is a perspective view of the present invention AGV battery change method;
FIG. 5 is a schematic diagram of a floating power transfer device according to the present invention;
FIG. 6 is a schematic illustration of the cross-shaft assembly of the present invention;
FIG. 7 is a schematic view of the mounting device of the present invention;
FIG. 8 is a schematic view of another construction of the mounting device of the present invention;
fig. 9 is a schematic structural view of a compound drive device in the present invention.
In the drawings: 1. AGVs, 2, lifting drive devices, 3, a power conversion platform, 4, a battery box, 5, a battery bracket, 6, a longitudinal axis, 7, a transverse axis, 8, an installation seat, 9, a connecting shaft, 10, a hinge shaft, 11, a connecting seat, 12, an intermediate connecting plate, 13, a crank connecting rod assembly, 14, a composite drive motor, 15, a push-pull pin, 16, a guide rail, 17, a sliding block, 18, a reciprocating sliding table, 19, a reciprocating drive motor, 20, a gear, 21, a rack, 22, a drive plate, 23, a mounting drive plate, 24, a screw rod, 25, a mounting drive motor, 26, a guide vertical plate, 27, a guide bearing group, 28, a positioning block, 29, a camera, 30, a linear sliding table assembly, 31, a first translation connecting plate, 32, a first translation guide assembly, 33, a first screw rod sliding table, 34, a second translation connecting plate, 35, a second translation guide assembly, 36, a second screw rod sliding table, 37, a connecting bridge, 38 and an unlocking device.
Detailed Description
Referring to fig. 1-9, the invention provides an AGV battery changing vehicle, which comprises an AGV1, a lifting driving device 2 arranged on the AGV1, a battery changing platform 3 arranged on the driving end of the lifting driving device 2, a camera 29 arranged on the battery changing platform 3 and a floating battery changing device.
A laser radar for assisting positioning is provided on the AGV1 for positioning between the replacement car and the commercial car.
Referring to fig. 1, 2 and 4, the lift drive 2 described above includes a pin lift and a scissor lift assembly disposed on the AGV 1. Because the weight of the battery box 4 is large, in this embodiment, 4 sets of pin tooth lifting devices and 4 sets of scissor-stay assemblies are provided in order to maintain the stability of the operation of the level shifter. The pin tooth lifting devices and the scissor brace assemblies with corresponding numbers can be arranged according to specific requirements.
Referring to fig. 1-9, the floating power conversion device includes a battery bracket 5 for carrying a battery box 4, a battery box push-pull assembly disposed on the battery bracket 5, a cross shaft assembly disposed between a head of the battery bracket 5 and the translational driving assembly, and a compound driving assembly disposed between a tail of the battery bracket 5 and the translational driving assembly and driving the battery bracket 5 to rotate with the cross shaft assembly as a rotation center.
And a translation driving component for driving the two groups of floating power conversion devices to translate synchronously is arranged on the power conversion platform 3, and the degree of freedom of the floating power conversion devices is improved through the translation of the positions of the floating power conversion devices so as to be matched with other devices or components to ensure that the devices are aligned with the battery compartment of the commercial vehicle.
Referring to fig. 1, 4 and 5, the above-mentioned translation driving assembly includes a first translation connecting plate 31 connected to the cross axle assembly in the floating power conversion device, a first translation guiding assembly 32 disposed between the power conversion table 3 and the first translation connecting plate 31, a first screw sliding table 33 disposed on the power conversion table 3 and connected to the first translation connecting plate 31, a second translation connecting plate 34 connected to the composite driving assembly in the floating power conversion device, a second translation guiding assembly 35 disposed between the power conversion table 3 and the second translation connecting plate 34, and a second screw sliding table 36 disposed on the power conversion table 3 and connected to the second translation connecting plate 34. The first translation guide assembly 32 and the second translation guide assembly 35 each comprise a guide rail and a matched slide block, wherein the slide blocks are connected with the first translation connecting plate 31 or the second translation connecting plate 34. The corresponding connecting plates are driven to move through the first screw rod sliding table 33 and the second screw rod sliding table 36 so as to realize synchronous translation of the positions of the two battery brackets 5.
The bottom of each cross assembly is connected to a corresponding first translating web 31. The two first translational web 31 are then connected to the two ends of the connecting bridge 37, respectively. The middle part of the connecting bridge 37 is connected with the execution end of the first screw sliding table 33. The level shifter 3 is provided with a bar-shaped hole through which both ends of the connection bridge 37 pass.
Referring to fig. 6, the cross assembly described above includes a longitudinal axis 6 rotatably disposed on the head of the battery carrier 5, and a transverse axis 7 extending through the longitudinal axis 6 and retained on a mounting 8. The longitudinal axis 6 is arranged in the same direction as the length direction of the battery bracket 5, the transverse axis 7 is arranged in the same direction as the width direction of the battery bracket 5, and the mounting seat 8 is connected with the first translation connecting plate 31.
Referring to fig. 2 and 9, the above-mentioned composite driving assembly includes a connection shaft 9 rotatably limited at the tail of the battery bracket 5, a hinge shaft 10 passing through the connection shaft 9, a connection seat 11 for mounting the hinge shaft 10, an intermediate connection plate 12 having both ends hinged to the connection seat 11 and the second translation connection plate 34, respectively, and a crank-link assembly 13 having a driving end connected to the battery bracket 5, and a composite driving motor 14 for driving a crank in the crank-link assembly 13, wherein the composite driving motor 14 is fixed on the second translation connection plate 34. The connecting shaft 9 is on the same axis as the longitudinal shaft 6, and the hinge shaft 10 is parallel to the axis of the transverse shaft 7.
Under the drive of the compound drive motor 14, the battery bracket 5 can rotate around the longitudinal axis 6 and the transverse axis 7 at the same time, so that the pitching and the swaying of the battery bracket 5 are realized, the battery bracket 5 is aligned to the power change position of the battery compartment, and the battery box 4 is ensured to smoothly enter the battery bracket 5 or enter the battery compartment from the battery bracket 5.
The connecting seat 11 and the middle connecting plate 12 can realize the function of supporting the tail of the battery bracket 5.
Two groups of crank-link assemblies 13 and a compound drive motor 14 are arranged between each battery bracket 5 and the second translation connecting plate 34 by taking the connecting shaft 9 as a symmetrical center.
The compound drive motor 14 and the intermediate connection plate 12 in all compound drive assemblies are fixed to the same second translating connection plate 34.
Referring to fig. 2, 5 and 8, the above-mentioned battery case push-pull assembly includes push-pull pins 15 matched with the battery case 4, a reciprocating driving device for driving the push-pull pins 15 to reciprocate along the length direction of the battery bracket 5, and a reciprocating driving device guide assembly disposed between the reciprocating driving device and the battery bracket 5.
The reciprocating drive guide assemblies are arranged in two groups side by side on the battery bracket 5, and each group of reciprocating drive guide assemblies comprises a guide rail 16 fixed on the battery bracket 5 and a sliding block 17 matched with the guide rail 16.
The sliding blocks 17 in the two groups of reciprocating driving device guiding assemblies are connected with the reciprocating sliding table 18, and the push-pull pins 15 are connected with the reciprocating sliding table 18.
The reciprocating drive means includes a reciprocating drive motor 19 fixed to the reciprocating slide table 18, a gear 20 connected to an output shaft of the reciprocating drive motor 19, and a rack 21 fixed to the battery bracket 5 and meshed with the gear 20. Under the motion of the reciprocating drive motor 19, the gear 20 and the rack 21 are meshed, and then the reciprocating sliding table 18 is guided by the guide rail 16 and the sliding block 17 to reciprocate along the length direction of the battery bracket 5, so that the push-pull of the battery box 4 is realized, namely: the battery box 4 is pushed into the battery compartment from the battery bracket 5 or the battery box 4 in the battery compartment is pulled onto the battery bracket 5.
The battery bracket 5 is provided with a track seat and a battery box guide bar arranged in the track seat. The outside at the track seat is equipped with the turn-ups of upwards bending, can play the effect to the strengthening rib. A slope is provided at one end or at both ends of the battery box guide bar so that the grooved roller at the bottom of the battery box 4 can enter the battery box guide bar through the slope.
Referring to fig. 7 and 8, in order to realize the push-pull of the reciprocating sliding table 18 to the battery box 4, a mounting device for driving the push-pull pin 15 to move upwards into the traction hole of the battery box 4 or move downwards and leave the traction hole is arranged on the reciprocating sliding table 18. The mounting device comprises a driving plate 22 fixed at the bottom of the push-pull pin 15, a mounting driving plate 23 fixed on the driving plate 22, a screw rod 24 in threaded connection with the mounting driving plate 23 and a mounting driving motor 25 for driving the screw rod 24 to rotate. The mounting driving plate 23 is driven by the mounting driving motor 25 to move up and down through the screw rod and nut transmission structure, so that the push-pull pin 15 moves upwards into the traction hole of the battery box 4 or moves downwards and leaves the traction hole. In addition, the mounting driving plate 23 can be driven to move through structures such as an electric push rod, a gear rack driven by a motor, a cam structure driven by the motor and the like. In this embodiment, the mounting driving motor 25 is located at the bottom of the reciprocating sliding table 18, so that the space above the sliding table is not occupied, and other components can be conveniently mounted. The bottom of the screw 24 is connected with the output shaft of the mounting driving motor 25. By the mode, the push-pull pin 15 is connected with and separated from the battery box 4, so that automatic operation is realized, and labor cost is reduced.
The mounting guide assembly for guiding the mounting driving plate 23 is arranged on the reciprocating sliding table 18 and comprises two guide vertical plates 26 arranged on the reciprocating sliding table 18 side by side and two rows of guide bearing groups 27 arranged on the guide vertical plates 26, and two ends of the mounting driving plate 23 are respectively positioned in gaps of the two rows of guide bearing groups 27 in the two guide vertical plates 26. A positioning block 28 is provided on the guide standing plate 26, which is in contact with the battery box 4 under the drive of the reciprocating drive means and defines the distance between the push-pull pin 15 and the battery box 4. When the positioning block 28 is in contact with the battery box 4, the push-pull pin 15 is located just below the traction hole in the battery box 4, thereby achieving positioning between the push-pull pin 15 and the traction hole.
An unlocking device 38 can be arranged below the reciprocating sliding table 18 to realize locking and unlocking operation of screws in a battery compartment in the commercial vehicle. Two sets of unlocking means 38 are provided under each shuttle table 18.
Referring to fig. 4, a camera 29 and a linear sliding table assembly 30 for driving the camera 29 to move are arranged below the head of the level changing table 3, and the moving direction of the camera 29 is perpendicular to the moving direction of the battery box 4.
Based on the AGV power exchanging vehicle, the power exchanging method comprises the following steps.
S10, the AGV is controlled by a remote control to move to the tail of the vehicle to be replaced and the floating power conversion device which does not bear the battery box 4 on the AGV is positioned to one side of the battery compartment in the vehicle, namely: coarse positioning between the floating power conversion device and the vehicle battery compartment.
Specifically, a certain distance from the trolley changing vehicle to the tail of the vehicle is realized through laser radar ranging on the AGV1 so as to facilitate subsequent position detection and subsequent trolley changing adjustment. The floating power exchange device, which does not carry the battery box 4 at this time, faces the battery compartment of the vehicle.
S20, a camera 29 on an AGV battery replacing vehicle scans the tail of the vehicle or the mark at the tail of a battery compartment of the vehicle, then data obtained through the camera 29 is fed back to a controller of the battery replacing vehicle, and the controller calculates and adjusts the position and the gesture of the battery bracket 5 in the floating battery replacing device which does not bear the battery box 4 so that the battery bracket 5 is aligned with the corresponding position of the battery compartment of the vehicle, namely: the floating electricity exchanging device is accurately positioned with the battery compartment of the vehicle, and the top of the battery bracket 5 is positioned on the same plane with the track or bearing plane at the bottom of the battery box in the battery compartment in the vehicle.
The position adjustment of the battery carriage 5 in this step includes elevation and translation, and the posture adjustment includes pitch and yaw. The lifting of the battery bracket 5 is realized by driving the level changing table 3 through the lifting driving device 2, and the translation of the battery bracket 5 is realized by realizing large-range translation through driving the level changing table 3 by the AGV1 or realizing small-range translation through driving the floating level changing device by the translation driving component. The pitch and yaw of the battery carrier 5 is achieved by a spider assembly and a compound drive assembly.
The method specifically comprises the following steps.
S21, the linear sliding table assembly 30 drives the camera 29 to horizontally move so as to scan the marks (such as cross marks) and move to the initial position after the camera 29 scans the marks and moves to the position opposite to the marks, and the controller obtains the state of the vehicle to be replaced (such as full load or no load, the leveling of the vehicle body caused by the arrangement condition of the loaded cargoes on the vehicle body, the inclination of the vehicle body, and the like) according to the mark data obtained by the camera 29, so that the parameters required to be adjusted by the AGV are calculated.
S22, calculating the horizontal distance and the height between the position opposite to the mark and the initial position when the camera 29 moves. If the horizontal distance deviation is too large, controlling the AGV1 to move a corresponding distance to one side of the vehicle; if smaller, the floating power conversion device is driven to translate through the translation driving assembly to adjust (at the moment, the linear sliding table assembly 30 also drives the camera 29 to horizontally move by a corresponding distance). If there is a need for height adjustment, the elevation driving means 2 drives the level shifter 3 to move upward by a desired distance.
After the adjustment, the camera 29 is opposite to the mark so as to facilitate the adjustment of the position in the moving process of the battery box 4.
Finally, according to the identification data acquired by the camera 29, the battery bracket 5 in the floating battery-changing device which does not bear the battery box 4 is adjusted through the compound driving motor 14, so that the floating battery-changing device which does not bear the battery box 4 is opposite to the battery compartment. In this process, it is achieved by other means in cooperation if necessary.
S30, the floating power conversion device which does not bear the battery box 4 moves the battery box 4 in the vehicle to the battery bracket 5.
In the process of step S20, the reciprocation driving motor 19 drives the reciprocation slide 18 to move to the head of the battery bracket 5, and stops driving when the positioning block 28 contacts the battery box 4.
In this step, the mount drive motor 25 drives the push-pull pin 15 into the traction hole of the battery box 4, and then the reciprocation drive motor 19 drives the reciprocation slide table 18 to move from the head portion of the battery bracket 5 to the tail portion thereof, so that the battery box 4 of the vehicle is moved onto the battery bracket 5. In the process that the battery box 4 in the vehicle moves onto the battery bracket 5, the camera 29 scans the marks, and the position and the posture of the battery bracket 5 in the floating power conversion device which does not bear the battery box 4 are calculated and adjusted in real time through data feedback obtained by the camera 29 so that the battery bracket 5 is aligned with a battery compartment of the vehicle.
If the battery box 4 is provided with a screw to be unlocked, the unlocking device 38 is used for unlocking the screw and then the operation is performed.
And S40, controlling the AGV to horizontally move, positioning the floating power exchange device carrying the full-power battery box 4 to one side of a battery compartment in the vehicle, and repeating the step S20 to enable the battery bracket 5 in the floating power exchange device carrying the full-power battery box 4 to be aligned with the battery compartment of the vehicle.
S50, pushing the battery box 4 into a battery compartment of the vehicle by the floating power conversion device carrying the full-power battery box 4.
Specifically, the reciprocating drive motor 19 drives the reciprocating slide table 18 to move from the rear to the head of the battery bracket 5, and moves the battery box 4 on the battery bracket 5 into the battery compartment. During the process that the battery box 4 of the floating power conversion device carrying the full-power battery box 4 moves to the battery compartment of the vehicle, the position and the posture of the battery bracket 5 in the floating power conversion device carrying the full-power battery box 4 are calculated and adjusted in real time through the data obtained by the camera 29 so that the battery bracket 5 is aligned to the battery compartment of the vehicle.
The mounting driving motor 25 drives the push-pull pin 15 to leave the traction hole of the battery box 4, and the reciprocating driving motor 19 drives the reciprocating sliding table 18 to move from the head part to the tail part of the battery bracket 5.
If the battery box 4 is provided with a screw to be locked, the screw is locked through the unlocking device 38 after the battery box 4 is pushed into place.
And S60, the electricity-shortage battery box is moved to a charging station for charging by the electricity-replacement vehicle, and the full-charge battery box is loaded for the next electricity-replacement operation.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the same; while the invention has been described in detail with reference to the preferred embodiments, those skilled in the art will appreciate that: modifications may be made to the specific embodiments of the present invention or equivalents may be substituted for part of the technical features thereof; without departing from the spirit of the invention, it is intended to cover the scope of the invention as claimed.
Claims (7)
1. The power exchanging method of the AGV power exchanging vehicle comprises an AGV (1), a lifting driving device (2) arranged on the AGV (1), a power exchanging platform (3) arranged at the driving end of the lifting driving device (2), a camera (29) arranged on the power exchanging platform (3) and two groups of floating power exchanging devices arranged on the power exchanging platform (3) side by side;
a translation driving assembly for driving the two groups of floating power conversion devices to translate synchronously is arranged on the power conversion platform (3);
the floating power conversion device comprises a battery bracket (5) for bearing a battery box (4), a battery box push-pull assembly arranged on the battery bracket (5), a cross shaft assembly arranged between the head of the battery bracket (5) and the translation driving assembly, and a compound driving assembly arranged between the tail of the battery bracket (5) and the translation driving assembly and driving the battery bracket (5) to rotate by taking the cross shaft assembly as a rotation center;
the translation driving assembly comprises a first translation connecting plate (31) connected with a cross shaft assembly in the floating power conversion device, a first translation guiding assembly (32) arranged between the power conversion platform (3) and the first translation connecting plate (31), a first screw rod sliding table (33) arranged on the power conversion platform (3) and connected with the first translation connecting plate (31), a second translation connecting plate (34) connected with a compound driving assembly in the floating power conversion device, a second translation guiding assembly (35) arranged between the power conversion platform (3) and the second translation connecting plate (34) and a second screw rod sliding table (36) arranged on the power conversion platform (3) and connected with the second translation connecting plate (34);
the cross shaft assembly comprises a longitudinal shaft (6) rotatably arranged at the head of the battery bracket (5), and a transverse shaft (7) penetrating through the longitudinal shaft (6) and limited on a mounting seat (8), and the mounting seat (8) is connected with the first translation connecting plate (31);
the compound driving assembly comprises a connecting shaft (9) which is limited at the tail part of the battery bracket (5) in a rotating way, a hinge shaft (10) which passes through the connecting shaft (9), a connecting seat (11) which is used for installing the hinge shaft (10), an intermediate connecting plate (12) with two ends respectively hinged with the connecting seat (11) and the second translation connecting plate (34), a crank connecting rod assembly (13) with a driving end connected with the battery bracket (5) and a compound driving motor (14) which drives a crank in the crank connecting rod assembly (13), wherein the compound driving motor (14) is fixed on the second translation connecting plate (34),
the method is characterized by comprising the following steps of:
s10, controlling the AGV to move to the tail of the vehicle to be replaced and enabling a floating power conversion device which is not provided with a battery box (4) on the AGV to be positioned to one side of a battery bin in the vehicle;
s20, a camera (29) on an AGV battery replacement vehicle scans the tail of the vehicle or the mark at the tail of a battery compartment of the vehicle, and then the position and the gesture of a battery bracket (5) in a floating battery replacement device which does not bear the battery box (4) are calculated and adjusted according to data obtained by the camera (29) so that the battery bracket (5) is aligned to the battery compartment of the vehicle;
s30, a floating power conversion device which does not bear the battery box (4) moves the power-shortage battery box (4) in the vehicle to a battery bracket (5);
s40, controlling the AGV to horizontally move, positioning a floating power conversion device carrying the full-power battery box (4) to one side of a battery compartment in the vehicle, and repeating the step S20 to enable a battery bracket (5) in the floating power conversion device carrying the full-power battery box (4) to be aligned with the battery compartment of the vehicle;
s50, pushing the battery box (4) into a battery compartment of the vehicle by the floating power exchanging device carrying the full-power battery box (4).
2. The power exchanging method of the AGV power exchanging car according to claim 1, wherein in step S20, the position adjustment of the battery carriage (5) includes lifting and translation, and the posture adjustment includes pitching and yawing.
3. The power exchanging method of the AGV power exchanging system according to claim 1, wherein in step S30, the camera (29) scans the identification during the movement of the battery box (4) in the vehicle onto the battery tray (5), and the position and posture of the battery tray (5) in the floating power exchanging device that does not carry the battery box (4) are calculated and adjusted in real time by the data obtained by the camera (29) so that the battery tray (5) is aligned with the battery compartment of the vehicle.
4. The power exchanging method of the AGV power exchanging system according to claim 1, wherein in step S50, the position and posture of the battery bracket (5) in the floating power exchanging system carrying the full power battery box (4) are calculated and adjusted in real time by the data obtained by the camera (29) so that the battery bracket (5) is aligned with the battery compartment of the vehicle during the process of moving the battery box (4) carrying the floating power exchanging system of the full power battery box (4) into the battery compartment of the vehicle.
5. The power exchanging method of the AGV power exchanging car according to claim 1, wherein the battery box push-pull assembly includes a push-pull pin (15) mated with the battery box (4), a reciprocating drive device for driving the push-pull pin (15) to reciprocate along a length direction of the battery bracket (5), and a reciprocating drive device guide assembly provided between the reciprocating drive device and the battery bracket (5);
two groups of reciprocating driving device guide assemblies are arranged on the battery bracket (5) side by side, and each group of reciprocating driving device guide assemblies comprises a guide rail (16) fixed on the battery bracket (5) and a sliding block (17) matched with the guide rail (16);
the sliding blocks (17) in the two groups of reciprocating driving device guide assemblies are connected with a reciprocating sliding table (18), and the push-pull pins (15) are connected with the reciprocating sliding table (18);
the reciprocating driving device comprises a reciprocating driving motor (19) fixed on the reciprocating sliding table (18), a gear (20) connected with an output shaft of the reciprocating driving motor (19) and a rack (21) fixed on the battery bracket (5) and meshed with the gear (20).
6. The AGV power changing method according to claim 5, wherein a mounting device for driving the push-pull pin (15) to move up into or down from the traction hole of the battery box (4) is provided on the reciprocating sliding table (18), and the mounting device comprises a driving plate (22) fixed at the bottom of the push-pull pin (15), a mounting driving plate (23) fixed on the driving plate (22), a screw rod (24) in threaded connection with the mounting driving plate (23), and a mounting driving motor (25) for driving the screw rod (24) to rotate.
7. The power changing method of the AGV power changing vehicle according to claim 1, wherein a linear sliding table assembly (30) for driving a camera (29) to move is arranged below the head part of the power changing platform (3), and the moving direction of the camera (29) is perpendicular to the moving direction of the battery box (4).
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| CN202310918620.2A CN116620099B (en) | 2023-07-25 | 2023-07-25 | Power changing method of AGV power changing vehicle |
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| CN202310918620.2A CN116620099B (en) | 2023-07-25 | 2023-07-25 | Power changing method of AGV power changing vehicle |
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| CN116620099A (en) | 2023-08-22 |
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