CN205724950U - A kind of charging system, charging assembly, charging pile and automatic guided vehicle - Google Patents
A kind of charging system, charging assembly, charging pile and automatic guided vehicle Download PDFInfo
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- CN205724950U CN205724950U CN201620235769.6U CN201620235769U CN205724950U CN 205724950 U CN205724950 U CN 205724950U CN 201620235769 U CN201620235769 U CN 201620235769U CN 205724950 U CN205724950 U CN 205724950U
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Abstract
The utility model relates to a kind of charging system, charging assembly, charging pile and automatic guided vehicle, this charging system includes being respectively arranged on charging pile, the charging plug on automatic guided vehicle side and cradle, described cradle is provided with positive pole contact and the negative pole contact contacting coupling with charging plug, positive pole contact and negative pole contact each have the contact surface for contacting conduction with charging plug, and the size of described contact surface has fault-tolerant surplus on the direct of travel of automatic guided vehicle.The utility model solves and causes charging process relatively difficult to achieve to the position accuracy demand of charging plug and charging socket is higher when charging in prior art, the technical problem that charging device is relatively costly, control program is complex.
Description
Technical field
The utility model relates to a kind of charging system, charging assembly, charging pile and automatic guided vehicle, belongs to AGV automatic guided vehicle technical field.
Background technology
AGV (Automated Guided Vehicle) automatic guided vehicle, is a kind of unmanned transport vehicle having automatic guiding system.Internal power source is provided by battery pack, needs to keep the operation power of AGV dolly to battery charging with this after inside battery energy depletion.Current charging modes mainly has contact and contactless two kinds, due to contactless charging method have that power attenuation is big, noncontact apart from the problem such as short, power is little, therefore, automatic guided vehicle of the prior art many employings contact recharging device.
Such as publication date is 2014.03.26, Authorization Notice No. is that the Chinese utility model patent application of CN 203496702 U discloses a kind of electric automobile guiding based on HD video and enters the station automatic charge device, this charging device includes guiderail base, guiderail base is fixed in charging station, guiderail base is provided with up and down slideway guide rail and the left and right runner rails of right-angled intersection, in described runner rails, slide block is installed, described slide block is controlled by motor, charging gun is installed on slide block, charging gun i.e. charging plug, charging plug includes several expansion links, the termination of charging plug is provided with video camera and power supply slot.Owing to this charging device uses jack docking mode to realize charging, when charging plug docks with the cradle on vehicle, higher to the position accuracy demand between charging plug and cradle, if between charging plug and cradle there is certain deviation in relative position, it will cause charging plug and cradle cannot realize conductive contact.Therefore, this charging device needs to arrange the positional information of high-precision camera collection electric automobile, and the position of cradle is analyzed by video processing computer, then the positional information of cradle is passed to motor, and then control motor drives slide block to move, and motor needs accurately to control the shift position of charging plug, can realize that charging plug docks successfully with cradle.
Above-mentioned charging device is in order to realize docking of charging plug and socket, must be by high performance harvester, for the jack position of socket is positioned, the displacement of corresponding controller plug, so that plug can be adapted to jack, it is thus desirable to use high performance video camera and corresponding image processing algorithm, by computer intelligence equipment, data are processed.This mode controls complexity, and cost is high.
Content of the invention
The purpose of this utility model is to provide a kind of charging assembly, cause charging process relatively difficult to achieve to the position accuracy demand of charging plug and charging socket is higher during in order to solve prior art is charged, in turn result in the technical problem that charging device is relatively costly, control is complicated.The purpose of this utility model also resides in a kind of charging system of offer, charging pile and charging vehicle.
For achieving the above object, the utility model adopts the following technical scheme that
A kind of charging system, including charging assembly and for controlling the automatic control system of charging process, charging assembly includes being respectively arranged on charging pile, the charging plug on automatic guided vehicle side and cradle, described cradle is provided with positive pole contact and the negative pole contact contacting coupling with charging plug, positive pole contact and negative pole contact each have the contact surface for contacting conduction with charging plug, and the size of described contact surface has fault-tolerant surplus on the direct of travel of automatic guided vehicle.
Positive pole contact and negative pole contact are between the upper and lower every setting.
Positive pole contact and negative pole contact are the long strip type contact extending along automatic guided vehicle direct of travel.
Charging plug includes insulator foot and spaced two contact assemblies up and down, contact assembly includes contact pedestal, contact sleeve and charging contacts, described charging contacts anticreep is arranged in contact sleeve and can be along contact sleeve guide extension, contact sleeve one end is connected with contact pedestal, between charging contacts and contact pedestal, top is provided with spring, and insulator foot is connected with for driving charging plug flexible so that the charging propulsive mechanism that coordinates of charging plug and motor contact pad.
Described automatic control system includes controller and for sensing the position sensor of homing guidance truck position, the connection being respectively equipped with the UNICOM when charging plug contacts cooperation with cradle on described charging plug and cradle confirms terminal, and the sampling of described controller connects corresponding connection confirmation terminal；The control of described controller connects an energising electronic switch, and this energising electronic switch string is located between the power input of charging pile and charger；The described electronic switch that is energized is for the Guan Bi when described connection confirms terminal UNICOM, the disconnection when described connection confirms terminal non-UNICOM.
A kind of charging assembly, including for being respectively arranged on charging pile, the charging plug on automatic guided vehicle side and cradle, described cradle is provided with positive pole contact and the negative pole contact contacting coupling with charging plug, positive pole contact and negative pole contact each have the contact surface for contacting conduction with charging plug, and the size of described contact surface has fault-tolerant surplus on the direct of travel of automatic guided vehicle.
Positive pole contact and negative pole contact are between the upper and lower every setting.
Positive pole contact and negative pole contact are the long strip type contact extending along automatic guided vehicle direct of travel.
A kind of charging pile, including charging pile body, described this body side surface of charging pile is provided with the cradle in described charging system.
A kind of automatic guided vehicle, including car body, the side of described car body is provided with the cradle in described charging system.
Advantageous Effects of the present utility model is: positive pole contact and size on automatic guided vehicle direct of travel for the negative pole contact have fault-tolerant surplus, expand charging plug and face contact range on automatic guided vehicle direct of travel for the cradle, charging plug still be able in the larger context with just, negative pole contact pad, even if the error after existing when automatic guided vehicle is stopped in advance or surpassing also ensure that the conductive contact between cradle and charging plug, ensure that charging is smoothed out, therefore, use the mode that this plug and socket coordinates, do not need to utilize high-precision control system, do not need to use high-definition camera and pattern process computer, on the one hand cost is reduced, save later maintenance cost；Simplify the control program of charging system, it is easier to universal use.
Further, the charging contacts on charging plug of the present utility model is Elastic Contact when contacting with positive and negative electrode contact, it is allowed to charging plug exists a range of error with the vertical range of cradle；When vertical range between automatic guided vehicle and charging pile is nearer, charging contacts can be to contract, ensureing between cradle and charging contacts can good contact, it is to avoid between the two because of vertical range less when, extruding force is relatively big and destroys positive and negative electrode contact and charging contacts.
Charging pile is provided with controller, it is respectively equipped with connection on charging plug and cradle and confirm terminal, controller connects with being connected confirmation terminal sampling, when charging plug and cradle contact and connect, two connect confirmation terminal UNICOM, controller sends control command, makes the energising electronic switch Guan Bi being connected between power input and charger, starts to charge up；Otherwise, when two connect the confirmation non-UNICOM of terminal, energising electronic switch is off, and the charging plug so in uncharged state, charging pile or cradle do not have charging voltage, it is ensured that charging pile safety, it is to avoid contingency occurs.
Brief description
Fig. 1 is the structural representation of the utility model charging system embodiment 1；
Fig. 2 is Fig. 1 left view；
Fig. 3 is the structural representation of charging plug 3 in Fig. 1；
Fig. 4 is the left view of Fig. 3；
Fig. 5 is the structural representation of cradle 4 in Fig. 1；
Fig. 6 is the left view of Fig. 5；
Structural representation when Fig. 7 is that in Fig. 1, automatic guided vehicle coordinates with charging pile charging；
Fig. 8 is the structural representation of automatic control system in the utility model embodiment 1；
Fig. 9 is track route figure during automatic guided vehicle charging in the utility model charging system；
Figure 10 is the structural representation of the another kind of embodiment of the utility model charging system；
Structural representation when Figure 11 is that in Figure 10, automatic guided vehicle coordinates with charging pile charging；
Figure 12 is the structural representation of the automatic control system of the another kind of embodiment of the utility model charging system.
Detailed description of the invention
Below in conjunction with the accompanying drawings detailed description of the invention of the present utility model is described in detail.
The embodiment 1 of the utility model charging system, as shown in Figures 1 to 9, including charging assembly and for controlling the automatic control system of charging process, charging assembly includes charging plug 3 and cradle 4 for being respectively arranged on automatic guided vehicle the 7th, charging pile 1.Automatic guided vehicle 7 includes car body and the wheel 71 being arranged on car body, and charging pile 1 includes charging pile body；In the present embodiment, charging plug 3 is located at the car body side of automatic guided vehicle 7, and cradle 4 is located at the side of charging pile body.In other embodiments, charging plug 3 can be located at side or the top of charging pile body, and cradle 4 can be located at side or the bottom of automatic guided vehicle.
Charging plug 3 is scalable plug, and charging plug 3 is connected with the charging propulsive mechanism 2 for driving charging plug 3 to extend and retract, and under the impetus of charging propulsive mechanism 2, charging plug 3 realizes contacting cooperation with cradle 4 and disconnects.Charging plug 3 includes insulator foot 35 and spaced two contact assemblies up and down, contact assembly includes contact pedestal the 36th, charging contacts 31 and contact sleeve 38, insulator foot 35 guides the side being movably arranged on automatic guided vehicle, and insulator foot 35 is connected with charging propulsive mechanism.Contact pedestal 36 is fixed on insulator foot 35, and its bottom offers screwed hole, for connecting wire, charging contacts 31 anticreep is arranged in contact sleeve 38, and can be along the axial stretching of contact sleeve, one end of contact sleeve 38 is provided with internal thread, and contact pedestal 36 is provided with external screw thread, contact sleeve 38 is screwedly mounted on contact pedestal 36 by screw thread, and between contact pedestal 36 and charging contacts 31, top is provided with touch spring 30.Being connected with linkage guide rod 27 on insulator foot 35, linkage guide rod 27 is connected with electric pushrod 24, and electric pushrod 24 is connected with propulsion electric machine 20, and described charging propulsive mechanism 2 includes described linkage knife bar the 27th, electric pushrod 24 and propulsion electric machine 20.Under the effect of electric pushrod 24, charging plug 3 can guide and stretch out or retract.
Cradle 4 includes insulating base 49, insulating base 49 is fixedly arranged on the side of charging pile 1, and insulating base 49 is interval with two electrode contact blades 42 up and down, and electrode contact blade 42 is respectively positive pole contact and negative pole contact, and it is strip contact, its length bearing of trend is consistent with the direct of travel of automatic guided vehicle.The height of two contacts matches with two contact assembly height of charging plug, it is ensured that two contacts and two contact assembly upper-lower height adapt.Positive and negative electrode contact is copper sheet, and the two ends of its length direction are respectively provided with boss 421.During charging, charging contacts 31 coordinates with positive and negative electrode contact pad respectively.Owing to positive and negative electrode contact extends along automatic guided vehicle direct of travel, size on automatic guided vehicle direct of travel for two contacts has fault-tolerant surplus, automatic guided vehicle fore-and-aft direction when parking puts in place can be allowed to there is a range of deviation, even if automatic guided vehicle deviates forward or is rearwardly offset from certain distance, two contacts and charging contacts are also capable of conductive contact, so expand the scope that automatic guided vehicle stops, it is easier to realize charging.Simultaneously, charging plug 3 is telescopic plug, between charging contacts 31 and contact pedestal 36, top is provided with spring, ensure to coordinate for Elastic Contact between charging contacts and two electrode contact blades, on the one hand charging contacts and electrode contact blade good contact are ensured, on the other hand can allow for the vertical range between charging pile and automatic guided vehicle and a range of deviation occurs, it is easier to realize charging.
Automatic control system includes guiding vehicle controller the 22nd, battery detection unit 23 being located on automatic guided vehicle 7, guiding vehicle controller 22 is PLC or MCU, automatic guided vehicle is provided with battery pack 21, the positive and negative electrode of battery pack 21 is conductively connected with two charging contacts 31 of charging plug 3 respectively, it is provided with safeties 39 between battery pack 21 and charging plug 3, battery detection unit 23 is connected with battery pack 21, in order to detect the voltage levels of battery 21；Battery detection unit 23 is connected with guiding vehicle controller 22 control, for the voltage signal detecting feeds back to guiding vehicle controller 22；Guide vehicle controller 22 to be connected with propulsion electric machine 20 control, drive charging plug to stretch according to the voltage signal control propulsion electric machine 20 that battery detection unit is fed back.
When the voltage of battery pack 21 is less than minimum setting value, battery pack 21 is in low-voltage state, guide the low voltage signal that vehicle controller 22 detects according to battery detection unit 23, and then control automatic guided vehicle 7 move towards the position of charging pile 1.Car body moves towards charging pile position and relies on 2 PGV vision sensors, 2 infrared sensors and 1 photoelectric sensor arranging on car body；When automatic guided vehicle uses, website, the routing information of AGV automatic guided vehicle are planned in advance.On the operating path planned in advance, stick or apply last layer special red or miscellaneous stipulations color adhesive tape or paint carry, special Quick Response Code is sticked on site location to be stopped, i.e. stick special Quick Response Code in charging pile position, routing information, the working terminal information of AGV automatic guided vehicle are read by the PGV vision sensor on car body.Guide vehicle controller and receive upper computer control system or after charging controlling command that operating personnel provide, or after receiving the low voltage signal that battery detection unit 23 detects, guide vehicle controller and perform charging instruction, car body, according to the charging pile positional information (charging pile position correspondence posts Quick Response Code band) storing in advance, is carried out route guidance by PGV vision sensor and marches to charging pile position and stop；When automatic guided vehicle reaches at charge position, PGV vision sensor scans Quick Response Code and then stops at this position.After automatic guided vehicle 7 puts stopping in place, guiding vehicle controller 22 controls propulsion electric machine 20 and drives charging plug 3 to stretch out；Push rod promotes forward 80mm distance, makes charging contacts and the electrode contact blade conductive contact on cradle 4 of charging plug 3, is charged.
When the voltage of battery pack 21 is higher than maximum set value, battery pack 21 is in high-voltage state, guide vehicle controller 22 and judge battery pack charging complete according to the high voltage signal that battery detection unit 23 detects, and then control propulsion electric machine 20 drives charging plug 3 to retract, and stops charging.Then, automatic guided vehicle leaves charging pile, and the district that moves to await orders awaits orders or operating position is operated.In the present embodiment, automatic guided vehicle is driven body movement by four direct current servo drivers, four DC servo motors, owing to car body uses specialty driven by servomotor, car body orders to trueness error when performing to cease and desist order to be less than ± 5mm from performing to advance, it is ensured that the precision connecting between charging plug to charging pile cradle.
Automatic control system includes being located on charging pile 1 charging pile controller 10 and in order to sense the position sensor 16 of homing guidance truck position, position sensor 16 is photoelectric sensor, it is correspondingly arranged on photoelectric reflection material 18 on automatic guided vehicle 7, position sensor 16 is connected with charging pile controller 10, for the automatic guided vehicle the sensing information of putting in place is fed back to charging pile controller 10, in other embodiments, position sensor 16 also can be radio frequency sensor.Charging pile has power input the 12nd, charger 15, and charging pile controller 10 is connected with power input 12, is charger 15 and charging pile controller 10 provides power supply to input after power input 12 plug-in.The positive and negative electrode wire of charger 15 is conductively connected with two strip electrode contacts on cradle respectively.On circuit between power input 12 and charger 15, string is provided with energising electronic switch 14, and energising electronic switch 14 is connected with charging pile controller 10, and charging pile controller 10 is connected with emergency stop switch 8 and electronic switch coil 13；It is respectively equipped with plug on charging plug 3 and cradle 4 and connect confirmation terminal, socket connection confirmation terminal, plug connection confirms that terminal, socket connect and confirms terminal UNICOM when charging plug and cradle contact cooperation, and charging pile controller 10 is connected confirmation terminal sampling and connects with socket.Plug connects confirmation terminal ground, socket connects confirmation terminal energising, after two connect confirmation terminal UNICOM, charging pile controller 10 receives socket and connects the low voltage signal confirming that terminal provides, charging pile controller 10 control energising electronic switch 14 closes, power input is energized with charger, and two on cradle electrode contact blade is charged；Otherwise, when two connect the confirmation non-UNICOM of terminal, energising electronic switch 14 is off.In the present embodiment, energising electronic switch 14 is control relay, in other embodiments or the switching device such as switching tube.It is connected with battery main switch 11 between charging pile controller 10 and power input 12.
If position sensor 16 is not detected by AGV automatic guided vehicle and puts in place signal, and two connect confirm the non-UNICOM of terminal, then charging pile controller 10 controls relay disconnection, at this moment charger power-off, charging pile is standby, two strip electrode contacts on cradle do not have charging voltage, and then avoid abnormal short-circuit or other burst phenomenons.When position sensor 16 senses that AGV automatic guided vehicle puts in place signal, after charging plug contacts cooperation with the electrode contact blade on cradle simultaneously, charging pile controller 10 controls relay Guan Bi, and charging pile is in running order, and automatic guided vehicle starts to charge up.
Another embodiment of the utility model charging system, as shown in Figure 10 to Figure 12, as different from Example 1: cradle 4 is arranged on automatic guided vehicle 7, charging plug 3 is arranged on the body of charging pile 1, charging propulsive mechanism is connected with charging plug 3, for driving charging plug 3 to stretch, cradle the 4th, charging plug the 3rd, the charge structure of propulsive mechanism is in the same manner as in Example 1, does not repeats at this.Charging system includes the automatic control system for controlling charging process.Charging pile body is provided with charging pile controller the 10th, for sensing the position sensor 16 of homing guidance truck position, automatic guided vehicle is provided with guiding vehicle controller 22, and charging pile controller the 10th, position sensor 16 and guiding vehicle controller 22 belong to a part for automatic control system.
Charging pile has power input the 12nd, charger 15, and charging pile controller 10 is connected with power input 12, is charger 15 and charging pile controller 10 provides power supply to input after power input 12 plug-in.The positive and negative electrode wire of charger 15 is conductively connected with two strip electrode contacts on cradle respectively.On circuit between power input 12 and charger 15, string is provided with energising electronic switch 14, and energising electronic switch 14 is connected with charging pile controller 10, and charging pile controller 10 is connected with emergency stop switch 8 and electronic switch coil 13；Being respectively equipped with plug connection on charging plug 3 and cradle 4 and confirming that terminal, socket connection confirm terminal, two connect confirmation terminals UNICOM when charging plug and cradle contact cooperation, and charging pile controller 10 is connected confirmation terminal sampling connection with corresponding plug.Socket connects confirmation terminal ground, plug connects confirmation terminal and connects electricity, after two connect confirmation terminal UNICOM, charging pile controller 10 receives plug and connects the low voltage signal confirming that terminal provides, charging pile controller 10 control energising electronic switch 14 closes, power input is energized with charger, and two charging contacts of charging plug 3 are charged；Otherwise, when two connect the confirmation non-UNICOM of terminal, energising electronic switch 14 is off, and two charging contacts of charging plug 3 do not have charging voltage.In the present embodiment, energising electronic switch 14 is control relay, in other embodiments or the switching device such as switching tube.It is connected with battery main switch 11 between charging pile controller 10 and power input 12.
The embodiment of the utility model charging assembly, the structure of charging assembly is for example above-mentioned, and for avoiding repeating, therefore not to repeat here.
The utility model charging pile, the embodiment of automatic guided vehicle, charging pile, the structure of automatic guided vehicle enter above-mentioned, for avoiding unnecessary repetition, do not repeat at this.
Claims (10)
1. a charging system, including charging assembly and for controlling the automatic control system of charging process, charging assembly includes being respectively arranged on charging pile, the charging plug on automatic guided vehicle side and cradle, it is characterized in that: described cradle is provided with positive pole contact and the negative pole contact contacting coupling with charging plug, positive pole contact and negative pole contact each have the contact surface for contacting conduction with charging plug, and the size of described contact surface has fault-tolerant surplus on the direct of travel of automatic guided vehicle.
2. charging system according to claim 1, it is characterised in that: positive pole contact and negative pole contact are between the upper and lower every setting.
3. charging system according to claim 2, it is characterised in that: positive pole contact and negative pole contact are the long strip type contact extending along automatic guided vehicle direct of travel.
4. charging system according to claim 3, it is characterized in that: charging plug includes insulator foot and spaced two contact assemblies up and down, contact assembly includes contact pedestal, contact sleeve and charging contacts, described charging contacts anticreep is arranged in contact sleeve and can be along contact sleeve guide extension, contact sleeve one end is connected with contact pedestal, between charging contacts and contact pedestal, top is provided with spring, and insulator foot is connected with for driving charging plug flexible so that the charging propulsive mechanism that coordinates of charging plug and motor contact pad.
5. the charging system according to claim 1-4 any one, it is characterized in that: described automatic control system includes controller and for sensing the position sensor of homing guidance truck position, the connection being respectively equipped with the UNICOM when charging plug contacts cooperation with cradle on described charging plug and cradle confirms terminal, and the sampling of described controller connects corresponding connection confirmation terminal；The control of described controller connects an energising electronic switch, and this energising electronic switch string is located between the power input of charging pile and charger；The described electronic switch that is energized is for the Guan Bi when described connection confirms terminal UNICOM, the disconnection when described connection confirms terminal non-UNICOM.
6. a charging assembly, including for being respectively arranged on charging pile, the charging plug on automatic guided vehicle side and cradle, it is characterized in that: described cradle is provided with positive pole contact and the negative pole contact contacting coupling with charging plug, positive pole contact and negative pole contact each have the contact surface for contacting conduction with charging plug, and the size of described contact surface has fault-tolerant surplus on the direct of travel of automatic guided vehicle.
7. charging assembly according to claim 6, it is characterised in that: positive pole contact and negative pole contact are between the upper and lower every setting.
8. charging assembly according to claim 7, it is characterised in that: positive pole contact and negative pole contact are the long strip type contact extending along automatic guided vehicle direct of travel.
9. a charging pile, including charging pile body, it is characterised in that: described this body side surface of charging pile is provided with the cradle in charging system described in the claims 1-5 any one.
10. an automatic guided vehicle, including car body, it is characterised in that: the side of described car body is provided with the cradle in charging system described in the claims 1-5 any one.
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