CN210363413U

CN210363413U - Automatic charging device and AGV charging system

Info

Publication number: CN210363413U
Application number: CN201920749957.4U
Authority: CN
Inventors: 康波; 唐安; 周坤鹏; 谷小伟; 阮进福; 王平
Original assignee: XIAMEN ELANDER ELECTROMECHANICAL ENGINEERING CO LTD
Current assignee: XIAMEN ELANDER ELECTROMECHANICAL ENGINEERING CO LTD
Priority date: 2019-05-23
Filing date: 2019-05-23
Publication date: 2020-04-21
Anticipated expiration: 2029-05-23

Abstract

The utility model discloses an automatic charging device and an AGV charging system, wherein the automatic charging device comprises a first contact conductor which is suitable for being arranged on a charging pile; the adjusting component is arranged on the first contact conductor to drive the first contact conductor to rotate so as to adjust the butt joint position of the first contact conductor; a second contact conductor adapted to be disposed on the rechargeable battery; and the telescopic assembly is arranged on the rechargeable battery and is provided with a first movable driving part and a second movable driving part, the first movable driving part is connected with the second contact conductor to drive the second contact conductor to move so as to be electrically connected with the first contact conductor, and the second movable driving part is connected with the first movable driving part to drive the first movable driving part to move so as to align the second contact conductor with the first contact conductor. Therefore, the automatic charging efficiency of the AGV is improved, and the operation of the equipment is safer.

Description

Automatic charging device and AGV charging system

Technical Field

The utility model relates to a charging device technical field, in particular to automatic charging device.

Background

An Automated Guided Vehicle (AGV) is an unmanned transport Vehicle equipped with an electric, magnetic, or optical automatic guide device, which can travel along a predetermined guide path and has safety protection and various transfer functions. The AGV uses a rechargeable storage battery as a power source and charges the storage battery in an automatic charging mode. When charging is needed, the AGV is guided to a charging area through automatic navigation, the chargeable state is determined to be met through the position sensor on the AGV, and the quick plug-in is in butt joint with the quick plug-in of the charging equipment through the quick plug-in arranged on the AGV, so that the AGV is charged. An alignment mechanism is typically provided in the charging device to facilitate the docking of the quick plug-in of the AGV with the quick plug-in of the charging device.

However, position deviations in the XYZ triaxial directions are caused by uncertainty of the parking position and changes in the load, and the position of the AGV needs to be adjusted repeatedly, so that the automatic charging efficiency of the AGV is low, and the device is easily damaged in the docking process.

SUMMERY OF THE UTILITY MODEL

The present invention aims at solving at least one of the technical problems in the above-mentioned technology to a certain extent. Therefore, an object of the utility model is to provide an automatic charging device improves the automatic efficiency of charging of AGV, can make the function of equipment safer.

A second object of the present invention is to provide an AGV charging system.

In order to achieve the above object, the present invention provides in a first aspect an automatic charging device, comprising:

a first contact conductor adapted to be disposed on the charging post;

the adjusting component is arranged on the first contact conductor to drive the first contact conductor to rotate so as to adjust the butt joint position of the first contact conductor;

a second contact conductor adapted to be disposed on the rechargeable battery;

the telescopic assembly is provided with a first movable driving piece and a second movable driving piece, the first movable driving piece is connected with the second contact conductor to drive the second contact conductor to move and is electrically connected with the first contact conductor, and the second movable driving piece is connected with the first movable driving piece to drive the first movable driving piece to move so as to align the second contact conductor with the first contact conductor.

From this, make the second contact conductor have the flexible removal of second grade through flexible subassembly, wherein, the second removes the driving piece and makes the second contact conductor carry out preliminary alignment with first contact conductor in the front and back direction, the adjustment subassembly makes its butt joint position of first contact conductor automatic adjustment (including the angle adjustment of skew and deflection), make second contact conductor and first contact conductor accurate alignment, rethread first removes the driving piece and makes second contact conductor and first contact conductor electrical connection, thereby eliminate the position deviation that first contact conductor and second contact conductor can exist when electrical connection, and then improve the automatic efficiency that charges of AGV, also make the operation of equipment safer.

In addition, according to the present invention, the automatic charging device further has the following additional technical features:

according to the utility model discloses an embodiment, the adjustment subassembly includes:

a first substrate disposed in a vertical direction;

a second substrate disposed opposite to the first substrate, the second substrate being connected to the first substrate in a manner of being movable up and down and in a manner of being movable left and right with respect to the first substrate;

a guide cylinder connected to the housing of the second contact conductor;

and a first elastic element having both ends connected to surfaces of the second substrate and the guide cylinder opposite to each other, respectively.

According to the utility model discloses an embodiment, be equipped with first slide rail on the first base plate, the length direction of first slide rail sets up along upper and lower direction, be equipped with on the second base plate with first slide rail matched with first slider, just be connected with second elastic element on the second base plate, in order to pass through the drive of second elastic element first slider is in reciprocate on the first slide rail.

According to the utility model discloses an embodiment still includes third elastic element and first round pin axle, third elastic element's length direction sets up along controlling the direction, third elastic element's one end is connected first base plate, the other end is connected first round pin axle, first round pin hub connection the second base plate, in order to pass through the drive of third elastic element first round pin axle drives the second base plate is removed left and right sides.

According to the utility model discloses an embodiment, be equipped with the rectangular hole that length direction set up along controlling the direction on the first base plate, first round pin axle one end is connected first base plate or second elastic element, the other end passes rectangular hole, and with third elastic element connects.

According to the utility model discloses an embodiment, be equipped with the second slide rail on the second base plate, the length direction of second slide rail sets up along controlling the direction, be equipped with on the guide cylinder with second slide rail matched with second slider.

According to the embodiment of the present invention, the end of the guide cylinder fixed on the housing of the second contact conductor has a first baffle hinged on the guide cylinder, and the first baffle is suitable for waterproof and dustproof of the first contact conductor; the guide cylinder is open at an end thereof remote from the second contact conductor and has an upwardly inclined surface, a downwardly inclined surface, a leftward inclined surface, and a rightward inclined surface, respectively.

According to an embodiment of the present invention, the first movable driving member is a motor driving member, a push rod driving member or a hydraulic driving member; the second movable driving part is a structure formed by matching a motor with a linear guide rail, a structure formed by matching the motor with a linear sliding groove, a structure formed by matching the motor with a gear rack or a structure formed by matching the motor with a roller track.

According to the utility model discloses an embodiment, be equipped with the mount pad on the second contact conductor, it is right to articulate on the mount pad the second contact conductor carries out waterproof dirt-proof second baffle, the second contact conductor passes through fourth elastic element and connects the mount pad.

The utility model discloses the second aspect provides a AGV charging system, and it includes foretell automatic charging device to improve the automatic efficiency of charging of AGV, can make the function of equipment safer.

Drawings

FIG. 1 is a schematic diagram of an AGV charging system according to an embodiment of the present invention;

fig. 2 is a schematic partial structural view of a charging device according to an embodiment of the present invention;

fig. 3 is another perspective view of a partial structure of a charging device according to an embodiment of the present invention;

fig. 4 is an exploded view of a partial structure of a charging device according to an embodiment of the present invention;

FIG. 5 is an exploded view of an AGV according to an embodiment of the present invention;

FIG. 6 is a schematic diagram of a portion of an AGV according to an embodiment of the present invention;

FIG. 7 is an exploded view of a portion of the structure of an AGV according to an embodiment of the present invention;

description of reference numerals: AGV1, second contact conductor 11, mounting seat 111, second shutter 1111, fourth elastic element 112, telescopic assembly 12, first moving driving member 121, first motor 1211, linear guide 1212, second moving driving member 122, second motor 1221, synchronous belt 1222, linear sliding slot 1223, rechargeable battery 13, charging pile 2, first contact conductor 21, adjusting assembly 22, first base plate 221, first sliding rail 2211, elongated hole 2212, second base plate 222, first sliding block 2221, second sliding rail 2222, guide cylinder 223, second sliding block 2231, first shutter 2232, first elastic element 224, second elastic element 225, third elastic element 226, and first pin 227.

Detailed Description

Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary and intended to be used for explaining the present invention, and should not be construed as limiting the present invention.

In order to better understand the above technical solutions, exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention can be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.

In order to make the description of the technical scheme of the application clearer and simpler, in the application, in the butt joint process of the AGV and the charging pile, the direction parallel to the running direction of the AGV is set to be the front-back direction, the direction perpendicular to the running direction in the horizontal plane is set to be the left-right direction, and the direction perpendicular to the running direction in the vertical plane is set to be the up-down direction. The above directions are not intended to limit the present application.

In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.

As shown in fig. 1 to 7, an automatic charging device and an AGV charging system according to an embodiment of the present invention, as shown in fig. 1, includes a charging pile 2 and an AGV 1; the automatic charging device includes a first contact conductor 21, an adjustment member 22, a second contact conductor 11, and a telescopic member 12.

The first contact conductor 21 is adapted to be arranged on the charging pile 2;

the adjusting component 22 is arranged on the first contact conductor 21 to drive the first contact conductor 21 to rotate so as to adjust the butt joint position;

the second contact conductor 11 is adapted to be arranged on the rechargeable battery 13;

the telescopic assembly 12 is disposed on the rechargeable battery 13, the telescopic assembly 12 has a first movable driving member 121 and a second movable driving member 122, the first movable driving member 121 is connected to the second contact conductor 11 to drive the second contact conductor 11 to move and electrically connected to the first contact conductor 21, and the second movable driving member 122 is connected to the first movable driving member 121 to drive the first movable driving member 121 to move and align the second contact conductor 11 with the first contact conductor 21.

Therefore, the second contact conductor 11 has two-stage telescopic movement through the telescopic assembly 12, wherein the second movable driving member 122 enables the second contact conductor 11 to be initially aligned with the first contact conductor 21 in the front-rear direction, the adjusting assembly 22 enables the first contact conductor 21 to automatically adjust the butt joint position (including the angle adjustment of offset and deflection) so that the second contact conductor 21 is accurately aligned with the first contact conductor 11, and then the first movable driving member 121 enables the second contact conductor 11 to be electrically connected with the first contact conductor 21, so that the position deviation of the first contact conductor 21 and the second contact conductor 11 which can exist when the first contact conductor 21 and the second contact conductor 11 are electrically connected is eliminated, the automatic charging efficiency of the AGV1 is improved, and the operation of the device is safer.

Specifically, referring to fig. 2-4, the adjusting component 22 includes: a first base plate 221, a second base plate 222, a guide cylinder 223, and a first elastic member 224; the first substrate 221 is disposed in a vertical direction; the second substrate 222 is disposed opposite to the first substrate 221, and the second substrate 222 is connected to the first substrate 221 in a manner of being movable up and down and moving left and right with respect to the first substrate 221; the guide cylinder 223 is connected to the housing of the second contact conductor 21; both ends of the first elastic member 224 are connected to the surfaces of the second base plate 222 and the guide cylinder 223, respectively.

That is, when the second contact conductor 11 on the AGV1 is inserted into the guiding cylinder 223 and is initially aligned with the first contact conductor 21, and there is a deviation of inclination and torsion between the first contact conductor 21 and the second contact conductor 11 during the docking process, the interaction force between the housing on the second contact conductor 11 and the guiding cylinder 223 will make the second substrate 222 move left, right, upward or downward, so as to drive the guiding cylinder 223 to move left, right, upward or downward; at the same time, the first elastic element 224 arranged between the guide cylinder 223 and the second substrate 222 is matched, so that the position relation between the first contact conductor 21 and the second contact conductor 11 in the front-back direction can be adjusted, and the butting position deviation of the first contact conductor 21 and the second contact conductor 11 can be compensated in an unpowered omnibearing manner.

For the specific implementation form that the second substrate 222 is connected to the first substrate 221 in a manner of moving up and down and moving left and right relative to the first substrate 221, the present embodiment provides the following optional technical solutions:

as shown in fig. 2 and 4, a first slide rail 2211 is disposed on the first substrate 221, the length direction of the first slide rail 2211 is disposed along the vertical direction, a first slider 2221 matched with the first slide rail 2211 is disposed on the second substrate 222, and a second elastic element 225 is connected to the second substrate 222, so that the second elastic element 225 drives the first slider 2221 to move up and down on the first slide rail 2211. Then, a third elastic element 226 and a first pin 227 may be further disposed, the length direction of the third elastic element 226 is disposed along the left-right direction, one end of the third elastic element 226 is connected to the first substrate 221, the other end of the third elastic element is connected to the first pin 227, the first pin 227 is connected to the second substrate 222, so that the third elastic element 226 drives the first pin 227 to drive the second substrate 222 to move left and right.

Specifically, one end of the second elastic element 225 is connected to the first substrate 221, and the other end is connected to the second substrate 222, so as to drive the second substrate 222 to move up and down. The first substrate 221 is provided with a long hole 2212 arranged along the left-right direction in the length direction, one end of the first pin 227 is connected to the second elastic element 225, and the other end passes through the long hole 2212 and is connected to the third elastic element 226. Alternatively, referring to fig. 3, one end of the first pin 227 is connected to the second substrate 221, and the other end thereof passes through the elongated hole 2212 and is connected to the third elastic element 226. So as to drive the second substrate 222 to move left and right through the third elastic element 226, and when there is a first pin 227, one end is connected to the second elastic element 225, and the other end is connected to the third elastic element 226; and another first pin 227 having one end connected to the second substrate 222 and the other end connected to the third elastic element 226; and the second substrate 222 can drive the guide cylinder 223 to perform spherical micro-rotation by combining the up-and-down movement of the second substrate 222, so as to achieve the purpose of compensating the tilt torsion under the non-XYZ positive deviation.

Further, a second slide rail 2222 is disposed on the second substrate 222, the length direction of the second slide rail 2222 is disposed along the left-right direction, and a second slider 2231 matched with the second slide rail 2222 is disposed on the guide cylinder 223; so that the second substrate 222 drives the guide cylinder 223 to move in the left-right direction under the action of the third elastic element 226.

It can be understood that, when the second contact conductor 11 on the AGV1 is inserted into the guiding cylinder 223 and is initially aligned with the first contact conductor 21, and there is a deviation of inclination and torsion between the first contact conductor 21 and the second contact conductor 11 during the docking process, the interaction force between the housing on the second contact conductor 11 and the guiding cylinder 223 will make the second elastic element 225 drive the second base plate 222 to move up and down, the third elastic element 226 drive the second base plate 222 to move left and right, and the third elastic element 226 is connected to the second elastic element 225 through the first pin 227, so that the second base plate 222 can perform a spherical micro-rotation, thereby performing a powerless device omni-directional compensation for the docking position deviation of the first contact conductor 21 and the second contact conductor 11.

In this embodiment, the first elastic element 224, the second elastic element 225 and the third elastic element 226 may all use a spring structure, and the first elastic element 224 may be provided with 4 springs to connect the second base plate 222 with the guide cylinder 223, although the number of the springs is not particularly limited. The second elastic element 225 may be provided with 2 springs, wherein one end of one spring is connected to the first pin 227, the other end is connected to the second substrate 222, one end of the other spring is connected to the first substrate 221, and the other end is connected to the second substrate 222. The third elastic element 226 may also be provided with 2 springs. Then the spring can be connected with corresponding part through the welded mode, also can be through setting up the draw-in groove on the round pin axle for the spring joint is epaxial, and the round pin axle is connected with corresponding part again. In addition, the arrangement of the first elastic element 224, the second elastic element 225 and the third elastic element 226 also enables the first contact conductor 11 to be reset after the end of charging, naturally centered.

In some examples, with reference to fig. 4, the end of the guide cylinder 223 fixed to the housing of the second contact conductor 11 has a first flap 2232 hinged to the guide cylinder 223, the first flap 2232 being adapted to protect the first contact conductor 11 from water and dust; the guide cylinder 223 is open at an end remote from the second contact conductor 11, and has an upwardly inclined surface, a downwardly inclined surface, a leftward inclined surface, and a rightward inclined surface, respectively. In this way, the first shutter 2232 is waterproof and dustproof for the first contact conductor 11, and is hinged to the guide cylinder 223, so that the first shutter 2232 can be opened only by the motive force of the movement of the second contact conductor 11 during the process of butting the first contact conductor 21 and the second contact conductor 11.

In some examples, in conjunction with fig. 5-7, the first movement drive 121 may be a motor drive, a push rod drive, or a hydraulic drive; the second movable driving member 122 may be a structure in which a motor is engaged with a linear guide rail, a structure in which a motor is engaged with a linear sliding chute, a structure in which a motor is engaged with a rack and pinion, or a structure in which a motor is engaged with a roller rail. In this embodiment, the first moving driving member 121 adopts a structure that the first motor 1211 is engaged with the linear guide 1212, and integrally drives the rechargeable battery 13, so that the rechargeable battery moves on the linear guide 1212 and enters the guide cylinder 223. The second movable driving member 122 may adopt a structure of the second motor 1221, the timing belt 1222 and the linear sliding slot 1223 to drive the second contact conductor 11, so that the second contact conductor 11 is electrically connected with the first contact conductor 21.

Specifically, the second contact conductor 11 may be provided with a mounting seat 111, the mounting seat 111 is hinged with a second baffle 1111 adapted to protect the second contact conductor 11 from water and dust, and the second contact conductor 11 is connected to the mounting seat 111 through a fourth elastic element 112. It can be understood that the fourth elastic element 112 can make the second contact conductor 11 contact the first contact conductor 21 by pre-tightening force, so as to realize the electrical connection therebetween; so that the second contact conductor 11 and the first contact conductor 21 do not generate an excessive insertion force caused by a pin insertion and extraction manner due to processing errors and non-coaxial arrangement, and the insertion and extraction are smooth.

Then, the first shutter 2232 and the second shutter 1111 are installed in such a manner that both the contact conductor is protected from water and dust, and the first shutter 2232 and the second shutter 1111 are opened when the second contact conductor 11 is moved to be in contact with the first contact conductor 21.

In the description of the present invention, it is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and to simplify the description, but do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present invention.

Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless specifically limited otherwise.

In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present invention can be understood according to specific situations by those skilled in the art.

In the present disclosure, unless expressly stated or limited otherwise, the first feature "on" or "under" the second feature may comprise direct contact between the first and second features, or may comprise contact between the first and second features not directly. Also, the first feature being "on," "above" and "over" the second feature includes the first feature being directly on and obliquely above the second feature, or merely indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.

In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above should not be understood to necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples described in this specification can be combined and combined by those skilled in the art.

Although embodiments of the present invention have been shown and described, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art without departing from the scope of the present invention.

Claims

1. An automatic charging device, comprising:

a first contact conductor adapted to be disposed on the charging post;

a second contact conductor adapted to be disposed on the rechargeable battery;

2. The automatic charging apparatus of claim 1, wherein said adjustment assembly comprises:

a first substrate disposed in a vertical direction;

a guide cylinder connected to the housing of the second contact conductor;

3. The automatic charging device according to claim 2, wherein a first slide rail is provided on the first base plate, a length direction of the first slide rail is arranged along an up-down direction, a first slide block matched with the first slide rail is provided on the second base plate, and a second elastic element is connected to the second base plate so as to drive the first slide block to move up and down on the first slide rail through the second elastic element.

4. The automatic charging device according to claim 3, further comprising a third elastic element and a first pin, wherein the third elastic element is disposed along a left-right direction, one end of the third elastic element is connected to the first substrate, the other end of the third elastic element is connected to the first pin, and the first pin is connected to the second substrate, so that the third elastic element drives the first pin to drive the second substrate to move left and right.

5. The automatic charging device according to claim 4, wherein the first base plate has a long hole extending in a left-right direction, and one end of the first pin is connected to the first base plate or the second elastic element, and the other end of the first pin passes through the long hole and is connected to the third elastic element.

6. The automatic charging device according to claim 5, wherein a second slide rail is provided on the second base plate, the length direction of the second slide rail is arranged along the left-right direction, and a second slider engaged with the second slide rail is provided on the guide cylinder.

7. The automatic charging device according to claim 2, wherein said guide cylinder has a first shutter hinged to said guide cylinder at an end fixed to the housing of said second contact conductor, said first shutter being adapted to protect said first contact conductor from water and dust; the guide cylinder is open at an end thereof remote from the second contact conductor and has an upwardly inclined surface, a downwardly inclined surface, a leftward inclined surface, and a rightward inclined surface, respectively.

8. The automatic charging device of claim 1, wherein said first movable drive is a motor drive, a push rod drive, or a hydraulic drive; the second movable driving part is a structure formed by matching a motor with a linear guide rail, a structure formed by matching the motor with a linear sliding groove, a structure formed by matching the motor with a gear rack or a structure formed by matching the motor with a roller track.

9. The automatic charging device according to claim 1, wherein a mounting seat is provided on the second contact conductor, a second baffle adapted to protect the second contact conductor from water and dust is hinged to the mounting seat, and the second contact conductor is connected to the mounting seat through a fourth elastic element.

10. An AGV charging system comprising an automatic charging device according to any one of claims 1 to 9.