CN210502349U

CN210502349U - Automatic charging device of AGV

Info

Publication number: CN210502349U
Application number: CN201921225598.9U
Authority: CN
Inventors: 杨文解; 张军迪
Original assignee: Zhuhai Daming Technology Co ltd
Current assignee: Intelligent Automation Equipment Zhuhai Co Ltd
Priority date: 2019-07-31
Filing date: 2019-07-31
Publication date: 2020-05-12
Anticipated expiration: 2029-07-31

Abstract

The utility model provides an automatic charging device of AGV with low costs, possess brush butt joint information feedback and safe and reliable. The utility model discloses a position camera is counterpointed and is realized accurate parking, then realize the counterpoint feedback through the location receiving arrangement on the AGV car, the location receiving arrangement on the AGV car shows the counterpoint after receiving the feedback and succeeds, then fill electric pile and stretch out the brush head that charges that the contact pressed the AGV car that charges, the feedback is received to the AGV when pressure reaches a definite value, then the closed board of AGV carries relay charging circuit switch-on (charging circuit is obstructed under the normal condition, prevent the short circuit), it begins to charge to be full of to the AGV to fill electric pile, fill electric pile withdrawal charging brush head after being full of, then the relay charging circuit disconnection that the AGV disconnection was charged, the AGV drives away from the end of. The utility model discloses can be applied to the AGV field.

Description

Automatic charging device of AGV

Technical Field

The utility model relates to a AGV (automatic guided vehicle) field especially relates to an automatic charging device of AGV.

Background

With the introduction and implementation of industry 4.0, the automation and intelligence of manufacturing industry and logistics industry have been increasing, and an Automated Guided Vehicle (AGV) is equipped with an electromagnetic or optical automatic guiding device, can travel along a predetermined guiding path, and has safety protection and various transfer functions. In practical application, the power supply system of the AGV has a large influence on the overall performance of the AGV, the performance of the battery directly influences the cruising ability of the AGV at first, and accurate and timely charging and charging management are very important, so that the AGV is required to have a reliable and safe automatic charging function.

The patent application document with the publication number of CN108116257A discloses an automatic charging pile, a system and a method for AGV, the charging pile comprises a charging module, a moving mechanism, a charging monitoring module, an alarm module and a central control module, the central control module is used for processing and issuing a charging instruction and controlling the moving mechanism charging brush head to be charged with an AGV trolley, the system is provided with a set of charging abnormity processing mechanism, the charging detection module is responsible for detecting charging abnormity information and giving an alarm to the central control module, the central control module controls the charging module to disconnect a charging loop, and the moving mechanism disconnects the contact of electrodes.

Still like patent application document with publication number CN108116266A discloses an automatic charging device of AGV and application method thereof, the device including bury brush board, the internal brush board of AGV car and pushing assembly in underground, pushing assembly promote the internal brush board of AGV car and be connected with the underground brush board and switch on, the internal brush head of AGV car can carry out height control according to the ground condition of difference, fix a position the mode that adopts RFID and ground wire to combine.

However, the conventional automatic charging scheme for the AGVs does not have feedback of successful butt joint between the electric brushes, most of the conventional automatic charging schemes are based on open-loop control that AGVs are debugged and positioned accurately under a priori condition, correct fitting conduction between the electric brushes cannot be ensured, and risks of electric arcs and short circuits are caused. In addition, the electric brush of the existing AGV vehicle is basically electrified in the uncharged process, so that certain safety problems exist for equipment and people, and the structure design is complex and the cost is high.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve the technical problem that overcome prior art not enough, provide a AGV automatic charging device with low costs, possess brush butt joint information feedback and safe and reliable.

The utility model adopts the technical proposal that: the system comprises a peripheral dispatching system, a charging brush head arranged on an AGV car, a charging contact arranged on a charging pile and a PCB (printed circuit board) arranged on the AGV car, wherein the charging contact is arranged on an automatic stretching device, the system also comprises a power module, an MCU (micro control unit), a wireless communication module, an alignment receiving device and an on-board relay which are integrated on the PCB, the AGV car is also provided with a charger module and a position camera, the wireless communication module, the alignment receiving device, the on-board relay, the charger module and the position camera are electrically connected with the MCU, the charger module is connected with the charging brush head through the on-board relay, the charging brush head is provided with two conductive probes, the two conductive probes are electrically connected with the on-board relay, when the charging contact presses the charging brush head, two electrically conductive probes switch on and order about board carries the relay closure, counterpoint receiving arrangement set up in charge brush overhead, be provided with on the contact that charges with counterpoint receiving arrangement assorted emitter of counterpointing.

According to the scheme, the AGV automatic charging control part is integrated on the PCB, so that the circuit complexity is greatly simplified, the labor intensity of designers is reduced, and the follow-up maintenance and modular development are guaranteed; the two conductive probes are arranged on the charging brush head and electrically connected with the onboard relay, when the charging contact presses the charging brush head, the two conductive probes are conducted and drive the onboard relay to be closed, so that the charging circuit is conducted, and when the charging contact is not in contact with the charging brush head to be pressed, the charging circuit is not conducted, so that the charging brush head is ensured to be uncharged, and electric arc and short circuit consequences caused by mis-charging are avoided; in addition, utilize the position camera to look for the subaerial parking spot that charges of driving route, when the parking spot that charges aims at the center of camera, accomplish the counterpoint, 2 counterpoint receiving arrangement of the brush department that charges of AGV car at this moment all receive the signal that is located the counterpoint emitter that fills on the electric pile and sends, AGV and the electric pile counterpoint success, have guaranteed counterpoint precision and speed, have promoted the operating efficiency of whole device.

Furthermore, the alignment transmitting device is a photoelectric transmitter, the alignment receiving device is a photoelectric receiver, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the setting positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted.

And furthermore, the alignment transmitting device is an infrared transmitter, the alignment receiving device is an infrared receiver, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the setting positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted.

Furthermore, the alignment transmitting device is a magnetic tape, the alignment receiving device is a magnetic sensor, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the arrangement positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted.

Above-mentioned three scheme is visible, no matter adopt photoelectric emission and receipt, perhaps infrared emission is received, or modes such as magnetic induction again, the homoenergetic guarantees well that the AGV car is counterpointed successfully with filling electric pile fast, and has solved the problem that current AGV automatic charging scheme can't accurate counterpoint and feedback between AGV and the electric pile.

Still further, the charger module comprises a charger host, an operation panel, an adapter and an output electrode, the output electrode is connected with the charging brush head, the charger host is connected with a commercial power grid bus, the PCB is further provided with a 485 transceiver and a USB interface, and the 485 transceiver and the USB interface are in signal connection with the MCU. Therefore, the charger module is separated from the PCB, the charging parameters can be set from the charging host machine by matching the operation panel with the adapter, the extended function of the PCB is guaranteed by setting interfaces such as the 485 transceiver and the USB interface, and the follow-up multifunctional development is guaranteed.

In addition, the PCB is connected with the charger module through a photoelectric coupler. Therefore, the photoelectric coupler plays an isolation role, and the anti-interference capacity is improved.

Drawings

FIG. 1 is a simplified schematic diagram of the overall structure of the present invention;

fig. 2 is a schematic diagram of a simple structure of the alignment receiving device and the alignment transmitting device.

Detailed Description

As shown in fig. 1 and 2, the utility model discloses a set up in outlying dispatch system, set up the brush head 1 that charges on the AGV car, set up charging contact 2 on filling electric pile and set up the PCB board 3 on the AGV car, charging contact 2 sets up on an automatic stretching device, and in this embodiment, automatic stretching device can be cylinder or electric jar etc.. It also comprises a power module, an MCU, a wireless communication module, an alignment receiving device 9 and an on-board relay which are integrated on the PCB 3, the AGV is also provided with a charger module and a position camera, the wireless communication module, the alignment receiving device 9, the onboard relay, the charger module and the position camera are all in electric signal connection with the MCU, the charger module is connected with the charging brush head 1 through the on-board relay, two conductive probes are arranged on the charging brush head 1 and are electrically connected with the on-board relay, when the charging contact 2 presses the charging brush head 1, the two conductive probes are conducted and drive the on-board relay to be closed, the alignment receiving device is arranged on the charging brush head 1, and an alignment transmitting device 8 matched with the alignment receiving device 9 is arranged on the charging contact 2.

The above-mentioned alignment receiving device and alignment transmitting device can be in the following three forms. The alignment transmitting device 8 is a photoelectric transmitter, the alignment receiving device 9 is a photoelectric receiver, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the arrangement positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted. Or the alignment transmitting device is an infrared transmitter, the alignment receiving device is an infrared receiver, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the setting positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted. Or, the alignment transmitting device is a magnetic tape, the alignment receiving device is a magnetic sensor, the number of the alignment transmitting device and the number of the alignment receiving device are both two, and the arrangement positions of the two alignment transmitting devices and the two alignment receiving devices are respectively correspondingly adapted.

The specific address is that the infrared receiver and the infrared transmitter are used for transmitting and receiving the grating, the grating can meet the requirement by selecting 8-bit grating, a plurality of beams of infrared light are oppositely transmitted, the transmitter transmits infrared light to the receiver in a low-frequency transmitting and time division detecting mode, the alignment is successful when 8 channels of the receiver completely receive signals, if the AGV vehicle forwards exceeds the correct position, the signal can not be received by 1-2 paths behind the receiver, and the AGV vehicle is controlled to be finely adjusted backwards; if the AGV does not reach the correct position backwards, the front 1-2 paths of the receiver cannot receive signals, and the AGV is controlled to finely adjust forwards, so that alignment can be realized.

When the magnetic sensor is matched with the magnetic tape, the magnetic sensor can select 8 bits, the magnetic tape is aligned with the magnetic stripe sensor, the binary data transmitted by the magnetic sensor is 00111100, if the AGV vehicle exceeds the correct position forwards, the binary data transmitted by the magnetic sensor is greater than 00111100, and the AGV is controlled to fine-tune backwards; if the AGV does not reach the correct position backwards, the binary system transmitted by the magnetic sensor is smaller than 00111100, the AGV is controlled to carry out fine adjustment forwards, and therefore alignment can be achieved.

The charger module comprises a charger host 4, an operation panel 5, an adapter 6 and an output electrode, the output electrode is connected with the charging brush head 1, the charger host 4 is connected with a commercial power grid bus, a 485 transceiver 7, a serial port, a USB interface and the like are further arranged on the PCB 3, and the 485 transceiver 7 and the USB interface are in signal connection with the MCU. The serial port or the USB interface and the like can be externally connected with peripherals such as a wireless network, a loudspeaker and the like, and can also be used for function expansion.

The PCB (3) is connected with the charger module through a photoelectric coupler. Through the setting of opto-coupler, can guarantee the fail safe nature of PCB board, guarantee its life.

When the device is used for charging the AGV, the following steps are carried out.

When a BMS (battery management system) of the battery detects that the battery allowance is 20% or the output voltage of the battery is too low (lower than 49.6V), the AGV trolley transmits the self electric quantity information to the dispatching system, the dispatching system sends a charging instruction to the AGV, and the AGV automatically moves to a circuit where the charging pile is located.

When the AGV dolly detects the point RFID that slows down when reaching in place soon, begin to slow down to call two camera image vectors and judge the AGV position appearance, guarantee that the vehicle direction is same straight line with the route, and find two parking spots on the accurate AGV in ground, the electric brush department that charges of AGV is equipped with 2 photoelectric sensor's receiving terminal (the transmitting terminal dress is at the flexible contact of automatic charging pile).

Two stopping points of AGV appear in the central authorities department of camera, and at this moment AGV's the receiving terminal of 2 photoelectric sensor of brush department that charges all receives light signal feedback, AGV and the electric pile counterpoint success. If the two photoelectric sensors cannot receive the optical signals, the AGV slightly corrects the images in the camera until the two sensors receive the optical signals, and then the alignment is successful.

Fill electric pile and stretch out charging contact next, press AGV's charging contact, the contact that fills electric pile behind the compression detection probe contact metal sheet continues to press 2cm forward again and ensures compressing tightly, stretches out the first process of brush filling electric pile, AGV's probe return circuit is detecting probe return circuit always and whether switches on, if switches on, then AGV opens battery charging circuit's switch.

After a switch of an AGV charging loop is opened, the conduction information is uploaded to a scheduling system, then the information is transmitted to a charging pile through the scheduling system, the voltage when the battery is low in electricity can be detected by the automatic charging pile, then the charging pile is started to firstly charge in a constant-current mode, and then the charging pile charges in a constant-voltage mode until the battery is fully charged.

And when the charging current is reduced to 0, the charging pile retracts into the charging contact, and then the charging contact is reported to a scheduling system, so that the AGV leaves the charging pile and enters a normal operation state, and the charging is finished. If operation fails in a certain link, the operation is circulated for 3 times, if the operation still fails, all operations of the AGV are interrupted, and the charging abnormity of the dispatching system is uploaded to be checked manually.

The utility model has the advantages of as follows:

1. the complexity of a control circuit is reduced, and the whole control part is integrated on a PCB;

2. before charging, a camera optical alignment method is adopted, so that the positioning precision is improved;

3, the AGV charging brush head and the charging contact of the charging pile are provided with photoelectric feedback, so that the alignment reliability is improved;

4, when the AGV is not charged, the charging brush head is not electrified, so that the short circuit result caused by mis-charging is avoided;

the contact of the AGV charging brush head and the charging contact of the charging pile are not electrified before contact, so that the phenomenon that the electric arc burns out the terminal is avoided;

6. the service life of the whole machine is long.

Claims

1. The utility model provides an automatic charging device of AGV, is including setting up in outlying dispatch system, setting up the brush head (1) that charges on the AGV car, setting up charging contact (2) on filling electric pile and setting up PCB board (3) on the AGV car, charging contact (2) set up on an automatic stretching device, its characterized in that: it still including integrate in power module, MCU, wireless communication module on PCB board (3), counterpoint receiving arrangement (9) and board year relay still have on the AGV car and charge machine module and position camera, wireless communication module counterpoint receiving arrangement board year relay charge machine module with position camera all with MCU signal connection, the machine module that charges passes through board year relay with the brush head (1) that charges is connected, be provided with two conductive probe on the brush head (1) that charges, two conductive probe with board year relay electricity is connected, works as charging contact (2) are pressed during brush head (1) that charges, two conductive probe switches on and orders about board year relay is closed, counterpoint receiving arrangement (9) set up in on the brush head (1) that charges be provided with on contact (2) with counterpoint receiving arrangement (9) assorted counterpoint is sent out And an injection device (8).

2. An AGV automatic charging device according to claim 1, wherein: the alignment transmitting devices (8) are photoelectric transmitters, the alignment receiving devices (9) are photoelectric receivers, the number of the alignment transmitting devices and the number of the alignment receiving devices are two, and the arrangement positions of the two alignment transmitting devices and the two alignment receiving devices are correspondingly matched respectively.

3. An AGV automatic charging device according to claim 1, wherein: the alignment transmitting device (8) is an infrared transmitter, the alignment receiving device (9) is an infrared receiver, the number of the alignment transmitting device and the number of the alignment receiving device are both set to be two, and the setting positions of the two alignment transmitting devices and the two alignment receiving devices are respectively matched correspondingly.

4. An AGV automatic charging device according to claim 1, wherein: the alignment transmitting devices (8) are magnetic tapes, the alignment receiving devices (9) are magnetic sensors, the number of the alignment transmitting devices and the number of the alignment receiving devices are two, and the arrangement positions of the two alignment transmitting devices and the two alignment receiving devices are correspondingly matched respectively.

5. An AGV automatic charging device according to claim 1, wherein: the charger module comprises a charger host (4), an operating panel (5), an adapter (6) and an output electrode, wherein the output electrode is connected with the charging brush head (1), the charger host (4) is connected with a commercial power grid bus, a 485 transceiver (7) and a USB interface are further arranged on the PCB (3), and the 485 transceiver (7) and the USB interface are in signal connection with the MCU.

6. An AGV automatic charging device according to claim 1, wherein: the PCB (3) is connected with the charger module through a photoelectric coupler.