CN213649369U

CN213649369U - AGV power conversion device

Info

Publication number: CN213649369U
Application number: CN202021380097.0U
Authority: CN
Inventors: 秦志宏; 翟福林
Original assignee: Beijing Create Future Technology Co ltd
Current assignee: Beijing Create Future Technology Co ltd
Priority date: 2020-07-14
Filing date: 2020-07-14
Publication date: 2021-07-09
Anticipated expiration: 2030-07-14

Abstract

The utility model discloses a AGV trades electric installation. The battery storage cabin and the battery replacing mechanism are arranged on the power replacing device, the walking path is automatically planned through the mobile platform, the battery is actively replaced when the power replacing mechanism arrives at the AGV position, the AGV is prevented from moving back and forth to replace the battery in the battery replacing area, the working time is occupied, meanwhile, the interference and the control on the moving path generated between different battery replacing devices can be avoided, the equipment utilization rate is high, and the AGV can be guaranteed to be capable of replacing the battery in time. Just the utility model discloses a backstage dispatch system's dispatch can ensure to trade electric timeliness, can arrange in advance the power change device again, even ensure to be in when trading electric task busy, also can make AGV obtain the most timely most reasonable trade electricity.

Description

AGV power conversion device

Technical Field

The utility model relates to a commodity circulation field specifically is a AGV trades electric installation.

Background

With the need of social production, the AGV gradually walks into the factory, replaces the traditional manual transportation and is rapidly applied. In a multi-system, in order to improve the utilization efficiency of each trolley, the emphasis is on an algorithm for optimizing task scheduling of each trolley. In the aspect of battery replacement, when the AGV needs to supplement the power, the AGV can automatically report and request charging or battery replacement, the AGV is commanded by a control center to drive to a specified charging and battery replacement area or device, and the vehicle-mounted charging and battery replacement connector and the fixed charging and battery replacement system automatically implement battery replacement. After the completion, the AGV automatically breaks away from the battery replacement system and drives to a working area or a standby area, and the normal operation is started.

The intelligent battery replacement system is characterized in that the whole battery replacement process is automated and intelligent without being monitored by a specially-assigned person. At present, taking an electricity replacing device adopted in an AGV electricity replacing mode as an example, arrangement of the electricity replacing device is generally divided into two types of centralized arrangement and distributed arrangement. The centralized arrangement is that an area is specially selected in an AGV system, namely a train set consisting of a plurality of AGVs, all the battery replacement devices are centrally arranged, and the centralized arrangement is characterized by being standard and regular and convenient for system management and maintenance; the distributed arrangement means that the electricity switching devices are distributed at each point in the system or beside the path of each slice area. The distributed arrangement has the characteristics that a large-area special electricity changing area does not need to be divided, the distribution is uniform and convenient, and the interval and the retention period in the AGV work can be fully utilized, so that the distributed AGV system is friendly to the AGV system with a long path and a wide range. In traditional AGV system, the system can carry out real time monitoring to battery power through relevant circuit when the dolly is moving, and when detection voltage was less than and sets for reference voltage, AGV got into the not enough state of electric quantity, and the system can pause work, seeks to change the district and trade the electricity. Because the position of the traditional power exchanging device is fixed, the AGV can walk to the position of the power exchanging device from a working site to exchange power manually or automatically. This kind trades electric scheme needs AGV work pause work in the work, in many linked system, if many AGV need trade when electric simultaneously, can appear the phenomenon that single or many AGV waited for production interrupt, AGV waits for, reduces work efficiency problem.

In traditional AGV system, trade electric installation and generally adopt fixed form, many AGV simultaneous workings, when the AGV electric quantity is not enough, the AGV tracking trades the electricity to trading electric installation position, trades the independent complete electric installation that possesses of electricity in-process, and another one needs to trade when electric, can only wait for, when trading the electricity and accomplish the back, the release trades electric installation, and another one can trade the electricity. The prior art exposes following problem, when an AGV trades the electricity, other AGVs can only wait for, when trading electric AGV and accomplish completely and trade the electricity, just release and trade electric installation when the AGV trades the electricity, and the AGV need leave current station, relevant work stagnation. In the power changing process of the AGV, a mode of coming first and arriving first is adopted, and the AGV with the key station cannot be guaranteed to be preferentially changed. When each AGV works, the battery replacement device is idle.

The active mobile electric vehicle power supply system and power supply method disclosed in the prior utility model patent application No. 201410405063.5. The method is similar to the power supply method of a trolley bus, and needs to lay a power supply circuit and a guide rail on the road, which is very troublesome. The maintenance and management cost is high, and the scheduling is complex. The mobile power supply vehicle needs to move along the track. The circuit is fixed, and the cost is high and the flexibility is not flexible. When a plurality of power change vehicles move on the same track, scheduling and avoiding are very difficult, and the traveling route of the AGV is also bound.

Disclosure of Invention

The utility model discloses not enough to among the prior art, provide a device to AGV automobile body battery change, including electronic walking platform, battery storage compartment still including trading electric module, trades electric control module, can change AGV's battery in the short time.

In order to solve the technical problem, the utility model discloses a following technical scheme can solve: the utility model provides a AGV trades electric installation, including electronic walking platform, battery storage compartment, its characterized in that still includes trades electric module, trades electric control module, trade electric module include with AGV or battery storage compartment complex clamp get the device, the telescoping device, rotary device, it includes automatically controlled clamping jaw to press from both sides the device, the telescoping device includes flexible motor and telescopic link, rotary device includes rotating electrical machines, trade electric control module includes signal transmission submodule piece, signal analysis submodule piece, electric quantity detection module and motion control module, signal transmission submodule piece is used for data communication, signal analysis submodule piece is used for analyzing the signal that signal transmission submodule piece received, confirms the AGV position that needs to trade the electricity, trades electric control submodule piece and is used for controlling each driving motor action of pressing from both sides the device of getting, makes the trade electric interface butt joint or break away from of pressing from of clamping device and AGV, control and trade electric installation and trade the electric power to AGV, electric quantity detection module is used for detecting the AGV trades electric installation's accumulate electric quantity, motion control module includes path planning submodule piece and electronic walking platform control submodule piece, the path planning submodule piece is used for according to the AGV position planning is traded to the needs that the signal analysis submodule piece is confirmed the AGV trades electric installation walking route, electronic walking platform control submodule piece is used for according to the route that the path planning submodule piece planned, controls the AGV trades electric walking platform operation of electric installation, makes the AGV trades electric installation and arrives the position that needs the AGV of trading the electric power.

Preferably, the battery storage cabin further comprises a storage module which is provided with a lifting motor, a lifting rod, a sliding rail and a motor-driven lead screw, the lifting motor is matched with the lifting rod to lift the battery replacement module, the sliding rail and the lead screw are mounted on the upper surface of the electric walking platform and perpendicular to the opening direction of the battery storage cabin, so that the lifting module and the battery replacement module move.

Preferably, the battery storage cabin is provided with a charging module, and the AGV battery replacing device charges the battery placed in the battery storage cabin after reaching a charging point.

Preferably, still include backstage dispatch system, backstage dispatch system is equipped with first signal transmission submodule and second signal transmission submodule, first signal transmission submodule is used for establishing the data communication relation with AGV, second signal transmission submodule is used for with AGV trades electric installation and establishes the data communication relation, backstage dispatch system still is equipped with the dispatch management submodule, the AGV electric quantity information that dispatch management submodule received according to first signal transmission submodule takes AGV identity information, right AGV trades electric installation and trades electric time and path planning, and passes through second signal transmission submodule will trade the electric instruction, and the position information who takes AGV identity information sends and gives the appointed AGV trades electric installation.

Preferably, the electric walking platform comprises a platform storage battery and a charging device, the platform storage battery comprises the electric walking platform and the battery replacing device, the battery replacing control module supplies power, and the charging device supplies power to the platform storage battery and the battery storage cabin in a charging state.

Preferably, the background scheduling system controls the AGVs to swap power devices.

Adopt the technical scheme of the utility model beneficial effect: the utility model discloses AGV trades electric installation self and disposes large capacity battery and battery storage compartment, independently plans the walking route through moving platform, reachs the AGV and trades the electricity to its initiative, has both avoided the AGV to come and go to trade the electric district and trade the electricity, occupation operating time, the AGV that is different simultaneously trades can not produce the interference on the moving path and draw back the system between the electric installation, equipment utilization rate is high, guarantee that the AGV can obtain timely trade the electricity, reduce the long-term loss of operating time because of filling and trading the electricity process and cause. And, the utility model discloses a backstage dispatch system's dispatch can ensure to trade the electric timeliness, can arrange the time in advance to the power change device again for even trade when the electric task is busy, also can make AGV obtain the most timely trade electricity and the most reasonable arrangement of trading the electricity.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following will discuss the drawings required to be used in the description of the embodiments or the prior art, it is obvious that the technical solutions described in conjunction with the drawings are only some embodiments of the present invention, and for those skilled in the art, other embodiments and drawings thereof can be obtained according to the embodiments shown in the drawings without creative efforts.

Fig. 1 is the utility model relates to a AGV trades electric installation structure schematic diagram.

Fig. 2 is the utility model relates to a AGV trades electric installation and trades electric module schematic diagram.

Fig. 3 is the utility model relates to a AGV trades electric installation work flow schematic diagram.

Detailed Description

The technical solutions of the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings, and it is to be understood that the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments described in the present disclosure, all other embodiments obtained by a person skilled in the art without creative efforts are within the scope of the present disclosure.

An embodiment of the utility model provides a AGV trades electric installation.

Embodiment 1, with reference to fig. 1 to 3, when the electric quantity of the AGV is less than the threshold value, the battery swapping module sends a coordinate position signal with the identity information thereof through the network, and once a position change occurs before the AGV and the battery swapping device are connected, the battery swapping module sends a new coordinate position with the identity information thereof through the network.

And the power swapping device obtains a power swapping instruction and the ID information and the coordinate position of the AGV needing power swapping through the background scheduling system.

The power swapping device calculates a route between the AGV and the power swapping required to be swapped through the navigation system, updates the route according to new coordinate position information of the AGV requiring power swapping in real time, and controls the power swapping device to run according to the route planned by the navigation system.

When the battery replacing device senses that an AGV needing to replace the battery is located at a battery replacing position, the AGV is replaced, the electric control clamping jaws 111 are pushed by the telescopic devices 12, so that the AGV battery shell is located between the electric control clamping jaws 111, the clamping jaw distance of the electric control clamping jaws 111 is reduced under the driving of the clamping motor, the electric control clamping jaws reach the set distance of 150mm to stop driving, the telescopic rods 121 are recovered, the electric control clamping jaws 111 and the AGV battery are driven to retract by 70mm, meanwhile, the rotating motor of the rotating device 13 is controlled by the motion control module processor, the electric control clamping jaws 111 and the AGV battery position rotate by taking the rotating motor shaft as the center, and the electric control clamping jaws 111 reach the hatch position of the battery storage cabin 4 and aim at the vacancy to be.

The processor of the motion control module sends an instruction to the telescopic device 12 to drive the telescopic rod 121, so that the electric control clamping jaw 111 carries the AGV battery to stretch into the vacancy to be entered into the battery storage cabin 4, after the set depth is 70mm, the electric control clamping jaw 111 is driven by the clamping motor to release the clamping jaw interval to 170mm, and the AGV battery is placed in the vacancy to be entered into the battery storage cabin 4.

Under the control of the motion control module processor, the telescopic device 12 drives the telescopic rod 121 to drive the electric control clamping jaw 111 to retract by 70mm of travel, and the rotating device drives the device to rotate and to enter the hatch of the battery position to be taken.

Telescoping device 12 drive telescopic link 121 drives automatically controlled clamping jaw 111 and extends 70mm and reachs and treat the battery position, automatically controlled clamping jaw 111 wherein reduces the clamping jaw interval under getting motor drive, reach and set for interval 150mm and stop the drive, telescopic link 121 retrieves, drive automatically controlled clamping jaw 111 and AGV battery and return 70mm that contracts, rotary machine of rotary device 13 is controlled by motion control module treater simultaneously, it is rotatory with the rotating motor axle with automatically controlled clamping jaw 111 and AGV battery position as the center, reach AGV battery position in storehouse.

The telescopic device 12 drives the telescopic rod 121 to drive the electric control clamping jaw 111 to extend by 70mm, the battery is installed at the battery socket position of the AGV, after the battery is installed at the designated position, the electric control clamping jaw 111 opens the jaw distance to 150mm, and meanwhile, the telescopic device 12 drives the telescopic rod 121 to drive the electric control clamping jaw 111 to retract to the initial position; and after the battery replacement is finished, the battery replacement device is separated from the AGV.

The battery replacing device further comprises a background scheduling system, the background scheduling system is provided with a first signal transmission submodule and a second signal transmission submodule, the first signal transmission submodule is used for establishing a data communication relation with the AGV, and the second signal transmission submodule is used for establishing a data communication relation with the battery replacing device.

The power change background scheduling system is provided with a scheduling management submodule, and the scheduling management submodule plans the power change time slice of the power change device according to the AGV power information and the position information with the AGV identity information received by the first signal transmission submodule; and the power switching instruction and the position information with the AGV identity information are sent to the designated power switching device through a second signal transmission submodule.

The battery replacement device further comprises an electric walking platform. Because the utility model discloses in, for trading the initiative of electric installation and being close target AGV, consequently, its usable self large capacity battery of carrying is as electronic walking platform's power. The battery replacement module is provided with a motion control module and a power replacement control module. The battery replacement control module comprises a signal transmission sub-module, a signal analysis sub-module, a battery replacement control sub-module and a power supply electric quantity detection sub-module. The signal transmission submodule is used for carrying out data communication with the background scheduling system. And the signal analysis submodule is used for analyzing the signals received by the signal transmission submodule and determining the position of the AGV needing to exchange power.

The battery replacement control sub-module is used for controlling the action of each driving motor; the battery replacement control submodule controls the battery replacement device to replace the AGV with the battery, and the other function of the battery replacement control submodule is used for managing charging and discharging of the battery replacement device. When the battery voltage of the battery replacement device is too low, an alarm is given to remind an operator of charging or replacing the battery in time.

The power supply electric quantity detection submodule is used for detecting the electric quantity of the AGV in the electricity changing process; when the battery replacing device replaces the power for the AGV, the condition of replacing the power can be judged by monitoring the voltage of the AGV, when the voltage of the battery is set after the battery is replaced, the system considers that the battery replacement is completed, and the battery replacing device finishes replacing the power.

The utility model discloses in, trade the electric installation and trade electric work under the management of background dispatch system. The method comprises the following steps: the AGV transmits the voltage and the electric quantity value of the storage battery to a background scheduling system through a wireless network, a scheduling management submodule of the background scheduling system compares the related electric quantity value with an operator set value, and when the electric quantity is smaller than the operator set value, a second signal transmission submodule sends an instruction and assigns an AGV battery changing device to execute battery changing activities.

The background scheduling system selects a power switching mode according to the AGV number needing to be switched, when the AGV number needing to be switched is larger than a set value, the scheduling mode of the priority is adopted, the scheduling system can sequence according to the priority of the AGV, the AGV with the highest priority is preferentially distributed with a power switching device, when the given power switching time reaches, the power switching time of the scheduling system for the current AGV is reduced by one, the priority of the AGV is reordered again, and the steps are repeated until all the AGVs complete power switching.

The motion control module comprises a path planning submodule and an electric walking platform control submodule, the path planning submodule is used for planning a walking route of the battery replacing device according to the AGV position determined by the signal analysis submodule, and the electric walking platform control submodule is used for controlling the electric walking platform of the battery replacing device to run according to the path planned by the path planning submodule, so that the battery replacing device reaches the position of the AGV needing to replace the battery.

The electric walking platform comprises two pairs of wheels, the driving force of the motor is determined by the total weight and the motion occasion of the battery replacing device, the load is generally 300kg, the normal running speed of the electric walking platform is 1.5m/s, and the highest running speed is 2 m/s. The operation of the battery replacement device adopts differential motion.

The method for the path planning submodule to plan the path comprises the following steps: the inertial navigation system determines a determined motion path and a geomagnetic navigation system of the battery replacing device by using the acceleration and the angular momentum received by the gyroscope, determines a determined motion path and an ultrasonic positioning system of the driving direction of the battery replacing device through the test of a geomagnetic sensor, obtains the relative distance laser navigation of an object by calculating the time difference of echoes reflected by the object in the transmitting direction transmitted by ultrasonic waves and received by the object, forms a map by using laser scanning, performs self-positioning, determines the motion path, positions by a GPS and the like, or combines a plurality of modes. In the selection process of the actual scheme, selection and collocation are carried out according to the field size, the cost and the control precision. In the embodiment, the process analysis is performed by taking a laser navigation scheme with high precision and strong flexibility as an example, and the algorithms of other schemes are different and the processes are the same.

When the power exchanging device receives the new coordinate position information of the AGV, the path planning submodule roughly calculates the position of the corresponding coordinate (x, y) of the power exchanging device by measuring the distance values of the power exchanging device from the track markers on the two sides of the road and solving through a circular or triangular equation, and meanwhile, the power exchanging device accurately calculates the actual walking direction of the power exchanging device, namely the course angle, by utilizing the scanning angle interval obtained by scanning the markers on the two sides of the road and combining the road direction and the direction of the head of the power exchanging device, namely the scanning center line angle value. And the two-dimensional control parameters of normal walking are the calculated x coordinate lateral deviation and course angle, whether the set position coordinate is reached is judged by carrying out target matching, and if not, the searching is continued in the same way until the set value is reached. And guiding the battery replacement device to run to the AGV position needing battery replacement through laser navigation.

Or the position and the angle of the corner direction of the vehicle head are obtained by taking the set space marker as the origin of coordinates, taking the space absolute value (x, y) coordinates as the basis, taking the longitude and latitude positioned according to the GPS positioning information as the navigation standard, adopting laser relative coordinate positioning at a short distance to determine the running position, communicating with the AGV needing to be replaced, calculating the replaceable position of the AGV needing to be replaced according to the relative position, the angle and the vehicle body data, and adjusting the orientation of the electric walking platform.

It is obvious to a person skilled in the art that the invention is not restricted to details of the above-described exemplary embodiments, but that it can be implemented in other specific forms without departing from the spirit or essential characteristics of the invention. The present embodiments are, therefore, to be considered in all respects as illustrative and not restrictive. The scope of the invention is indicated by the appended claims, rather than the foregoing description, and all changes that come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.

Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.

Claims

1. The utility model provides a AGV trades electric installation, includes electronic walking platform (3), battery storage compartment (4), its characterized in that still includes trades electric module (1), trades electric control module, trade electric module (1) include with AGV or battery storage compartment (4) complex clamp get device (11), telescoping device (12), rotary device (13), it includes automatically controlled clamping jaw (111) to press from both sides device (11), telescoping device (12) include telescopic motor and telescopic link (121), rotary device (13) include rotating electrical machines, trade electric control module includes signal transmission submodule piece, signal analysis submodule piece, electric quantity detection module and motion control module, signal transmission submodule piece is used for data communication, signal analysis submodule piece is used for analyzing signal transmission submodule piece received, confirms the AGV position that needs to trade the electricity, trades electric control submodule piece and is used for controlling each driving motor action of clamp device (11), the messenger press from both sides and get device (11) and AGV trade electric interface butt joint or break away from, control and trade electric device and trade the electricity to the AGV, electric quantity detection module is used for detecting the AGV trades electric device's electric storage electric quantity, motion control module include path planning submodule with electronic walking platform (3) control submodule, the path planning submodule is used for the basis the signal analysis submodule confirms need trade electric AGV position planning the AGV trades electric device walking route, electronic walking platform (3) control submodule is used for the route according to the path planning submodule planning, controls the AGV trades electric device electronic walking platform (3) operation makes the AGV trades electric device and reaches the position that needs the AGV of trading.

2. The AGV power replacing device according to claim 1, further comprising a storage module (2) having a lifting motor, a lifting rod (21), a slide rail (22) and a motor-driven lead screw (23), wherein the lifting motor is matched with the lifting rod to lift the power replacing module (1), the slide rail (22) and the lead screw (23) are mounted on the upper surface of the electric walking platform (3) and perpendicular to the opening direction of the battery storage compartment (4), so that the storage module (2) and the power replacing module (1) move.

3. An AGV battery charging device according to claim 1 or 2, characterized in that the battery storage compartment (4) has a charging module for charging the battery placed in the battery storage compartment (4) after the AGV battery charging device reaches a charging point.

4. The AGV battery replacing device according to claim 3, characterized by further comprising a background scheduling system, wherein the background scheduling system is provided with a first signal transmission submodule and a second signal transmission submodule, the first signal transmission submodule is used for establishing a data communication relationship with the AGV, the second signal transmission submodule is used for establishing a data communication relationship with the AGV battery replacing device, the background scheduling system is further provided with a scheduling management submodule, the scheduling management submodule carries out battery replacing time and path planning according to the AGV electric quantity information received by the first signal transmission submodule and the position information with the AGV identity information, and the AGV battery replacing device carries out battery replacing time and path planning and sends a battery replacing instruction to the second signal transmission submodule, and the position information with the AGV identity information is sent to the designated AGV battery replacing device.

5. An AGV electricity changing device according to claim 1, characterized in that the electric walking platform (3) comprises a platform storage battery and a charging device, the platform storage battery comprises the electric walking platform (3), the electricity changing device, the electricity changing control module supplies power, and the charging device supplies power to the platform storage battery and the battery storage compartment (4) in a charging state.

6. The AGV power swapping device of claim 4, wherein the background scheduling system controls a plurality of AGV power swapping devices.