WO2023246153A1 - 自动换电装置及agv车辆 - Google Patents

自动换电装置及agv车辆 Download PDF

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Publication number
WO2023246153A1
WO2023246153A1 PCT/CN2023/078437 CN2023078437W WO2023246153A1 WO 2023246153 A1 WO2023246153 A1 WO 2023246153A1 CN 2023078437 W CN2023078437 W CN 2023078437W WO 2023246153 A1 WO2023246153 A1 WO 2023246153A1
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WO
WIPO (PCT)
Prior art keywords
battery
adsorption
driving member
device body
automatic power
Prior art date
Application number
PCT/CN2023/078437
Other languages
English (en)
French (fr)
Inventor
王礼鹏
Original Assignee
比亚迪股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 比亚迪股份有限公司 filed Critical 比亚迪股份有限公司
Publication of WO2023246153A1 publication Critical patent/WO2023246153A1/zh

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60S—SERVICING, CLEANING, REPAIRING, SUPPORTING, LIFTING, OR MANOEUVRING OF VEHICLES, NOT OTHERWISE PROVIDED FOR
    • B60S5/00—Servicing, maintaining, repairing, or refitting of vehicles
    • B60S5/06—Supplying batteries to, or removing batteries from, vehicles

Definitions

  • the present disclosure relates to an automatic power exchange device and an AGV vehicle.
  • AGV Automated Guided Vehicle
  • AGV vehicle is the abbreviation of Automated Guided Vehicle, an automatic guided transport vehicle.
  • AGV vehicle is the abbreviation of Automated Guided Vehicle, an automatic guided transport vehicle.
  • two methods are usually used. One is to replace the battery in the AGV vehicle through manual methods. The labor cost is high, the degree of automation is low, and the battery replacement efficiency is low.
  • Another method uses an automatic power swapping device to replace the battery.
  • the existing automatic power swapping device does not have a position adjustment mechanism. During the process of taking the battery in the AGV vehicle, the pick-and-place mechanism of the automatic power swapping device is in contact with the battery. The position is prone to deviation, resulting in uneven stress on the pick-and-place mechanism, affecting the efficiency of automatic battery swapping.
  • One purpose of the embodiments of the present disclosure is to provide a new technical solution for an automatic power exchange device.
  • an automatic power exchange device including: a device body; and a thrust assembly, the thrust assembly being disposed within the device body, and the thrust assembly being movable within the device body,
  • the thrust assembly includes: an adsorption piece that can extend or retract the device body, and is used to adsorb or desorb the battery in the AGV vehicle; a detection piece that is located on the In the device body, the detection component is used to detect the position of the adsorption component relative to the battery in the AGV vehicle; an adjustment component is movably provided in the device body, and the adjustment component is in contact with the thrust force The components are connected, and the adjustment component is based on the detection component The detection results adjust the position of the adsorption member relative to the battery in the AGV vehicle.
  • the adsorption member is switchable between a first position and a second position.
  • the adsorption member When the adsorption member is in the first position, the adsorption member extends out of the device body for Adsorb the battery in the AGV vehicle; when the adsorption member is in the second position, the adsorption member is located in the device body for desorbing the adsorbed battery.
  • the thrust assembly further includes: a first driving member, the first driving member is provided in the device body, the adjustment assembly is connected to the first driving member; a push rod, the push rod One end of the push rod is connected to the first driving member, and the other end of the push rod is connected to the adsorption member.
  • the first driving member drives the adsorption member in the first position and the first position through the push rod. Switchable between second position.
  • the automatic power exchange device further includes: a battery, the battery is provided in the device body, and the adsorption member is an electromagnetic chuck.
  • the adsorption member is in the first position, The battery supplies power to the electromagnetic chuck, and the electromagnetic chuck generates an adsorption force.
  • the battery cuts off power to the electromagnetic chuck, and the electromagnetic chuck's adsorption force The force is relieved.
  • the adjustment assembly includes: a first adjustment member connected to the thrust assembly, the first adjustment member being used to adjust the position of the adsorption member in the first direction; Two adjustment members, the second adjustment member is connected to the thrust assembly, the second adjustment member is used to adjust the position of the adsorption member in a second direction, the first direction is different from the second direction .
  • the first adjusting member includes: a second driving member; a screw rod connected to the second driving member; a guide rail spaced apart from the screw rod and arranged in parallel; a slider , the slide block is slidably disposed on the guide rail, the screw rod passes through the slide block, and the slide block is connected to the thrust assembly.
  • the guide rail extends along a horizontal direction, and the slider slides relative to the guide rail in the horizontal direction to adjust the position of the adsorption member in the horizontal direction.
  • the first adjusting member further includes: a plurality of limiting members, the limiting members are respectively provided at both ends of the screw rod, and the limiting members are provided at both ends of the guide rail.
  • the first adjusting member further includes: a first encoder, which is provided on the guide rail to measure the movement distance of the slider.
  • the second adjusting member includes: a third driving member; a fourth driving member, the fourth driving member is spaced apart from the third driving member in the second direction, and the fourth driving member
  • the driving member is connected to the thrust assembly; a telescopic rod is provided between the third driving member and the fourth driving member, and the third driving member drives the telescopic rod to move between the second driving member and the third driving member.
  • the fourth driving member drives the telescopic rod to contract in the second direction to adjust the position of the thrust assembly in the second direction.
  • the third driving member and the fourth driving member are spaced apart in the vertical direction to adjust the position of the thrust assembly in the vertical direction.
  • the second adjustment member further includes: a second encoder, the second encoder is a pull-wire encoder, one end of the second encoder is connected to the third driving member, and the second The other end of the encoder is connected to the fourth driving member to measure the moving distance of the telescopic rod in the second direction.
  • the automatic power exchange device further includes: a guide groove, the guide groove is provided in the device body, the extension direction of the guide groove is the same as the moving direction of the adsorption member, the guide groove It is used to place the battery in the AGV vehicle, and during the process of the adsorption member switching between the first position and the second position, the battery in the AGV vehicle slides in the guide groove.
  • a plurality of rollers are provided in the guide groove, and the plurality of rollers are spaced apart in the extension direction of the guide groove.
  • the automatic power exchange device further includes: a controller, the controller is provided in the device body, the controller is signally connected to the detection component, and the controller is connected to the adjustment component. signal connection.
  • an AGV vehicle which is applied to the automatic power exchange device described in the above embodiment, including: a vehicle body; a battery, the battery is provided in the vehicle body, and the adsorption member is in In the first position, the adsorption member extends out of the device body and adsorbs the battery; in the second position, the adsorption member is located in the device body, and the adsorption member Desorb the adsorbed battery; detect the barcode.
  • the detection barcode is set on the outer wall of the battery.
  • the detection part is used to scan the detection barcode to obtain the position of the battery.
  • the automatic battery replacement device obtains the position of the battery according to the detection barcode.
  • the position of the battery adjusts the position of the adsorption member.
  • Embodiments of the present disclosure provide an automatic power exchange device.
  • the detection part can detect the position of the adsorption part relative to the battery in the AGV vehicle, and the adjustment component can adjust the position of the adsorption part according to the detection result of the detection part to ensure that the adsorption part can be aligned.
  • the central area of the battery balances the force on the thrust assembly, making it easier for the thrust assembly to drag the battery to the device body through the adsorption member for battery replacement operations, thereby improving battery replacement efficiency.
  • the present disclosure uses an adsorption member to adsorb and desorb the battery, which is easier to take and is conducive to further improving the battery exchange efficiency.
  • Figure 1 is a schematic structural diagram of the automatic power swapping device for AGV vehicles according to an embodiment of the present disclosure
  • Figure 2 is a schematic structural diagram of a thrust assembly of an automatic power exchange device according to an embodiment of the present disclosure
  • Figure 3 is a schematic structural diagram of the first adjusting member of the automatic power exchange device according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of the second adjusting member of the automatic power exchange device according to an embodiment of the present disclosure.
  • Thrust assembly 20 first driving member 21; push rod 22; adsorption member 23;
  • Adjustment assembly 40 first adjustment member 41; second driving member 411; screw rod 412; guide rail 413; slider 414; limiting member 415; second adjustment member 42; third driving member 421; fourth driving member 422; Telescopic rod 423; second encoder 424;
  • Vehicle body 60
  • any specific values are to be construed as illustrative only and not as limiting. Accordingly, other examples of the exemplary embodiments may have different values.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be internal to two components. Connected.
  • connection should be understood in a broad sense.
  • it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection, or it can be an electrical connection; it can be a direct connection, or it can be an indirect connection through an intermediate medium, or it can be internal to two components. Connected.
  • an automatic power exchange device includes a device body 10 , a thrust component 20 , a detection component 30 and an adjustment component 40 .
  • the thrust assembly 20 is disposed in the device body 10 and is movable within the device body 10.
  • the thrust assembly 20 includes: an adsorption piece 23.
  • the adsorption piece 23 can extend or retract the device body 10.
  • the adsorption piece 23 is used for Battery 71 in the adsorption or desorption AGV vehicle.
  • the detection part 30 is provided in the device body 10 and is used to detect the position of the adsorption part 23 relative to the battery 71 in the AGV vehicle.
  • the adjustment component 40 is movably provided in the device body 10 and is connected to the thrust component 20. The adjustment component 40 adjusts the position of the adsorption member 23 relative to the battery 71 in the AGV vehicle according to the detection result of the detection member 30.
  • the automatic power swapping device is mainly used for automatic power swapping of AGV vehicles.
  • AGV is the abbreviation of Automated Guided Vehicle and is an automatic guided transport vehicle.
  • AGV vehicles are transport vehicles equipped with electromagnetic or optical automatic guidance devices that can travel along prescribed guidance paths and have safety protection and various transfer functions.
  • the automatic power swapping device of the present disclosure can be used to perform automatic power swapping operations on the AGV vehicle, thereby automating the power swapping operation and helping to reduce labor costs. Improve power exchange efficiency.
  • the automatic power exchange device of the present disclosure mainly consists of a device body 10 , a thrust component 20 , a detection component 30 and an adjustment component 40 .
  • the thrust assembly 20 is installed in the device body 10 , and the thrust assembly 20 is movable in the device body 10 .
  • the thrust assembly 20 includes an adsorption piece 23 that can extend or retract the device body 10.
  • the adsorption piece 23 is mainly used to adsorb or desorb the battery 71 in the AGV vehicle.
  • the adsorbing member 23 is in the same position as the battery 71 in the AGV vehicle.
  • the battery 71 is adsorbed by the adsorbing member 23 . Then, during the process of retracting the device body 10 , the adsorbing member 23 can drag the battery 71 onto the device body 10 . At this time, the adsorption member 23 desorbs the battery 71, and then sends the battery 71 to the charging station for charging through the automatic battery swapping device.
  • the present disclosure uses the adsorption member 23 to adsorb and desorb the battery 71, which is easier to take and helps to further improve the battery exchange efficiency.
  • the detection component 30 is installed in the device body 10 , and the detection component 30 may be a sensor.
  • the detection part 30 can be used to detect the position of the adsorption part 23 relative to the battery 71 in the AGV vehicle.
  • the adjustment component 40 is movably installed in the device body 10.
  • the adjustment component 40 is connected to the thrust component 20. See Figure 1.
  • the adjustment component 40 can adjust the position of the adsorption part 23 relative to the battery 71 in the AGV vehicle according to the detection results of the detection part 30. . Whether the position of the adsorption part 23 is centered relative to the battery 71 in the AGV vehicle can be determined through the detection part 30.
  • the position of the adsorption member 23 can be adjusted through the adjustment assembly 40 to ensure that the adsorption member 23 can be aligned with the central area of the battery 71 so that the force on the thrust assembly 20 is balanced, so that the thrust assembly 20 can use the adsorption member 23 to move the battery 71 Drag it to the device body 10 to perform the power exchange operation to improve the power exchange efficiency.
  • the detection part 30 can detect the position of the adsorption part 23 relative to the battery 71 in the AGV vehicle, and the adjustment component 40 can adjust the position of the adsorption part 23 according to the detection result of the detection part 30 , ensure that the adsorption part 23 can be aligned with the central area of the battery 71, so that the force of the thrust assembly 20 is balanced, so that the thrust assembly 20 can drag the battery 71 to the device body 10 through the adsorption part 23 to perform the power exchange operation and improve the power exchange efficiency.
  • the present disclosure uses the adsorption member 23 to adsorb and desorb the battery 71, which is easier to take and helps to further improve the battery exchange efficiency.
  • the adsorbing member 23 is switchable between the first position and the second position.
  • the adsorbing member 23 When the adsorbing member 23 is in the first position, the adsorbing member 23 extends out of the device body 10 , and the adsorbing member 23 can interact with the device body 10 .
  • the position of the battery 71 corresponds, and the adsorbing member 23 adsorbs the battery 71 in the AGV vehicle.
  • the adsorbing part 23 is in the second position, the adsorbing part 23 is located in the device body 10 , adsorbs the battery 71 into the device body 10 , and desorbs the adsorbed battery 71 .
  • the adsorbing part 23 performs the desorption on the battery 71
  • the battery 71 is sent to the charging station for charging through the automatic battery swapping device to complete the automatic battery swapping operation.
  • the thrust assembly 20 further includes a first driving member 21 and a push rod. twenty two.
  • the first driving member 21 is provided in the device body 10 , and the adjusting assembly 40 is connected to the first driving member 21 .
  • One end of the push rod 22 is connected to the first driving member 21, and the other end of the push rod 22 is connected to the adsorbing member 23.
  • the first driving member 21 drives the adsorbing member 23 through the push rod 22 to switch between the first position and the second position. .
  • the thrust assembly 20 also includes a first driving member 21 and a push rod 22 .
  • the first driving part 21 is installed in the device body 10 , and the adjusting component 40 is connected with the first driving part 21 .
  • the first driving member 21 can be a hydraulic cylinder or a pneumatic cylinder.
  • One end of the push rod 22 is connected to the first driving member 21, and the other end of the push rod 22 is connected to the adsorption member 23.
  • the first driving member 21 can drive the push rod 22 to extend. Or retract the device body 10 to realize switching of the adsorbing member 23 between the first position and the second position.
  • the adsorbing member 23 is attracted to the battery 71 , and then the first driving member 21 drives the push rod 22 to retract the device body 10 , and then drags the battery 71 through the adsorbing member 23 Detach from the AGV vehicle and drag it into the device body 10 to implement the power exchange operation.
  • the automatic power exchange device also includes a battery 51.
  • the battery 51 is provided in the device body 10.
  • the adsorbing member 23 is an electromagnetic chuck. When the adsorbing member 23 is in the first position, the battery 51 pairs The electromagnetic chuck supplies power, and the electromagnetic chuck generates adsorption force. When the adsorption part 23 is in the second position, the battery 51 cuts off power to the electromagnetic chuck, and the adsorption force of the electromagnetic chuck is released.
  • the automatic power exchange device may also include a battery 51.
  • the battery 51 is installed in the device body 10.
  • the adsorption member 23 may be an electromagnetic chuck.
  • the first driving member 21 in the thrust assembly 20 drives the push rod 22 to extend.
  • the electromagnetic chuck reaches the outer surface of the battery 71 (the adsorption member 23 is in the first position).
  • the automatic battery replacement device controls the battery 51 to supply power to the electromagnetic chuck, causing the electromagnetic chuck to generate adsorption force and adsorb the battery 71 .
  • the first driving member 21 drives the push rod 22 to retract into the device body 10.
  • the electromagnetic chuck attracts the battery 71 into the device body 10 (the adsorbing member 23 is in the second position).
  • the automatic battery swapping device can control the battery 51 to cut off power to the electromagnetic chuck, the electromagnetic chuck's adsorption force is released, and the electromagnetic chuck no longer attracts the battery 71.
  • the battery 71 is sent to the charging station for charging through the automatic battery swapping device.
  • the adjustment assembly 40 includes a first adjustment member 41 and the second adjusting member 42.
  • the first adjusting member 41 is connected to the thrust assembly 20 , and the first adjusting member 41 can be used to adjust the position of the adsorbing member 23 in the first direction.
  • the second adjusting member 42 is connected to the thrust assembly 20, and the second adjusting member 42 can be used to adjust the position of the adsorbing member 23 in the second direction, where the first direction is different from the second direction.
  • the first direction may be a horizontal direction
  • the second direction may be a vertical direction.
  • the detection part 30 detects that there is a position deviation between the adsorption part 23 and the battery 71 , the position of the adsorption part 23 in the horizontal direction and/or the vertical direction can be adjusted through the first adjustment part 41 and/or the second adjustment part 42 Location.
  • the first adjusting member 41 includes a second driving member 411 , a screw rod 412 , a guide rail 413 and a sliding block 414 .
  • the screw rod 412 is connected to the second driving member 411, and the guide rail 413 and the screw rod 412 are spaced apart and arranged in parallel.
  • the slider 414 is slidably disposed on the guide rail 413 , the screw rod 412 is passed through the slider 414 , and the slider 414 is connected to the thrust assembly 20 .
  • the guide rail 413 extends along the horizontal direction, and the slider 414 slides relative to the guide rail 413 in the horizontal direction to adjust the position of the adsorbing member 23 in the horizontal direction.
  • the first adjusting member 41 mainly consists of a second driving member 411 , a screw rod 412 , a guide rail 413 and a slider 414 .
  • the screw rod 412 is connected with the second driving member 411 .
  • the guide rail 413 and the screw rod 412 are spaced apart and arranged in parallel.
  • the slider 414 is slidably disposed on the guide rail 413 , and the screw rod 412 can pass through the slider 414 .
  • the slider 414 is connected to the thrust assembly 20, and the position of the thrust assembly 20 in the first direction is adjusted by sliding the slider 414.
  • the guide rail 413 can extend in the horizontal direction, and the slider 414 can slide in the horizontal direction relative to the guide rail 413 to adjust the position of the adsorption member 23 in the horizontal direction.
  • the second driving component 411 can be a driver composed of a servo motor and a servo driving component.
  • the screw rod 412 can be a ball screw.
  • the screw rod 412 has threads.
  • the screw rod 412 is installed on the servo motor.
  • the servo motor drives the screw rod 412 to rotate. , converting the rotational motion into linear motion, thereby driving the slider 414 to slide linearly along the guide rail 413 to realize the position adjustment of the first adjusting member 41 on the adsorbing member 23 in the horizontal direction.
  • the first adjusting member 41 further includes a plurality of limiting members 415 and a first encoder.
  • the limiting members 415 are respectively provided at both ends of the screw rod 412, and the limiting members 415 are provided at both ends of the guide rail 413.
  • the first encoder is provided on the guide rail 413 to measure the moving distance of the slider 414.
  • the first adjusting member 41 may also include a plurality of limiting members 415 and a first encoder.
  • limiting members 415 are respectively provided at both ends of the screw rod 412 , and at both ends of the guide rail 413 Limiting members 415 may be provided respectively.
  • the limiter 415 can be set as a limiter block. By setting the limiter 415, the movable range of the slider 414 on the screw rod 412 and the guide rail 413 can be limited to prevent the slider 414 from moving out of the screw rod 412 and the guide rail 413.
  • the first encoder can be installed on the guide rail 413, and the first encoder can measure the movement distance of the slider 414.
  • the first adjustment member 41 (which can be called a horizontal adjustment member) adopts a structure such as a servo motor plus a ball screw.
  • the servo motor rotates and has threads on the screw. It can be mounted on the servo motor to control the rotational movement. converted into linear motion.
  • the pitch of the screw can be set to 5mm.
  • the first encoder is installed on the guide rail 413, and the guide rail 413 is parallel to the screw.
  • the first encoder can measure the translation amount of the thrust assembly 20 on the slider 414.
  • the rotation of the servo motor can be controlled by sending pulses from the servo driver.
  • the servo driver compares the pulses it sends with the actual pulses and controls the servo motor to rotate forward or backward.
  • One end of the slider 414 is fixed on the screw, and the other end slides along the guide rail 413, and drives the thrust assembly 20 installed on the slide to slide along the guide rail 413, so that the servo motor drives the screw and the thrust assembly 20 on the slider 414. To the left or right, the position of the thrust assembly 20 is adjusted.
  • the second adjusting member 42 includes a third driving member 421 , a fourth driving member 422 and a telescopic rod 423 .
  • the fourth driving member 422 and the third driving member 421 are spaced apart in the second direction, and the fourth driving member 422 is connected to the thrust assembly 20 .
  • the telescopic rod 423 is installed between the third driving part 421 and the fourth driving part 422.
  • the third driving part 421 drives the telescopic rod 423 to extend in the second direction
  • the fourth driving part 422 drives the telescopic rod 423 to extend in the second direction. Contraction, through the third driving member 421 and the fourth driving member 422 driving the telescopic rod 423 to expand and contract in the second direction, the position of the thrust assembly 20 in the second direction can be adjusted.
  • the third driving member 421 and the fourth driving member 422 are arranged spaced apart in the vertical direction
  • the fourth driving member 422 is located above the third driving member 421
  • the third driving member 421 and the fourth driving member 422 are spaced apart in the vertical direction.
  • the member 422 can drive the telescopic rod 423 to telescope in the second direction, thereby adjusting the position of the thrust assembly 20 in the vertical direction.
  • the second adjusting member 42 may also include a second encoder 424. As shown in FIG. 4, the second encoder 424 may be a pull-wire encoder. One end of the second encoder 424 is connected to the third driving member 421. The other end of 424 is connected to the fourth driving member 422 . Both the third driving member 421 and the fourth driving member 422 can use hydraulic cylinders or pneumatic cylinders. The second adjusting member 42 can drive the thrust assembly 20 to rise or fall, and the wire encoder can measure the lifting or falling height.
  • the automatic power exchange device further includes a guide groove 52 , which is disposed in the device body 10 .
  • the extension direction of the guide groove 52 is the same as the moving direction of the adsorption member 23 .
  • the guide groove 52 For placing the battery 71 in the AGV vehicle, and during the process of switching the adsorption member 23 between the first position and the second position, the adsorption member 23 in the thrust assembly 20 can adsorb the battery 71 in the AGV vehicle along the guide groove 52 Slide to ensure that the battery 71 can move in the set position.
  • a plurality of rollers 53 may be provided in the guide groove 52 , and the plurality of rollers 53 may be spaced apart in the extension direction of the guide groove 52 .
  • the roller 53 By disposing the roller 53 in the guide groove 52 , the sliding efficiency of the battery 71 on the guide groove 52 can be improved.
  • the two guide grooves 52 are spaced apart and arranged in parallel.
  • Each guide groove 52 is provided with a plurality of rollers 53 .
  • the adsorption member 23 can absorb the battery 71 and slide along the two guide grooves 52 .
  • the automatic power exchange device further includes a controller.
  • the controller is provided in the device body 10 .
  • the controller is connected to the detection component 30 through signals, and the controller is connected through signals to the adjustment component 40 .
  • the automatic power exchange device also includes a controller, which is installed in the device body 10 , has a signal connection with the detection component 30 , and a signal connection with the adjustment component 40 .
  • the detection part 30 sensor
  • the detection part 30 can Send a signal to the controller to request the horizontal adjustment device (first adjustment member 41) to move left or right in the horizontal direction until the position of the electromagnetic chuck detected by the detection member 30 is within the error range relative to the horizontal position of the battery 71 .
  • a signal can be sent to the control part to request the vertical adjustment device (second adjustment part 42) to move downward or upward until the detection part 30 detects the electromagnetic chuck.
  • the position is within the error range relative to the vertical position of the battery 71 box.
  • the detector can then calculate the distance between the parked location of the automatic battery swapping device and the battery in the AGV vehicle. 71 surface stroke, and sends a signal to the controller to control the thrust assembly 20 to extend according to the calculated stroke, thereby ensuring that the automatic power exchange device is accurately docked with the battery 71.
  • the controller can control the battery 51 to provide power to the electromagnetic chuck, and the electromagnetic chuck can absorb the battery 71.
  • the controller may then request the thrust assembly 20 to pull the battery 71 onto the guide slot 52 in the device body 10 .
  • the controller controls the battery 51 to cut off power to the electromagnetic chuck.
  • the electromagnetic chuck does not adsorb the battery 71 box, and then the automatic battery replacement device sends the battery 71 to the charging station for charging. Battery swapping operation of automatic battery swapping device.
  • the automatic power exchange device is also equipped with the first wireless transceiver device 54 and other structures, and the working principle of the automatic power exchange device can be realized, and will not be described in detail in this disclosure.
  • the detection part 30 can detect the position of the adsorption part 23 relative to the battery 71 in the AGV vehicle, and the adjustment component 40 can adjust the position of the adsorption part 23 according to the detection result of the detection part 30, Ensure that the adsorbing member 23 can be aligned with the central area of the battery 71 to balance the force on the thrust assembly 20 and facilitate the thrust assembly 20 to drag the battery 71 to the device body 10 through the adsorbing member 23 to perform the power exchange operation and improve the power exchange efficiency.
  • the present disclosure uses the adsorption member 23 to adsorb and desorb the battery 71, which is easier to take and helps to further improve the battery exchange efficiency.
  • an AGV vehicle which is applied to the automatic power exchange device in the above embodiment.
  • the AGV vehicle mainly consists of a vehicle body 60 , a battery 71 and a detection barcode 72 .
  • the battery 71 is disposed in the vehicle body 60 .
  • the adsorption part 23 When the adsorption part 23 is in the first position, the adsorption part 23 in the thrust assembly 20 can extend out of the device body 10 and adsorb the battery 71 .
  • the adsorbing member 23 is in the second position, the adsorbing member 23 is located in the device body 10 , and the adsorbing member 23 desorbs the adsorbed battery 71 .
  • the detection barcode 72 is provided on the surrounding edges of the outer wall of the battery 71.
  • the detection part 30 is used to scan the detection barcode 72 to obtain the position of the battery 71.
  • the automatic battery replacement device adjusts the position of the adsorption part 23 according to the obtained position of the battery 71.
  • the AGV vehicle also includes a second wireless transceiver device 75, a laser navigator 73, a reflector 74, a vehicle controller 76, a backup battery 77, a cargo fork 78 and other structures.
  • the AGV vehicle can navigate to the corresponding coordinate point of the automatic battery replacement device through the laser navigator 73 and open the cover so that the battery 71 in the AGV vehicle faces the adsorption member 23 .
  • the detection part 30 on the automatic battery swapping device has a detection barcode 72 on the surrounding edges of the battery 71 to detect whether the position of the electromagnetic chuck (adsorption part 23) is centered relative to the battery 71.
  • the component 30 can send a signal to the controller to request the horizontal adjustment device (the first adjustment component 41) to move left or right in the horizontal direction until the position of the electromagnetic chuck detected by the detection component 30 is within an error relative to the horizontal position of the battery 71. within the range. If the detection part 30 detects that the position of the electromagnetic chuck is upward or downward relative to the battery 71, a signal can be sent to the control part to request the vertical adjustment device (second adjustment part 42) to move downward or upward until the detection part 30 detects the electromagnetic chuck. The position is within the error range relative to the vertical position of the battery 71 box.
  • the detector can calculate the distance between the parked position of the automatic power changing device and the surface stroke of the battery 71 in the AGV vehicle, and send a signal to the controller to control the thrust assembly 20 to extend according to the calculated stroke, thereby ensuring that the automatic power changing device and the battery 71 are accurately docking.
  • the controller can control the battery 51 to provide power to the electromagnetic chuck, and the electromagnetic chuck can absorb the battery 71.
  • the controller may then request the thrust assembly 20 to pull the battery 71 onto the guide slot 52 in the device body 10 .
  • the controller controls the battery 51 to cut off power to the electromagnetic chuck.
  • the electromagnetic chuck does not adsorb the battery 71 box, and then the automatic battery replacement device sends the battery 71 to the charging station for charging. Battery swapping operation of automatic battery swapping device.

Abstract

一种自动换电装置及AGV车辆，自动换电装置包括：装置本体（10）；推力组件（20），推力组件（20）设在装置本体（10）内，推力组件（20）在装置本体（10）内可移动，推力组件（20）包括：吸附件（23），吸附件（23）能够伸出或者收回装置本体（10），吸附件（23）用于吸附或脱附AGV车辆中的电池（71）；检测件（30），检测件（30）设在装置本体（10）内，检测件（30）用于检测吸附件（23）相对AGV车辆中的电池（71）的位置；调节组件（40），调节组件（40）可活动地设在装置本体（10）内，调节组件（40）与推力组件（20）连接，以调节吸附件（23）相对AGV车辆中的电池（71）的位置。

Description

自动换电装置及AGV车辆
本公开要求于2022年6月23日提交中国专利局，申请号为202221615925.3，申请名称为“自动换电装置及AGV车辆”的中国专利申请的优先权，其全部内容通过引用结合在本公开中。
技术领域
本公开涉及一种自动换电装置及AGV车辆。
背景技术
AGV车辆(AGV是Automated Guided Vehicle的缩写，是一种自动导引运输车)。现有技术中，当需要对AGV车辆的电池充电时，通常采用两种方法，一种是通过人工方法实现AGV车辆中电池的更换，人力成本高，自动化程度低，电池更换效率低。另一种采用自动换电装置对电池进行更换，但是现有的自动换电装置，没有设置位置调节机构，在拿取AGV车辆中的电池的过程中，自动换电装置的取放机构与电池的位置容易发生偏差，导致取放机构受力不均匀，影响自动换电的效率。
发明内容
本公开实施例的一个目的是提供一种自动换电装置的新技术方案。
根据本公开的第一方面，提供了一种自动换电装置，包括：装置本体；推力组件，所述推力组件设在所述装置本体内，所述推力组件在所述装置本体内可移动，所述推力组件包括：吸附件，所述吸附件能够伸出或者收回所述装置本体，所述吸附件用于吸附或脱附AGV车辆中的电池；检测件，所述检测件设在所述装置本体内，所述检测件用于检测所述吸附件相对AGV车辆中的电池的位置；调节组件，所述调节组件可活动地设在所述装置本体内，所述调节组件与所述推力组件连接，所述调节组件根据所述检测件 的检测结果调节所述吸附件相对AGV车辆中的电池的位置。
可选地，所述吸附件在第一位置和第二位置之间可切换，在所述吸附件处于所述第一位置的情况下，所述吸附件伸出所述装置本体，以用于吸附AGV车辆中的电池；在所述吸附件处于所述第二位置的情况下，所述吸附件位于所述装置本体内，以用于对吸附的电池进行脱附。
可选地，所述推力组件还包括：第一驱动件，所述第一驱动件设在所述装置本体内，所述调节组件与所述第一驱动件连接；推杆，所述推杆的一端与所述第一驱动件连接，所述推杆的另一端与所述吸附件连接，所述第一驱动件通过所述推杆驱动所述吸附件在所述第一位置和所述第二位置之间可切换。
可选地，所述的自动换电装置还包括：蓄电池，所述蓄电池设在所述装置本体内，所述吸附件为电磁吸盘，在所述吸附件处于所述第一位置的情况下，所述蓄电池对所述电磁吸盘供电，所述电磁吸盘产生吸附力，在所述吸附件处于所述第二位置的情况下，所述蓄电池对所述电磁吸盘断电，所述电磁吸盘的吸附力解除。
可选地，所述调节组件包括：第一调节件，所述第一调节件与所述推力组件连接，所述第一调节件用于调节所述吸附件在第一方向上的位置；第二调节件，所述第二调节件与所述推力组件连接，所述第二调节件用于调节所述吸附件在第二方向上的位置，所述第一方向与所述第二方向不同。
可选地，所述第一调节件包括：第二驱动件；丝杆，所述丝杆与所述第二驱动件连接；导轨，所述导轨与所述丝杆间隔开平行设置；滑块，所述滑块可滑动地设在所述导轨上，所述丝杆穿设在所述滑块上，所述滑块与所述推力组件连接。
可选地，所述导轨沿水平方向延伸，所述滑块相对所述导轨在水平方向上滑动，以调节所述吸附件在水平方向上的位置。
可选地，所述第一调节件还包括：多个限位件，所述丝杆的两端分别设有所述限位件，所述导轨的两端分别设有所述限位件。
可选地，所述第一调节件还包括：第一编码器，所述第一编码器设在所述导轨上，以测量所述滑块的移动距离。
可选地，所述第二调节件包括：第三驱动件；第四驱动件，所述第四驱动件与所述第三驱动件在所述第二方向上间隔开布置，所述第四驱动件与所述推力组件连接；伸缩杆，所述伸缩杆设在所述第三驱动件和所述第四驱动件之间，所述第三驱动件驱动所述伸缩杆在所述第二方向上伸长，所述第四驱动件驱动所述伸缩杆在所述第二方向上收缩，以调节所述推力组件在所述第二方向上的位置。
可选地，所述第三驱动件和所述第四驱动件在竖直方向上间隔开布置，以调节所述推力组件在竖直方向上的位置。
可选地，所述第二调节件还包括：第二编码器，所述第二编码器为拉线编码器，所述第二编码器的一端与所述第三驱动件连接，所述第二编码器的另一端与所述第四驱动件连接，以测量所述伸缩杆在所述第二方向上的移动距离。
可选地，所述的自动换电装置还包括：导向槽，所述导向槽设在所述装置本体内，所述导向槽的延伸方向与所述吸附件的活动方向相同，所述导向槽用于放置AGV车辆中的电池，且所述吸附件在第一位置和第二位置之间切换的过程中，AGV车辆中的电池在导向槽内滑动。
可选地，所述导向槽内设有多个滚轮，多个所述滚轮在所述导向槽的延伸方向上间隔开布置。
可选地，所述的自动换电装置还包括：控制器，所述控制器设在所述装置本体内，所述控制器与所述检测件信号连接，所述控制器与所述调节组件信号连接。
根据本公开的第二方面，提供一种AGV车辆，应用于上述实施例中所述的自动换电装置，包括：车辆本体；电池，所述电池设在所述车辆本体内，在吸附件处于第一位置的情况下，所述吸附件伸出装置本体，且吸附所述电池；在所述吸附件处于第二位置的情况下，所述吸附件位于所述装置本体内，所述吸附件对吸附的所述电池进行脱附；检测条码，所述检测条码设在所述电池的外壁面，检测件用于扫描所述检测条码，以获取所述电池的位置，自动换电装置根据获取的所述电池的位置调节所述吸附件的位置。
本公开实施例的一个技术效果在于：
本公开实施例提供了一种自动换电装置，通过检测件可以检测吸附件相对AGV车辆中的电池位置，并且调节组件可以根据检测件的检测结果调节吸附件的位置，保证吸附件能够对准电池的中央区域，使推力组件受力均衡，便于推力组件通过吸附件将电池拖拽到装置本体上，进行换电操作，提高换电效率。同时本公开采用吸附件对电池进行吸附和脱附的拿取方式，拿取更加简便，有利于进一步提高换电效率。
通过以下参照附图对本公开的示例性实施例的详细描述，本公开的其它特征及其优点将会变得清楚。
附图说明
被结合在说明书中并构成说明书的一部分的附图示出了本公开的实施例，并且连同其说明一起用于解释本公开的原理。
图1是根据本公开实施例的自动换电装置对AGV车辆的自动换电的结构示意图；
图2是根据本公开实施例的自动换电装置的推力组件的结构示意图；
图3是根据本公开实施例的自动换电装置的第一调节件的结构示意图；
图4是根据本公开实施例的自动换电装置的第二调节件的结构示意图。
附图标记：
装置本体10；
推力组件20；第一驱动件21；推杆22；吸附件23；
检测件30；
调节组件40；第一调节件41；第二驱动件411；丝杆412；导轨413；滑块414；限位件415；第二调节件42；第三驱动件421；第四驱动件422；伸缩杆423；第二编码器424；
蓄电池51；导向槽52；滚轮53；第一无线收发装置54；
车辆本体60；
电池71；检测条码72；激光导航仪73；反光板74；第二无线收发装置75；整车控制器76；备用电池77；货叉78。
具体实施方式
现在将参照附图来详细描述本公开的各种示例性实施例。应注意到：除非另外具体说明，否则在这些实施例中阐述的部件和步骤的相对布置、数字表达式和数值不限制本公开的范围。
以下对至少一个示例性实施例的描述实际上仅仅是说明性的，决不作为对本公开及其应用或使用的任何限制。
对于相关领域普通技术人员已知的技术、方法和设备可能不作详细讨论，但在适当情况下，所述技术、方法和设备应当被视为说明书的一部分。
在这里示出和讨论的所有例子中，任何具体值应被解释为仅仅是示例性的，而不是作为限制。因此，示例性实施例的其它例子可以具有不同的值。
应注意到：相似的标号和字母在下面的附图中表示类似项，因此，一旦某一项在一个附图中被定义，则在随后的附图中不需要对其进行进一步讨论。
本公开的说明书和权利要求书中的若涉及到术语“第一”、“第二”的特征可以明示或者隐含地包括一个或者更多个该特征。在本公开的描述中，除非另有说明，“多个”的含义是两个或两个以上。此外，说明书以及权利要求中“和/或”表示所连接对象的至少其中之一，字符“/”，一般表示前后关联对象是一种“或”的关系。
在本公开的描述中，若涉及到术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开的限制。
在本公开的描述中，需要说明的是，除非另有明确的规定和限定，涉及到的术语“安装”、“相连”、“连接”，应做广义理解。例如，可以是固定连接，也可以是可拆卸连接，或一体地连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连，可以是两个元件内部的连通。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本公开中的具体含义。
下面结合附图具体描述根据本公开实施例的自动换电装置。
如图1至图4所示，根据本公开实施例的自动换电装置包括装置本体10、推力组件20、检测件30和调节组件40。
具体而言，推力组件20设在装置本体10内，推力组件20在装置本体10内可移动，推力组件20包括：吸附件23，吸附件23能够伸出或者收回装置本体10，吸附件23用于吸附或脱附AGV车辆中的电池71。检测件30设在装置本体10内，检测件30用于检测吸附件23相对AGV车辆中的电池71的位置。调节组件40可活动地设在装置本体10内，调节组件40与推力组件20连接，调节组件40根据检测件30的检测结果调节吸附件23相对AGV车辆中的电池71的位置。
换言之，根据本公开实施例的自动换电装置主要用于对AGV车辆的自动换电，AGV是Automated Guided Vehicle的缩写，是一种自动导引运输车。AGV车辆是装备有电磁或光学等自动导引装置，能够沿规定的导引路径行驶，具有安全保护以及各种移载功能的运输车。参见图1，当AGV车辆的电池71的电量较低或用尽时，可以采用本公开的自动换电装置对AGV车辆进行自动换电操作，实现换电操作的自动化，有利于降低人工成本，提高换电效率。
如图1所示，本公开的自动换电装置主要由装置本体10、推力组件20、检测件30和调节组件40组成。其中，推力组件20安装在装置本体10内，推力组件20在装置本体10内能够移动。参见图1和图2，推力组件20包括吸附件23，吸附件23能够伸出或者收回装置本体10，吸附件23主要用于吸附或脱附AGV车辆中的电池71。在自动换电的过程中，当吸附件23伸出装置本体10时，吸附件23与AGV车辆中的电池71的位置相 对应，并且通过吸附件23吸附电池71。然后吸附件23在收回装置本体10的过程中，能够将电池71拖拽到装置本体10上。此时吸附件23对电池71进行脱附，再通过自动换电装置将电池71送到充电站进行充电。本公开采用吸附件23对电池71进行吸附和脱附的拿取方式，拿取更加简便，有利于进一步提高换电效率。
参见图1，检测件30安装在装置本体10内，检测件30可以采用传感器。检测件30能够用于检测吸附件23相对AGV车辆中的电池71的位置。调节组件40可活动地安装在装置本体10内，调节组件40与推力组件20连接，参见图1，调节组件40可以根据检测件30的检测结果调节吸附件23相对AGV车辆中的电池71的位置。通过检测件30可以确定吸附件23相对AGV车辆中的电池71的位置是否居中。如果不居中，可以通过调节组件40对吸附件23的位置进行调节，保证吸附件23能够对准电池71的中央区域，使推力组件20受力均衡，便于推力组件20通过吸附件23将电池71拖拽到装置本体10上，进行换电操作，提高换电效率。
由此，根据本公开实施例的自动换电装置，通过检测件30可以检测吸附件23相对AGV车辆中的电池71位置，并且调节组件40可以根据检测件30的检测结果调节吸附件23的位置，保证吸附件23能够对准电池71的中央区域，使推力组件20受力均衡，便于推力组件20通过吸附件23将电池71拖拽到装置本体10上，进行换电操作，提高换电效率。同时本公开采用吸附件23对电池71进行吸附和脱附的拿取方式，拿取更加简便，有利于进一步提高换电效率。
根据本公开的一个实施例，吸附件23在第一位置和第二位置之间可切换，在吸附件23处于第一位置的情况下，吸附件23伸出装置本体10，吸附件23能够与电池71的位置对应，并且吸附件23吸附AGV车辆中的电池71。在吸附件23处于第二位置的情况下，吸附件23位于装置本体10内，将电池71吸附到装置本体10内，并对吸附的电池71进行脱附，此时吸附件23对电池71进行脱附，再通过自动换电装置将电池71送到充电站进行充电，完成自动换电操作。
根据本公开的一个实施例，推力组件20还包括第一驱动件21和推杆 22。
具体地，第一驱动件21设在装置本体10内，调节组件40与第一驱动件21连接。推杆22的一端与第一驱动件21连接，推杆22的另一端与吸附件23连接，第一驱动件21通过推杆22驱动吸附件23在第一位置和第二位置之间可切换。
也就是说，如图1和图2所示，推力组件20还包括第一驱动件21和推杆22。其中，第一驱动件21安装在装置本体10内，调节组件40与第一驱动件21连接。第一驱动件21可以采用液压缸或气动缸，推杆22的一端与第一驱动件21连接，推杆22的另一端与吸附件23连接，第一驱动件21可以驱动推杆22伸出或收回装置本体10，进而实现吸附件23在第一位置和第二位置之间的切换。当第一驱动件21驱动推杆22伸出装置本体10时，吸附件23与电池71相吸附，然后第一驱动件21驱动推杆22收回装置本体10，进而通过吸附件23拖动电池71脱离AGV车辆并拖拽到装置本体10内，实现换电操作。
在本公开的一些具体实施方式中，自动换电装置还包括蓄电池51，蓄电池51设在装置本体10内，吸附件23为电磁吸盘，在吸附件23处于第一位置的情况下，蓄电池51对电磁吸盘供电，电磁吸盘产生吸附力，在吸附件23处于第二位置的情况下，蓄电池51对电磁吸盘断电，电磁吸盘的吸附力解除。
换句话说，参见图1，自动换电装置还可以包括蓄电池51，蓄电池51安装在装置本体10内，吸附件23可以采用电磁吸盘，推力组件20中的第一驱动件21驱动推杆22伸出装置本体10时，电磁吸盘到达电池71外表面(吸附件23处于第一位置)，此时，自动换电装置控制蓄电池51可以对电磁吸盘供电，使电磁吸盘产生吸附力，吸附住电池71。然后第一驱动件21驱动推杆22收回装置本体10内，在此过程中，电磁吸盘将电池71吸附到装置本体10内(吸附件23处于第二位置)。此时，自动换电装置可以控制蓄电池51对电磁吸盘断电，电磁吸盘的吸附力解除，电磁吸盘不再吸附电池71，最后通过自动换电装置将该电池71送到充电站充电。
根据本公开的一个实施例，参见图1，调节组件40包括第一调节件 41和第二调节件42。其中，第一调节件41与推力组件20连接，第一调节件41能够用于调节吸附件23在第一方向上的位置。第二调节件42与推力组件20连接，第二调节件42能够用于调节吸附件23在第二方向上的位置，第一方向与第二方向不同。其中，第一方向可以是水平方向，第二方向可以是竖直方向。当检测件30检测到吸附件23与电池71之间的位置存在偏差时，可以通过第一调节件41和/或第二调节件42调节吸附件23在水平方向和/或竖直方向上的位置。
在本公开的一些具体实施方式中，第一调节件41包括第二驱动件411、丝杆412、导轨413和滑块414。
具体地，丝杆412与第二驱动件411连接，导轨413与丝杆412间隔开平行设置。滑块414可滑动地设在导轨413上，丝杆412穿设在滑块414上，滑块414与推力组件20连接。导轨413沿水平方向延伸，滑块414相对导轨413在水平方向上滑动，以调节吸附件23在水平方向上的位置。
也就是说，如图3所示，第一调节件41主要由第二驱动件411、丝杆412、导轨413和滑块414组成。其中，丝杆412与第二驱动件411连接。导轨413与丝杆412间隔开平行设置。滑块414可滑动地设置在导轨413上，丝杆412能够穿设在滑块414上。滑块414与推力组件20连接，通过滑块414的滑动，调节推力组件20在第一方向上的位置。导轨413可以沿水平方向延伸，滑块414相对导轨413可以在水平方向上滑动，以调节吸附件23在水平方向上的位置。
第二驱动件411可以为由伺服电机和伺服驱动件组成的驱动器，丝杆412可以采用滚珠丝杆，丝杆412上有螺纹，丝杆412安装在伺服电机上，伺服电机驱动丝杆412旋转，将旋转运动转化为直线运动，从而带动滑块414沿导轨413直线滑动，实现第一调节件41对吸附件23在水平方向上的位置调节。
在本公开的一些具体实施方式中，第一调节件41还包括多个限位件415和第一编码器，丝杆412的两端分别设有限位件415，导轨413的两端分别设有限位件415。第一编码器设在导轨413上，以测量滑块414的移动距离。
换句话说，第一调节件41还可以包括多个限位件415和第一编码器，其中，如图3所示，丝杆412的两端分别设置有限位件415，导轨413的两端可以分别设置有限位件415。限位件415可以设置成限位块，通过设置限位件415可以限制滑块414在丝杆412和导轨413上的活动范围，防止滑块414移出丝杆412和导轨413。第一编码器可以安装在导轨413上，第一编码器可以测量滑块414的移动距离。
在本公开中，第一调节件41(可以称为水平调整件)采用伺服电机加上滚珠丝杠等结构，伺服电机是旋转的，丝杠上有螺纹，装在伺服电机上可以把旋转运动转化为直线运动。丝杠的螺距可以设置成5mm，当伺服电机旋转一周，可使装在丝杠上的物体平行移动5mm。第一编码器装在导轨413上的，导轨413与丝杠平行，第一编码器可以测量滑块414上的推力组件20的平移量。伺服电机的旋转可以通过伺服驱动器发出脉冲来控制电机旋转，例如用5mm丝杠，转一圈是5mm，一圈20000个脉冲，即发送一个脉冲控制5/20000mm。然后，伺服驱动器根据自己发送的脉冲与实际脉冲进行比较，控制伺服电机向前或者向后旋转。滑块414一端固定在丝杠上，另一端沿着导轨413滑动，并且带动安装在滑动上的推力组件20沿着导轨413滑动，从而由伺服电机带动丝杠以及滑块414上的推力组件20向左或者向右，实现推力组件20的位置调节。
根据本公开的一个实施例，如图4所示，第二调节件42包括第三驱动件421、第四驱动件422和伸缩杆423。其中，第四驱动件422与第三驱动件421在第二方向上间隔开布置，第四驱动件422与推力组件20连接。伸缩杆423安装在第三驱动件421和第四驱动件422之间，第三驱动件421驱动伸缩杆423在第二方向上伸长，第四驱动件422驱动伸缩杆423在第二方向上收缩，通过第三驱动件421和第四驱动件422驱动伸缩杆423在第二方向上的伸缩，可以调节推力组件20在第二方向上的位置。
可选地，参见图4，第三驱动件421和第四驱动件422在竖直方向上间隔开布置，第四驱动件422位于第三驱动件421上方，第三驱动件421和第四驱动件422可以驱动伸缩杆423在第二方向上的伸缩，以此调节推力组件20在竖直方向上的位置。
第二调节件42还可以包括第二编码器424，如图4所示，第二编码器424可以采用拉线编码器，第二编码器424的一端与第三驱动件421连接，第二编码器424的另一端与第四驱动件422连接。第三驱动件421和第四驱动件422均可以采用液压缸或气动缸，通过第二调节件42可以带动推力组件20起升或者下降，并且由拉线编码器可以测量起升或者下降高度。
根据本公开的一个实施例，参见图1，自动换电装置还包括导向槽52，导向槽52设置在装置本体10内，导向槽52的延伸方向与吸附件23的活动方向相同，导向槽52用于放置AGV车辆中的电池71，并且吸附件23在第一位置和第二位置之间切换的过程中，推力组件20中的吸附件23可以吸附AGV车辆中的电池71沿导向槽52内滑动，确保电池71能够在设定位置上移动。导向槽52内可以设置有多个滚轮53，多个滚轮53可以在导向槽52的延伸方向上间隔开布置。通过在导向槽52内设置滚轮53，可以提高电池71在导向槽52上的滑动效率。导向槽52的个数为两个，两个导向槽52间隔开平行设置，每个导向槽52内分别设置有多个滚轮53，吸附件23可以吸附电池71沿两个导向槽52滑动。
根据本公开的一个实施例，自动换电装置还包括控制器，控制器设在装置本体10内，控制器与检测件30信号连接，控制器与调节组件40信号连接。
换句话说，自动换电装置还包括控制器，控制器安装在装置本体10内，控制器与检测件30信号连接，控制器与调节组件40信号连接。在自动换电装置换电的过程中，首先，采用检测件30(传感器)检测电磁吸盘(吸附件23)位置相对于电池71是否居中，如果吸附件23相对电池71不居中，检测件30可以发送信号到控制器，请求水平调整装置(第一调节件41)在水平方向上向左或者向右移动，直到检测件30检测到的电磁吸盘位置相对于电池71的水平位置在误差范围之内。如果检测件30检测到电磁吸盘位置相对于电池71偏上或者偏下，可以发送信号到控制件，请求垂直调整装置(第二调节件42)向下或者向上移动，直到检测件30检测电磁吸盘位置相对于电池71箱垂直位置在误差范围之内。
然后，检测器可以计算自动换电装置所停位置距离AGV车辆中的电池 71表面行程，并发送信号到控制器，控制推力组件20按照计算行程伸出，从而保证自动换电装置跟电池71准确对接。
当推力组件20推动电磁吸盘到达电池71的盖板外表面时，控制器可以控制蓄电池51给电磁吸盘供电，电磁吸盘可以吸附电池71。然后，控制器可以请求推力组件20拉动电池71到达装置本体10内的导向槽52上。当电池71被拉动到导向槽52的设定位置后，控制器控制蓄电池51给电磁吸盘断电，电磁吸盘不吸附电池71箱，再由自动换电装置将电池71送到充电站充电，实现自动换电装置的换电操作。
当然，对于本领域技术人员来说，自动换电装置还设置有第一无线收发装置54等结构，以及自动换电装置的工作原理是能够实现的，在本公开中不再详细赘述。
总而言之，根据本公开实施例的自动换电装置，通过检测件30可以检测吸附件23相对AGV车辆中的电池71位置，并且调节组件40可以根据检测件30的检测结果调节吸附件23的位置，保证吸附件23能够对准电池71的中央区域，使推力组件20受力均衡，便于推力组件20通过吸附件23将电池71拖拽到装置本体10上，进行换电操作，提高换电效率。同时本公开采用吸附件23对电池71进行吸附和脱附的拿取方式，拿取更加简便，有利于进一步提高换电效率。
根据本公开的第二方面，提供一种AGV车辆，应用于上述实施例中的自动换电装置，如图1所示，AGV车辆主要由车辆本体60、电池71和检测条码72组成。其中，电池71设置在车辆本体60内，在吸附件23处于第一位置的情况下，推力组件20中的吸附件23可以伸出装置本体10，并且吸附电池71。在吸附件23处于第二位置的情况下，吸附件23位于装置本体10内，吸附件23对吸附的电池71进行脱附。检测条码72设置在电池71的外壁面的四周边缘，检测件30用于扫描检测条码72，以获取电池71的位置，自动换电装置根据获取的电池71的位置调节吸附件23的位置。
参见图1，AGV车辆还包括第二无线收发装置75、激光导航仪73、反光板74、整车控制器76、备用电池77、货叉78等结构。在AGV车辆中的 电池71电量角度，需要更换是＝时，AGV车辆可以通过激光导航仪73导航至自动换电装置的对应坐标点，并打开盖板使AGV车辆中的电池71朝向吸附件23。自动换电装置上的检测件30臊面电池71四周边缘所不知的检测条码72，以检测电磁吸盘(吸附件23)位置相对于电池71是否居中，如果吸附件23相对电池71不居中，检测件30可以发送信号到控制器，请求水平调整装置(第一调节件41)在水平方向上向左或者向右移动，直到检测件30检测到的电磁吸盘位置相对于电池71的水平位置在误差范围之内。如果检测件30检测到电磁吸盘位置相对于电池71偏上或者偏下，可以发送信号到控制件，请求垂直调整装置(第二调节件42)向下或者向上移动，直到检测件30检测电磁吸盘位置相对于电池71箱垂直位置在误差范围之内。
然后，检测器可以计算自动换电装置所停位置距离AGV车辆中的电池71表面行程，并发送信号到控制器，控制推力组件20按照计算行程伸出，从而保证自动换电装置跟电池71准确对接。
当推力组件20推动电磁吸盘到达电池71的盖板外表面时，控制器可以控制蓄电池51给电磁吸盘供电，电磁吸盘可以吸附电池71。然后，控制器可以请求推力组件20拉动电池71到达装置本体10内的导向槽52上。当电池71被拉动到导向槽52的设定位置后，控制器控制蓄电池51给电磁吸盘断电，电磁吸盘不吸附电池71箱，再由自动换电装置将电池71送到充电站充电，实现自动换电装置的换电操作。
当然，对于本领域技术人员来说，AGV车辆的其他结构及其工作原理是能够实现的，在本公开中不再详细赘述。
虽然已经通过例子对本公开的一些特定实施例进行了详细说明，但是本领域的技术人员应该理解，以上例子仅是为了进行说明，而不是为了限制本公开的范围。本领域的技术人员应该理解，可在不脱离本公开的范围和精神的情况下，对以上实施例进行修改。本公开的范围由所附权利要求来限定。

Claims (16)

  1. 一种自动换电装置，包括：
    装置本体(10)；
    推力组件(20)，所述推力组件(20)设在所述装置本体(10)内，所述推力组件(20)在所述装置本体(10)内可移动，所述推力组件(20)包括：吸附件(23)，所述吸附件(23)能够伸出或者收回所述装置本体(10)，所述吸附件(23)用于吸附或脱附AGV车辆中的电池(71)；
    检测件(30)，所述检测件(30)设在所述装置本体(10)内，所述检测件(30)用于检测所述吸附件(23)相对AGV车辆中的电池(71)的位置；
    调节组件(40)，所述调节组件(40)可活动地设在所述装置本体(10)内，所述调节组件(40)与所述推力组件(20)连接，所述调节组件(40)根据所述检测件(30)的检测结果调节所述吸附件(23)相对AGV车辆中的电池(71)的位置。
  2. 根据权利要求1所述的自动换电装置，其中，所述吸附件(23)在第一位置和第二位置之间可切换，在所述吸附件(23)处于所述第一位置的情况下，所述吸附件(23)伸出所述装置本体(10)，以用于吸附AGV车辆中的电池(71)；在所述吸附件(23)处于所述第二位置的情况下，所述吸附件(23)位于所述装置本体(10)内，以用于对吸附的电池(71)进行脱附。
  3. 根据权利要求1或2所述的自动换电装置，其中，所述推力组件(20)还包括：
    第一驱动件(21)，所述第一驱动件(21)设在所述装置本体(10)内，所述调节组件(40)与所述第一驱动件(21)连接；
    推杆(22)，所述推杆(22)的一端与所述第一驱动件(21)连接，所述推杆(22)的另一端与所述吸附件(23)连接，所述第一驱动件(21)通过所述推杆(22)驱动所述吸附件(23)在所述第一位置和所述第二位置之间可切换。
  4. 根据权利要求1-3中任一项所述的自动换电装置，其中，还包括：蓄电池(51)，所述蓄电池(51)设在所述装置本体(10)内，所述吸附件(23)为电磁吸盘，在所述吸附件(23)处于所述第一位置的情况下，所述蓄电池(51)对所述电磁吸盘供电，所述电磁吸盘产生吸附力，在所述吸附件(23)处于所述第二位置的情况下，所述蓄电池(51)对所述电磁吸盘断电，所述电磁吸盘的吸附力解除。
  5. 根据权利要求1-4中任一项所述的自动换电装置，其中，所述调节组件(40)包括：
    第一调节件(41)，所述第一调节件(41)与所述推力组件(20)连接，所述第一调节件(41)用于调节所述吸附件(23)在第一方向上的位置；
    第二调节件(42)，所述第二调节件(42)与所述推力组件(20)连接，所述第二调节件(42)用于调节所述吸附件(23)在第二方向上的位置，所述第一方向与所述第二方向不同。
  6. 根据权利要求1-5中任一项所述的自动换电装置，其中，所述第一调节件(41)包括：
    第二驱动件(411)；
    丝杆(412)，所述丝杆(412)与所述第二驱动件(411)连接；
    导轨(413)，所述导轨(413)与所述丝杆(412)间隔开平行设置；
    滑块(414)，所述滑块(414)可滑动地设在所述导轨(413)上，所述丝杆(412)穿设在所述滑块(414)上，所述滑块(414)与所述推力组件(20)连接。
  7. 根据权利要求1-6中任一项所述的自动换电装置，其中，所述导轨(413)沿水平方向延伸，所述滑块(414)相对所述导轨(413)在水平方向上滑动，以调节所述吸附件(23)在水平方向上的位置。
  8. 根据权利要求1-7中任一项所述的自动换电装置，其中，所述第一调节件(41)还包括：多个限位件(415)，所述丝杆(412)的两端分别设有所述限位件(415)，所述导轨(413)的两端分别设有所述限位件(415)。
  9. 根据权利要求1-8中任一项所述的自动换电装置，其中，所述第一调节件(41)还包括：第一编码器，所述第一编码器设在所述导轨(413)上，以测量所述滑块(414)的移动距离。
  10. 根据权利要求1-9中任一项所述的自动换电装置，其中，所述第二调节件(42)包括：
    第三驱动件(421)；
    第四驱动件(422)，所述第四驱动件(422)与所述第三驱动件(421)在所述第二方向上间隔开布置，所述第四驱动件(422)与所述推力组件(20)连接；
    伸缩杆(423)，所述伸缩杆(423)设在所述第三驱动件(421)和所述第四驱动件(422)之间，所述第三驱动件(421)驱动所述伸缩杆(423)在所述第二方向上伸长，所述第四驱动件(422)驱动所述伸缩杆(423)在所述第二方向上收缩，以调节所述推力组件(20)在所述第二方向上的位置。
  11. 根据权利要求1-10中任一项所述的自动换电装置，其中，所述第三驱动件(421)和所述第四驱动件(422)在竖直方向上间隔开布置，以调节所述推力组件(20)在竖直方向上的位置。
  12. 根据权利要求1-11中任一项所述的自动换电装置，其中，所述第二调节件(42)还包括：第二编码器(424)，所述第二编码器(424)为拉线编码器，所述第二编码器(424)的一端与所述第三驱动件(421)连接，所述第二编码器(424)的另一端与所述第四驱动件(422)连接，以测量所述伸缩杆(423)在所述第二方向上的移动距离。
  13. 根据权利要求1-12中任一项所述的自动换电装置，其中，还包括：导向槽(52)，所述导向槽(52)设在所述装置本体(10)内，所述导向槽(52)的延伸方向与所述吸附件(23)的活动方向相同，所述导向槽(52)用于放置AGV车辆中的电池(71)，且所述吸附件(23)在第一位置和第二位置之间切换的过程中，AGV车辆中的电池(71)在导向槽(52)内滑动。
  14. 根据权利要求1-13中任一项所述的自动换电装置，其中，所述 导向槽(52)内设有多个滚轮(53)，多个所述滚轮(53)在所述导向槽(52)的延伸方向上间隔开布置。
  15. 根据权利要求1-14中任一项所述的自动换电装置，其中，还包括：控制器，所述控制器设在所述装置本体(10)内，所述控制器与所述检测件(30)信号连接，所述控制器与所述调节组件(40)信号连接。
  16. 一种AGV车辆，应用于权利要求1-15中任一项所述的自动换电装置，其中，包括：
    车辆本体(60)；
    电池(71)，所述电池(71)设在所述车辆本体(60)内，在吸附件(23)处于第一位置的情况下，所述吸附件(23)伸出装置本体(10)，且吸附所述电池(71)；在所述吸附件(23)处于第二位置的情况下，所述吸附件(23)位于所述装置本体(10)内，所述吸附件(23)对吸附的所述电池(71)进行脱附；
    检测条码(72)，所述检测条码(72)设在所述电池(71)的外壁面，检测件(30)用于扫描所述检测条码(72)，以获取所述电池(71)的位置，自动换电装置根据获取的所述电池(71)的位置调节所述吸附件(23)的位置。
PCT/CN2023/078437 2022-06-23 2023-02-27 自动换电装置及agv车辆 WO2023246153A1 (zh)

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CN114132212A (zh) * 2020-09-03 2022-03-04 奥动新能源汽车科技有限公司 换电控制方法
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