CN113119792A

CN113119792A - Automatic change of AGV's rechargeable battery and charging system

Info

Publication number: CN113119792A
Application number: CN202110500750.5A
Authority: CN
Inventors: 赵江民
Original assignee: Xi'an Dasheng Technology Co ltd
Current assignee: Xi'an Dasheng Technology Co ltd
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-07-16

Abstract

The application discloses AGV's automatic change of rechargeable battery and charging system belongs to the field of charging, has solved current AGV dolly rechargeable battery and has changed consuming time longer, the lower problem of work efficiency. The charging frame of the device comprises a plurality of charging platforms and a plurality of groups of supporting structures; each charging stand comprises a placing stand and an installation plate, and the installation plate is arranged in the middle of the placing stand; a first charging column and a second charging column are arranged on two opposite side surfaces of the mounting plate; a plurality of charging stands of the same height form a charging layer; the upper charging layer is arranged on the lower charging layer through a group of supporting structures; the transport trolley is arranged on the conveying structure; the control mechanism is electrically connected with the conveying structure to control the conveying structure to convey the transport trolley to a preset position; the control mechanism is also electrically connected with the transport trolley to control the transport trolley to take and place the battery. According to the AGV charging device, the charging and replacing time of the charging battery can be shortened, and the working efficiency of the AGV trolley is improved.

Description

Automatic change of AGV's rechargeable battery and charging system

Technical Field

The application relates to the technical field of charging, especially, relate to an automatic change of AGV's rechargeable battery and charging system.

Background

With the rapid development of socioeconomic and science and technology, the automation and intelligence of the production line will become the development trend of enterprises in the future, and more enterprises will implement the automation and intelligence as a long-term strategy. The Automated Guided Vehicle (AGV) is widely used in the field of logistics and in the automation line of enterprises. The AGV is a transportation vehicle equipped with an electromagnetic or optical automatic guide device capable of traveling along a predetermined guide path, having safety protection and various transfer functions, and is a transportation vehicle requiring no driver in industrial use and powered by a rechargeable battery.

Most batteries on the conventional AGV trolley can not be replaced, when the electric quantity of the AGV trolley is insufficient, the AGV trolley can run to a specified place to be charged under the action of a control system, and a large amount of time is consumed for charging the AGV trolley, so that the working efficiency of the AGV trolley is influenced; to the AGV dolly of some removable batteries, when the AGV dolly need be changed the battery, need will wait to change the battery earlier and take out in the AGV dolly, then put into the AGV dolly and put through with the battery that is full of electricity, because of the battery volume is great, whole change process is consuming time longer, also can influence the work efficiency of AGV dolly equally.

Disclosure of Invention

The embodiment of the application can solve the problems that the charging of the charging battery of the conventional AGV is long in time consumption and replacement, and the working efficiency of the AGV is low.

The embodiment of the invention provides an automatic AGV charging battery replacing and charging system, which comprises a transport trolley, a charging mechanism and a control mechanism, wherein the transport trolley is arranged on the transport trolley; the charging mechanism comprises a charging frame and a transmission structure; the charging rack comprises a plurality of charging stations and a plurality of groups of supporting structures; each charging stand comprises a placing stand and an installation plate, and the installation plate is arranged in the middle of the placing stand; a first charging column and a second charging column are arranged on two opposite side surfaces of the mounting plate; a plurality of charging stands of the same height form a charging layer; the upper charging layer is arranged on the lower charging layer through a group of supporting structures; the transport trolley is arranged on the conveying structure; the control mechanism is electrically connected with the conveying structure so as to control the conveying structure to convey the transport trolley to a preset position; the control mechanism is also electrically connected with the transport trolley to control the transport trolley to take and place the battery.

In one possible implementation manner, the transport trolley comprises a bottom plate, a sliding plate, a driving structure, a mounting shell, a draw hook and a rotating structure; two parallel first guide rails are arranged on the bottom plate at intervals; sliding grooves are respectively formed in two sides of the bottom surface of the sliding plate, the two first guide rails are respectively arranged in the sliding grooves, and the sliding plate can move along the extension direction of the first guide rails under the driving of the driving structure; the mounting shell is arranged on the sliding plate, the rotating structure is arranged on the mounting shell, one end of the drag hook is connected with the rotating structure, and the main axis of the drag hook is parallel to the extending direction of the first guide rail, so that the other end of the drag hook can rotate around the main axis of the drag hook; the driving structure and the rotating structure are electrically connected with the control mechanism.

In one possible implementation, the rotating structure includes a first motor, a first gear, and a second gear; the first motor is fixedly arranged on the mounting shell, and an output shaft of the first motor is connected with the first gear; the first gear is meshed with the second gear and is arranged in the mounting shell; one end of the draw hook penetrates through the mounting shell and is connected with the end face of the second gear; the first motor is electrically connected with the control mechanism.

In one possible implementation, the driving structure includes a toothed nut, a lead screw, a third gear and a second motor; the screw rod is arranged on at least one first guide rail along the extension direction of the first guide rail; the screw rod is sleeved with the toothed nut, and the toothed nut is arranged on the sliding plate and meshed with the third gear; the third gear is connected with an output shaft of the second motor; the second motor is electrically connected with the control structure.

In a possible implementation manner, the number of the draw hooks is two, and two draw hooks are arranged on two opposite surfaces of the mounting shell.

In one possible implementation, the transportation trolley further comprises a position monitoring structure; the position monitoring structure is electrically connected with the control mechanism; the position monitoring structure is arranged on the inner wall of the transport trolley and used for detecting the position information of the sliding plate and transmitting the position information to the driving structure, so that the control mechanism controls the working state of the driving structure.

In one possible implementation, the transportation trolley further comprises two object sensing structures; the rotating structure and the two object induction structures are respectively and electrically connected with the control mechanism; the two object induction structures are arranged on two opposite surfaces of the mounting shell and used for inducing object information and transmitting the object information to the control mechanism, so that the control mechanism controls the working states of the rotating structure and the driving structure.

In one possible implementation, the conveying structure includes a transverse guide rail, wheels, a third motor, two sets of vertical conveying assemblies, and two longitudinal guide rails; the two longitudinal guide rails are arranged in parallel at intervals; the two ends of the longitudinal guide rail are respectively provided with the vertical conveying assemblies; the charging frame is arranged between the two groups of vertical conveying assemblies and is positioned above the longitudinal guide rail; the wheels are arranged at two ends of the transverse guide rail, are connected with the third motor and can drive the transverse guide rail to move on the longitudinal guide rail under the driving of the third motor; the vertical conveying assembly is used for driving the transverse guide rail to move along the direction vertical to the ground; the control mechanism is electrically connected with the third motor and the vertical conveying assembly and is used for controlling the working states of the third motor and the vertical conveying assembly.

In one possible implementation, the vertical transfer assembly includes a gantry and two sets of pulley members; the two groups of pulley parts are respectively arranged on two sides of the door-shaped frame; the pulley part comprises a pulley, a flexible cable, a hook and a cable rolling part; the pulley is fixedly arranged at the top of the door-shaped frame, one end of the flexible cable is connected with the hook, the other end of the flexible cable spans across a disc of the pulley and then is connected with the cable rolling piece, and the cable rolling piece can wind and unwind the flexible cable so that the hook can be hung on the transverse guide rail and drive the transverse guide rail to move along the direction vertical to the ground; the rope rolling piece is electrically connected with the control mechanism.

In one possible implementation, the first charging post and/or the second charging post on opposite sides of the charging stand share a circuit.

One or more technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

the embodiment of the invention provides an automatic AGV charging battery replacing and charging system. The charging mechanism includes a charging rack and a transfer structure. The charging stand includes a plurality of charging stations and a plurality of sets of support structures. Every platform that charges is including putting thing platform and mounting panel, and the mounting panel sets up in the middle part of putting the thing platform, all is provided with first post and the second post that charges on the mounting panel both sides face back on the back of the body. The charging platforms at the same height form a charging layer, and the upper charging layer is arranged on the lower charging layer through a group of supporting structures. The transport trolley is arranged on the conveying structure, and the control mechanism is electrically connected with the conveying structure to control the conveying structure to convey the transport trolley to a preset position. The control mechanism is also electrically connected with the transport trolley to control the transport trolley to take and place the battery. When the AGV trolley needs to take the charging battery, the control mechanism controls the conveying structure to convey the transport trolley to the battery taking position and controls the transport trolley to automatically take the battery; when the rechargeable battery needs to be placed on the charging frame for charging, the control mechanism controls the conveying structure to convey the transport trolley to the corresponding position of the charging table for placing the battery, and controls the transport trolley to automatically discharge the battery. The utility model provides an AGV's automatic change of rechargeable battery and charging system can be changed AGV's rechargeable battery automatically and transport the rechargeable battery and charge on the charging frame, can also take off the rechargeable battery from the charging frame and for AGV dolly installation, can improve AGV dolly's work efficiency.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed to be used in the embodiments of the present invention or the descriptions in the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings by those skilled in the art without creative efforts.

FIG. 1 is a schematic diagram of an exemplary AGV automatic battery replacement and charging system according to the present disclosure;

fig. 2 is a schematic structural diagram of a charging rack according to an embodiment of the present disclosure;

FIG. 3 is a schematic structural diagram of a transportation cart provided in the embodiment of the present application;

FIG. 4 is a schematic structural diagram of a rotary structure provided in an embodiment of the present application;

FIG. 5 is a first perspective view of a prior art rechargeable battery;

FIG. 6 is a second perspective view of a prior art rechargeable battery;

FIG. 7 is a schematic diagram of a prior art AGV configuration.

Icon: 1-transporting the trolley; 11-a base plate; 111-a first guide rail; 12-a slide plate; 13-a drive structure; 131-a second motor; 132-a screw rod; 14-mounting a housing; 15-pulling the hook; 16-a rotating structure; 161-a first motor; 162-a first gear; 163-a second gear; 17-a position monitoring structure; 171-a first position monitoring structure; 172-a second position monitoring structure; 18-an object sensing structure; 2-a charging mechanism; 21-a charging stand; 211-a charging layer; 2111-charging stand; 21111-mounting plate; 21112-shelf; 21113-first charging column; 21114-second charging column; 21115-second guide rail; 212-a support structure; 2121-supporting column; 213-support legs; 22-a transport structure; 221-transverse guide rails; 222-a wheel; 223-a vertical transfer assembly; 2231-a gantry; 2232-an extension assembly; 224-longitudinal guide rail; 4-charging a battery; 41-handle; 42-a chute; 43-a charging port; 5-AGV dolly; 51-battery mounting hole.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

In the description of the embodiments of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present invention and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the present invention. The terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. Furthermore, the terms "mounted," "connected," and "connected" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. Specific meanings of the above terms in the embodiments of the present invention can be understood by those of ordinary skill in the art according to specific situations.

Fig. 7 shows a schematic diagram of the mechanism of the AGV cart 5 in the prior art, in which the charging battery 4 is inserted into the battery mounting hole 51 to supply power to the AGV cart 5, and when the battery level of the charging battery 4 is insufficient, the charging battery 4 can be taken out from the battery mounting hole 51 and placed on the charging mechanism 2 for charging.

As shown in fig. 1 and 2, an embodiment of the present invention provides an automatic AGV battery replacement and charging system, which includes a transport vehicle 1, a charging mechanism 2, and a control mechanism.

The charging mechanism 2 includes a charging stand 21 and a transfer structure 22. The charging stand 21 includes a plurality of charging stations 2111 and a plurality of sets of support structures 212; each charging station 2111 includes a placement station 21112 and a mounting plate 21111, the mounting plate 21111 being disposed in the middle of the placement station 21112; a first charging post 21113 and a second charging post 21114 are arranged on two opposite side surfaces of the mounting plate 21111; the charging stages 2111 at the same height form a charging layer 211, that is, the side walls of the placement stages 21112 of the adjacent charging stages 2111 at the same height are fixedly connected to form the charging layer 211; the upper charging layer 211 is disposed on the lower charging layer 211 by a set of support structures 212. The charging rack 21 provided by the embodiment of the invention can charge the charging batteries 4 at the same time on two sides of the same mounting plate 21111, so that the charging rack 21 can charge more charging batteries 4 at the same time, and compared with the structural arrangement of the existing charging rack 21, the utilization rate of the charging rack 21 is improved, and the space utilization rate is higher.

The supporting structure 212 may be a plurality of supporting plates, and the supporting plates are respectively disposed between the adjacent charging stations 2111 and at two sides of the charging layer 211 and are parallel to the guide rails. The supporting structure 212 may also be a plurality of supporting columns 2121, specifically, four supporting columns 2121, where the four supporting columns 2121 are respectively disposed at four corners of the upper charging layer 211 and the lower charging layer 211, or as shown in fig. 2, the number of supporting columns 2121 is set such that four corners and the middle of each charging table 2111 are supported by the supporting columns 2121. Compared with a plurality of supporting plates, the number of the supporting columns 2121 is increased, so that the supporting columns 2121 are arranged at four corners and the middle part of each charging platform 2111, the material is saved, and the manufacturing cost can be reduced. Compared with the arrangement of only four support columns 2121, the number of the support columns 2121 is such that the four corners and the middle part of each charging platform 2111 are supported by the support columns 2121, so that the structure between the upper and lower charging layers 211 is more stable and safer. In practical applications, as shown in fig. 2, since the charging layer 211 is no longer disposed on the charging layer 211 of the uppermost layer, the supporting structure 212 is no longer disposed on the charging layer 211 of the uppermost layer.

The transport trolley 1 is arranged on the conveying structure 22; the control mechanism is electrically connected with the conveying structure 22 to control the conveying structure 22 to convey the transport trolley 1 to a preset position; the control mechanism is also electrically connected with the transport trolley 1 to control the transport trolley 1 to take and place the battery.

The preset position is a position to be reached when the transport trolley 1 takes and places the rechargeable battery 4.

According to the AGV charging battery automatic replacement and charging system provided by the embodiment of the application, when the AGV trolley 5 needs to take the charging battery 4, the control mechanism controls the conveying structure 22 to convey the transport trolley 1 to the battery taking position, and controls the transport trolley 1 to automatically take the battery; when the rechargeable battery 4 needs to be placed on the charging rack 21 for charging, the control mechanism controls the conveying structure 22 to convey the transport cart 1 to a corresponding position of the charging station 2111 where the rechargeable battery 4 is placed, and controls the transport cart 1 to automatically discharge the rechargeable battery. The automatic change of the rechargeable battery of AGV and charging system of this application can change the rechargeable battery 4 of AGV automatically and transport rechargeable battery 4 and charge on the charging frame 21, can also take off rechargeable battery 4 from the charging frame 21 and for 5 installations of AGV dolly, can improve AGV dolly 5's work efficiency.

As shown in fig. 3, the transportation cart 1 includes a base plate 11, a sliding plate 12, a driving structure 13, a mounting shell 14, a pulling hook 15, and a rotating structure 16. Two parallel first guide rails 111 are arranged on the bottom plate 11 at intervals; the two sides of the bottom surface of the sliding plate 12 are respectively provided with a sliding chute 42, the two first guide rails 111 are respectively arranged in the sliding chutes 42, and the sliding plate 12 can move along the extending direction of the first guide rails 111 under the driving of the driving structure 13; the mounting shell 14 is arranged on the sliding plate 12, the rotating structure 16 is arranged on the mounting shell 14, one end of the drag hook 15 is connected with the rotating structure 16, and the main axis of the drag hook 15 is parallel to the extending direction of the first guide rail 111, so that the other end of the drag hook 15 can rotate around the main axis of the drag hook; the drive structure 13 and the rotation structure 16 are both electrically connected to the control mechanism.

Wherein, the setting of first guide rail 111 not only makes things convenient for the gliding of slide 12, as shown in fig. 5, the bottom surface of the rechargeable battery 4 of current AGV is provided with spout 42, this spout 42 and first guide rail 111 phase-match, when rechargeable battery 4 is dragged and is placed on travelling bogie 1, this first guide rail 111 provides the effect of direction for rechargeable battery 4's the position of placing to the position that makes rechargeable battery 4 place is more accurate, can practice thrift the time of locating position, it is faster, more stable when making the battery drag into travelling bogie 1 simultaneously.

According to the transport trolley 1 provided by the embodiment of the invention, when the rechargeable battery 4 needs to be taken down from the AGV trolley 5, the sliding plate 12 moves outwards along the extending direction of the guide rail under the driving of the driving structure 13, when the draw hook 15 extends into the handle 41 on the rechargeable battery 4, then the rotating structure 16 drives the draw hook 15 to rotate so that the draw hook 15 hooks the outer edge of the handle 41, then the driving structure 13 drives the sliding plate 12 to slide towards the inside of the transport trolley 1 along the guide rail, and the rechargeable battery 4 is dragged by the draw hook 15 and placed into the transport trolley 1; when the rechargeable battery 4 needs to be transferred from the transportation trolley 1 to the charging rack 21, the sliding plate 12 is driven by the driving structure 13 to move outwards along the extending direction of the guide rail, the sliding plate 12 and the draw hook 15 simultaneously push the rechargeable battery 4 to move outwards, after the rechargeable battery 4 is transferred onto the charging rack 21, the rotating structure 16 drives the draw hook 15 to rotate so that the front end of the draw hook 15 is separated from the outer edge of the handle 41, then the driving structure 13 drives the sliding plate 12 to slide towards the inner part of the transportation trolley 1 along the guide rail, and the rechargeable battery 4 is separated from the transportation trolley 1 and is transferred onto the charging rack 21. Compared with the prior art that the rechargeable battery 4 is attached to the end face of the rechargeable battery 4 through magnetic force to be taken down from the AGV trolley 5 and placed on the charging pile, the transport trolley 1 provided by the invention has the advantages that the rechargeable battery 4 is taken down from the AGV trolley 5 and placed on the charging pile through the rotation of the drag hook 15 controlled by the rotating structure 16, the control is easier, and the use is more convenient.

As shown in fig. 4, the rotating structure 16 includes a first motor 161, a first gear 162, and a second gear 163. The first motor 161 is fixedly arranged on the mounting shell 14, and an output shaft of the first motor 161 is connected with the first gear 162; the first gear 162 and the second gear 163 are engaged and disposed within the mounting case 14; one end of the drag hook 15 penetrates through the mounting shell 14 and is connected with the end face of the second gear 163; the first motor 161 is electrically connected to the control mechanism.

Fig. 5 is a schematic diagram showing a front perspective view of the AGV battery 4 in the prior art. Specifically, the pull hook 15 is generally L-shaped, one end of the pull hook 15 penetrates through the mounting housing 14 and is connected to the end face of the second gear 163, and the other end is parallel to the outer edge of the handle 41 of the charging battery 4. When the drag hook 15 stretches into the handle 41 on the rechargeable battery 4, because the first motor 161 is electrically connected with the control mechanism, the control mechanism controls the first motor 161 to work, the output shaft of the first motor 161 is connected with the first gear 162, and can drive the first gear 162 to rotate, because the first gear 162 is meshed with the second gear 163, the first gear 162 drives the second gear 163 to rotate, because one end of the drag hook 15 passes through the installation shell 14 and is connected with the end face of the second gear 163, thereby the second gear 163 drives the drag hook 15 to rotate, so that the other end of the drag hook 15 can rotate around the main axis of the drag hook 15, until the other end of the drag hook 15 is perpendicular to the outer edge of the handle 41, and the handle 41 is hooked. After the rechargeable battery 4 is placed on the charging rack 21, the draw hook 15 needs to be withdrawn from the handle 41, the control mechanism controls the first motor 161 to work, the output shaft of the first motor 161 rotates in the opposite direction, the first motor 161 drives the first gear 162 to rotate, the first gear 162 drives the second gear 163 to rotate, and further drives the draw hook 15 to rotate, so that the other end of the draw hook 15 rotates from the outer edge perpendicular to the handle 41 to the outer edge parallel to the handle 41, and the driving mechanism drives the sliding plate 12 to slide along the sliding rail to the inside of the transport trolley 1, so that the draw hook 15 can be withdrawn from the handle 41. The rotating structure 16 provided by the embodiment of the invention has the advantages of simple structure, easy control and convenient manufacture.

Of course, the rotary structure 16 may also include a disc and a slide. The center of the disc is connected with an output shaft of the first motor 161, and a guide slider is arranged on the disc. One end of the sliding sheet is provided with a guide sliding chute. The guide sliding block is arranged in the guide sliding groove and can slide in the guide sliding groove. One end of the draw hook 15 passes through the mounting shell 14 and is connected with one end of the slide sheet far away from the disc, and the other end is parallel to the outer edge of the handle 41. When the sliding sheet is not rotated, the length of the guide sliding chute extends along the radial direction of the disc.

Specifically, in the pull handle 41 on the rechargeable battery 4 is stretched into to the drag hook 15, because first motor 161 is connected with the control mechanism electricity, the work of the first motor 161 of control mechanism control, first motor 161 drives the disc rotation, the direction slider slides in the direction spout this moment, the gleitbretter rotates thereupon, because the one end of keeping away from the disc of gleitbretter is connected with the one end of drag hook 15, thereby the gleitbretter can drive the drag hook 15 rotatory, and then make the other end of drag hook 15 can wind self main axis rotation, the outer border of the other end perpendicular to pull handle 41 up to drag hook 15, and catch on pull handle 41. After the rechargeable battery 4 is placed on the charging frame 21, the control mechanism controls the first motor 161 to work, the draw hook 15 needs to be withdrawn from the handle 41, the output shaft of the first motor 161 rotates in the opposite direction, the first motor 161 drives the disc to rotate, the disc drives the sliding sheet to rotate, and then the draw hook 15 is driven to rotate, so that the other end of the draw hook 15 rotates to the outer edge parallel to the handle 41 from the outer edge perpendicular to the handle 41, the driving mechanism drives the sliding plate 12 to slide towards the inside of the transport trolley 1 along the sliding rail, and the draw hook 15 can be withdrawn from the handle 41.

With continued reference to fig. 3, the driving structure 13 includes a toothed nut, a lead screw 132, a third gear and a second motor 131; at least one first guide rail 111 is provided with a screw 132 along the extending direction thereof; a toothed nut is sleeved on the screw rod 132, and the toothed nut is arranged on the sliding plate 12 and meshed with the third gear; the third gear is connected with an output shaft of the second motor 131; the second motor 131 is electrically connected to the control structure.

Specifically, one of the guide rails may be provided with a screw 132 along the extending direction thereof to form a driving structure 13, and the other side of the guide rail is driven by the driving structure 13 to move, so that the transportation trolley 1 has a simpler structure, is easier to manufacture, and reduces the cost; the two guide rails may be provided with the screw rods 132 along the extending direction thereof to form the driving structures 13, respectively, so that the sliding plates 12 of the transportation trolley 1 slide more smoothly on one hand, and the transportation trolley 1 slides faster on the other hand, thereby improving the working efficiency thereof.

When the sliding plate 12 needs to slide from the inside to the outside of the transportation trolley 1, or the sliding plate 12 slides from the outside to the inside of the transportation trolley 1, the control mechanism controls the second motor 131 to work, the output shaft of the second motor 131 drives the third gear to rotate, the third gear drives the toothed nut to rotate as the third gear is meshed with the toothed nut, the toothed nut is arranged on the sliding plate 12, the toothed nut is sleeved on the screw rod 132 and can move relative to the screw rod 132, and the screw rod 132 is arranged on the guide rail, so that the sliding plate 12 can slide relative to the guide rail, and the sliding plate 12 can slide from the inside to the outside of the transportation trolley 1, or the sliding plate 12 can slide from the outside to the inside of the transportation trolley 1. The driving structure 13 provided by the embodiment of the invention has the advantages of simple structure, convenience in control and manufacture, and can enable the sliding plate 12 to stably run.

Of course, the driving structure 13 may further include a third gear, a rack, and a second motor 131. The second motor 131 is electrically connected with the control mechanism, the third gear and the second motor 131 are arranged on the sliding plate 12, the output shaft of the second motor 131 is connected with the third gear, the third gear is meshed with the rack, and the rack is arranged on at least one guide rail along the extending direction of the guide rail. When the sliding plate 12 needs to slide from the inside to the outside of the transportation trolley 1, or the sliding plate 12 slides from the outside to the inside of the transportation trolley 1, the control mechanism controls the second motor 131 to work, the output shaft of the second motor 131 drives the third gear to rotate, the third gear can move along the rack due to the meshing of the third gear and the rack, and the sliding plate 12 can move along the extending direction of the rack due to the fact that the third gear is arranged on the sliding plate 12. And at least one of the rails is provided with the rack along its extension so that the slide 12 can slide relative to the rail and thus the slide 12 can slide from the inside to the outside of the trolley 1 or the slide 12 can slide from the outside to the inside of the trolley 1.

It is optional, the quantity of drag hook 15 is two, two drag hooks 15 set up in the relative two sides of installation shell 14, do not set up the curb plate on the travelling bogie 1 that installation shell 14 relative two sides corresponded this moment, thereby when AGV dolly 5 stops at travelling bogie 1 when openly, travelling bogie 1 can be followed and openly get rechargeable battery 4, when AGV dolly 5 stops at travelling bogie 1 back, rechargeable battery 4 can be got from the back to travelling bogie 1, therefore when AGV dolly 5 is from not equidirectional when coming, do not need AGV dolly 5 to transfer the direction, and then the time is practiced thrift, and the work efficiency is improved, and this travelling bogie 1's structure more is suitable for the structure of aforementioned charging frame 21.

Certainly, the number of the draw hooks 15 can also be four, and two draw hooks 15 are respectively arranged on two opposite surfaces of the mounting shell 14, so that the strength is larger when the charging battery 4 of the AGV is dragged/pushed in work, the dragging/pushing speed is higher, the working efficiency is higher, and the operation is more stable.

In practical application, the transportation trolley 1 further comprises a position monitoring structure 17; the position monitoring structure 17 is electrically connected with the control mechanism; the position monitoring structure 17 is disposed on the inner wall of the transportation trolley 1, and is used for detecting the position information of the sliding plate 12 and transmitting the position information to the driving structure 13, so that the control mechanism controls the working state of the driving structure 13.

Wherein, the inner wall of the transport trolley 1 comprises a bottom plate 11 and side plates of the transport trolley 1. That is, the position monitoring structure 17 can be arranged on the bottom plate 11 of the transportation trolley 1, as shown in fig. 3, when the transportation trolley 1 further comprises a side plate, the monitoring structure can be arranged on the side plate, so that the monitoring structure is not easily influenced by the sliding of the sliding plate 12, and the monitoring result is more accurate. Specifically, as shown in fig. 3, the position monitoring structure 17 includes the first position monitoring structure 171 and/or the second position monitoring structure 172, that is, the position monitoring structure 17 may include only the first position monitoring structure 171, only the second position monitoring structure 172, and may include both the first position monitoring structure 171 and the second position monitoring structure 172, which is not limited in this embodiment of the present invention.

As shown in fig. 3, the first position monitoring structure 171 is disposed in the middle of a side plate of the trolley, and when the sliding plate 12 moves to the middle of the sliding rail, the first position monitoring structure 171 can monitor the position of the mounting shell 14 and transmit the position information to the control structure, and the control structure is electrically connected to the driving structure 13, so that the control structure can control the operating state of the driving structure 13, and the sliding plate 12 does not slide along the sliding rail any more. The two second position monitoring structures 172 are respectively arranged at two ends of a side plate of the trolley, when the sliding plate 12 moves to one end of the sliding rail, the second position monitoring structure 172 corresponding to the end can monitor the position of the mounting shell 14 and transmit the position information to the control structure, and the control structure is electrically connected with the driving structure 13, so that the control structure can control the working state of the driving structure 13, the sliding plate 12 does not slide along the sliding rail any more, and the sliding plate 12 is prevented from falling off the sliding rail.

The position monitoring structure 17 of the embodiment of the present invention can more accurately control the operating state of the driving structure 13, so that the position of the sliding plate 12 can be more accurately controlled.

Of course, in practical applications, the second motor 131 in the driving structure 13 may be a stepping motor, and the number of rotations of the second motor 131 may be set to realize the operating state of the driving structure 13 and the position of the sliding plate 12.

As shown in fig. 3, the transport trolley 1 further comprises two object sensing structures 18. The rotating structure 16 and the two object sensing structures 18 are respectively electrically connected with the control mechanism; two object sensing structures 18 are disposed on opposite sides of the mounting housing 14 for sensing object information and transmitting the object information to the control mechanism so that the control mechanism controls the operation of the rotating structure 16 and the driving structure 13.

Specifically, when object induction structure 18 senses that there is AGV dolly 5 in certain side of travelling bogie 1, give control structure with information transmission, control structure control drive structure 13 work, later drive structure 13 drives slide 12 and walks to this side. Object response structure 18 can measure the distance between installation shell 14 and the AGV dolly 5 to with distance information transmission for control structure, so that ensure that drag hook 15 stretches into behind the handle 41, control structure controls revolution mechanic 16 again and rotates, thereby make revolution mechanic 16's operating condition's control more accurate, also ensured that drag hook 15 can accurately hold handle 41.

As shown in fig. 1, the conveying structure 22 includes a transverse guide rail 221, wheels 222, a third motor, two sets of vertical conveying assemblies 223, and two longitudinal guide rails 224. The lower right corner of fig. 1 shows coordinate axes, a transverse guide rail 221, i.e., a guide rail along the X-axis direction, a longitudinal guide rail 224, i.e., a guide rail along the Y-axis direction, and a vertical transport assembly 223 capable of transporting the transport carriage 1 in the Z-axis direction.

Two longitudinal rails 224 are spaced apart in parallel. The vertical transfer assemblies 223 are provided at both ends of the longitudinal rail 224, respectively. The charging rack 21 is disposed between the two sets of vertical transfer assemblies 223 and above the longitudinal rail 224. The wheels 222 are disposed at two ends of the transverse guide rail 221, and are connected to the third motor, and can drive the transverse guide rail 221 to move on the longitudinal guide rail 224 under the driving of the third motor, specifically, a slide is disposed on the longitudinal guide rail 224, and the wheels 222 are disposed in the slide, so that the wheels 222 can move on the longitudinal guide rail 224, and further drive the transverse guide rail 221 to move along the extending direction of the longitudinal guide rail 224, because the transportation cart 1 is disposed on the transverse guide rail 221, and further realize that the transportation cart 1 moves along the extending direction of the longitudinal guide rail 224, that is, the transportation cart 1 moves along the Y-axis direction. The vertical conveying assembly 223 is used for driving the transverse guide rail 221 to move along the direction perpendicular to the ground, and the transport trolley 1 is arranged on the transverse guide rail 221, so that the vertical conveying assembly 223 can convey the transport trolley 1 to move along the direction perpendicular to the ground, namely the vertical conveying assembly 223 can convey the transport trolley 1 to move along the Z-axis direction. The control mechanism is electrically connected with the third motor and the vertical transmission assembly 223 and is used for controlling the working state of the third motor and the vertical transmission assembly 223.

As shown in fig. 1, the transverse guide rail 221 may be two parallel guide rails, the two guide rails are fixed together by a fixing rod, and wheels 222 are disposed at two ends of each guide rail, so that the trolley runs more stably and safely. Generally, a slide rail is arranged on the transverse guide rail 221, the opposite outer side walls of the transport trolley 1 are respectively provided with a moving wheel, the moving wheels are arranged in the slide rail and connected with an output shaft of a fourth motor, and the fourth motor can drive the moving wheels to move so as to drive the transport trolley 1 to move along the extending direction of the transverse guide rail 221, even if the transport trolley 1 can move along the X-axis direction.

In practice, as shown in fig. 1, the vertical transfer assembly 223 includes a gantry 2231 and two sets of pulley members. The two sets of pulley members are disposed on opposite sides of the gantry 2231. The pulley part comprises a pulley, a flexible cable, a hook and a cable rolling piece. Wherein, the flexible cable comprises a rope, a steel cable, a chain and the like. The pulley is fixedly arranged at the top of the door-shaped frame 2231, one end of the flexible cable is connected with the hook, the other end of the flexible cable crosses over a disc of the pulley and then is connected with the cable rolling piece, and the cable rolling piece can take up and release the flexible cable so as to enable the hook to hook the transverse guide rail 221 and drive the transverse guide rail 221 to move along the direction vertical to the ground; the rope rolling piece is electrically connected with the control mechanism.

Specifically, when the transportation trolley 1 needs to move in a direction away from the ground, the hooks on the two sides of the portal frame 2231 are respectively hooked on the two ends of the transverse guide rail 221, then the control mechanism controls the cable rolling piece to retract the flexible cable, and the trolley moves in a direction away from the ground; when the transport trolley 1 needs to move towards the direction close to the ground, the control mechanism controls the rope rolling piece to put down the flexible rope, the trolley moves towards the direction close to the ground, and after the trolley is placed on the longitudinal guide rail 224, the hook is separated from the transverse guide rail 221.

As shown in fig. 1, the gantry 2231 includes two sets of vertical rails, which are respectively disposed at the same end of the two longitudinal rails 224. Specifically, when there are two transverse guide rails 221, each group of vertical guide rails includes two vertical guide rails, and a slide is disposed on opposite side walls of the two vertical guide rails, and when the pulley component drives the transverse guide rails 221 to move along the Z-axis direction, the wheels 222 are disposed in the slide and can move along the slide, so that the movement of the transverse guide rails 221 along the Z-axis direction is more stable.

As shown in fig. 1, the vertical conveying assembly 223 further includes a plurality of sets of protruding assemblies 2232, each vertical guide rail is provided with a plurality of sets of protruding assemblies 2232 at intervals along the extending direction thereof, the protruding assemblies 2232 are configured to block the wheels 222 when the wheels 222 move to a preset position, where the preset position is a height that the transportation cart 1 needs to stay on the vertical guide rail set corresponding to each charging layer 211 when the battery is to be placed on any charging layer 211. The extension assembly 2232 is configured to enable the transverse rail 221 to stay in the Z-axis direction more safely and not to fall off easily.

As shown in fig. 2, the first and/or second charging posts 21113, 21114 on opposite sides of the charging stand 21 share circuitry. That is, the first charging post 21113 sharing circuit provided on both side surfaces of the mounting plate 21111, the second charging post 21114 sharing circuit provided on both side surfaces of the mounting plate 21111, or the first charging post 21113 sharing circuit provided on both side surfaces of the mounting plate 21111 and the second charging post 21114 sharing circuit provided on both side surfaces of the mounting plate 21111. The shared circuit can reduce the arrangement of the circuit, thereby saving resources, and the whole charging rack 21 has simpler structure and is easier to manufacture.

As shown in fig. 5 and 6, the conventional rechargeable battery 4 is provided with a chute 42 on the bottom surface thereof. As shown in fig. 2, the placement platform 21112 of the embodiment of the present invention is provided with parallel second guide rails 21115 at intervals, and the extending direction of the second guide rails 21115 is perpendicular to the side surface of the mounting plate 21111 on which the first charging post 21113 is mounted. The second guide rail 21115 is matched with the chute 42, and when the rechargeable battery 4 is placed on the charging stand 2111, the second guide rail 21115 provides a guiding function for the placement position of the rechargeable battery 4, so that the placement position of the rechargeable battery 4 is more accurate, the time for positioning the position can be saved, and the rechargeable battery 4 can start charging more quickly.

In practical application, a plurality of standby rechargeable batteries 4 have been placed on charging frame 21, and when the rechargeable battery 4 of AGV dolly 5 was taken off and charges, standby rechargeable battery 4 that can take in time adorned for AGV dolly 5, did not need AGV dolly 5 to wait for charging to the work efficiency of AGV dolly 5 has been improved.

As shown in fig. 2, the charging stand 21 further includes a plurality of support legs 213. One end of each of the plurality of support legs 213 is connected to the back surface of the charging layer 211 at the lowermost layer. The support legs 213 can leave a certain space below the charging layer 211, so that the charging trolley for transporting the charging battery 4 can move back and forth in the bottom space conveniently, the working efficiency is improved, and the charging trolley is also suitable for the charging table 2111, the transporting trolley 1 and the conveying structure 22 in the embodiment of the invention.

Continuing to refer to fig. 2, the number of the support legs 213 is four, and one end of each of the four support legs 213 is disposed at four corners of the back surface. Of course, there may be two support legs 213, and one end of each of the two support legs 213 is disposed on each of the two sides of the back surface; the number of the support legs 213 may be plural, and generally, the plural support legs 213 are divided into two groups, and one end of each of the two groups of the support legs 213 is disposed on both sides of the back surface. Compared with the two support legs 213, the four support legs 213 can make the charging stand 21 stably placed on the ground. Compared with the arrangement of a plurality of support legs 213, the arrangement of four support legs 213 is easier to manufacture and lower in cost.

In practical application, the opposite two side surfaces of the mounting plate 21111 are respectively provided with a magnetic attraction structure, so that when the rechargeable battery 4 is placed on the charging stand 2111, the end surface of the rechargeable battery 4 is attracted, and when the charging rack 21 shakes or the like, as shown in fig. 6, the charging port 43 of the rechargeable battery 4 is not easy to slip off from the first charging post 21113 and the second charging post 21114, and the rechargeable battery 4 can be continuously charged.

The working process of the embodiment of the invention is as follows: when 5 electric quantities of AGV dolly are not enough, AGV dolly 5 moves the automatic change of the rechargeable battery of AGV and charging system department, object detection structure on the travelling bogie 1 detects AGV dolly 5, give control mechanism with object information transmission, control mechanism control drive structure 13 slides the one side at AGV dolly 5 place with bottom plate 11 of travelling bogie 1, and control revolution mechanic 16 stimulates rechargeable battery 4 on AGV dolly 5, place AGV dolly 5 up to rechargeable battery 4, in order to take out rechargeable battery 4 on the AGV dolly 5. The control mechanism then controls the movement of the cross rail 221 along the Y-axis and the Z-axis, and the movement of the transport cart 1 along the X-axis, depending on the position of the charging stand 2111 on which the charging battery 4 can be placed.

Then, the charging battery 4 is placed on the charging stand 2111, specifically, the chute 42 of the charging battery 4 moves along the second guide rail 21115 of the charging stand 2111, and then is placed on the charging stand 2111, and the two charging ports 43 on the back side of the charging battery 4 are respectively in contact with the first charging post 21113 and the second charging post 21114, so that the charging of the charging battery 4 can be started.

The AGV car 5 needs to be equipped with a fully charged battery 4, the control mechanism controls the transverse guide rails 221 to move along the Y-axis and Z-axis, and the transport car 1 moves along the X-axis, so that the transport car 1 reaches the position of the charging table 2111 for taking the fully charged battery 4. After the transport trolley 1 takes down the rechargeable battery 4, the transport trolley moves to the waiting position of the AGV trolley 5 under the control of the control mechanism, the rechargeable battery 4 is placed into the battery mounting hole 51 of the AGV trolley 5, and the AGV trolley 5 can start to work.

The embodiments in the present specification are described in a progressive manner, and the same or similar parts among the embodiments may be referred to each other, and each embodiment focuses on the differences from the other embodiments.

The above embodiments are only used to illustrate the technical solutions of the present application, and not to limit the present application; although the present application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications or substitutions do not depart from the spirit and scope of the present disclosure.

Claims

1. An automatic charging battery replacing and charging system of an AGV is characterized by comprising a transport trolley, a charging mechanism and a control mechanism;

the charging mechanism comprises a charging frame and a transmission structure;

the charging rack comprises a plurality of charging stations and a plurality of groups of supporting structures; each charging stand comprises a placing stand and an installation plate, and the installation plate is arranged in the middle of the placing stand; a first charging column and a second charging column are arranged on two opposite side surfaces of the mounting plate; a plurality of charging stands of the same height form a charging layer; the upper charging layer is arranged on the lower charging layer through a group of supporting structures;

the transport trolley is arranged on the conveying structure; the control mechanism is electrically connected with the conveying structure so as to control the conveying structure to convey the transport trolley to a preset position;

the control mechanism is also electrically connected with the transport trolley to control the transport trolley to take and place the battery.

2. The system of claim 1, wherein the transport cart comprises a base plate, a skid plate, a drive structure, a mounting shell, a drag hook, a swivel structure;

two parallel first guide rails are arranged on the bottom plate at intervals;

sliding grooves are respectively formed in two sides of the bottom surface of the sliding plate, the two first guide rails are respectively arranged in the sliding grooves, and the sliding plate can move along the extension direction of the first guide rails under the driving of the driving structure;

the mounting shell is arranged on the sliding plate, the rotating structure is arranged on the mounting shell, one end of the drag hook is connected with the rotating structure, and the main axis of the drag hook is parallel to the extending direction of the first guide rail, so that the other end of the drag hook can rotate around the main axis of the drag hook;

the driving structure and the rotating structure are electrically connected with the control mechanism.

3. The system of claim 2, wherein the rotating structure comprises a first motor, a first gear, and a second gear;

the first motor is fixedly arranged on the mounting shell, and an output shaft of the first motor is connected with the first gear;

the first gear is meshed with the second gear and is arranged in the mounting shell;

one end of the draw hook penetrates through the mounting shell and is connected with the end face of the second gear;

the first motor is electrically connected with the control mechanism.

4. The system of claim 2, wherein the drive structure comprises a toothed nut, a lead screw, a third gear, and a second motor;

the screw rod is arranged on at least one first guide rail along the extension direction of the first guide rail;

the screw rod is sleeved with the toothed nut, and the toothed nut is arranged on the sliding plate and meshed with the third gear;

the third gear is connected with an output shaft of the second motor;

the second motor is electrically connected with the control structure.

5. The system according to any one of claims 2 to 4, wherein the number of the draw hooks is two, and two draw hooks are arranged on two opposite surfaces of the mounting shell.

6. The system of claim 2, wherein the transport cart further comprises a position monitoring structure;

the position monitoring structure is electrically connected with the control mechanism;

the position monitoring structure is arranged on the inner wall of the transport trolley and used for detecting the position information of the sliding plate and transmitting the position information to the driving structure, so that the control mechanism controls the working state of the driving structure.

7. The system of claim 2, wherein the transport cart further comprises two object sensing structures;

the rotating structure and the two object induction structures are respectively and electrically connected with the control mechanism;

the two object induction structures are arranged on two opposite surfaces of the mounting shell and used for inducing object information and transmitting the object information to the control mechanism, so that the control mechanism controls the working states of the rotating structure and the driving structure.

8. The system of claim 1, wherein the conveying structure comprises transverse rails, wheels, a third motor, two sets of vertical conveying assemblies, and two longitudinal rails;

the two longitudinal guide rails are arranged in parallel at intervals;

the two ends of the longitudinal guide rail are respectively provided with the vertical conveying assemblies;

the charging frame is arranged between the two groups of vertical conveying assemblies and is positioned above the longitudinal guide rail;

the wheels are arranged at two ends of the transverse guide rail, are connected with the third motor and can drive the transverse guide rail to move on the longitudinal guide rail under the driving of the third motor;

the vertical conveying assembly is used for driving the transverse guide rail to move along the direction vertical to the ground;

the control mechanism is electrically connected with the third motor and the vertical conveying assembly and is used for controlling the working states of the third motor and the vertical conveying assembly.

9. The system of claim 8, wherein the vertical transport assembly comprises a gantry and two sets of pulley members;

the two groups of pulley parts are respectively arranged on two sides of the door-shaped frame;

the pulley part comprises a pulley, a flexible cable, a hook and a cable rolling part;

the pulley is fixedly arranged at the top of the door-shaped frame, one end of the flexible cable is connected with the hook, the other end of the flexible cable spans across a disc of the pulley and then is connected with the cable rolling piece, and the cable rolling piece can wind and unwind the flexible cable so that the hook can be hung on the transverse guide rail and drive the transverse guide rail to move along the direction vertical to the ground;

the rope rolling piece is electrically connected with the control mechanism.

10. The system of claim 1, wherein the first charging post and/or the second charging post on opposite sides of the charging rack share circuitry.