CN218287477U

CN218287477U - Charging device for AGV (automatic guided vehicle)

Info

Publication number: CN218287477U
Application number: CN202222287200.2U
Authority: CN
Inventors: 杨智育; 熊志远; 贾彦萍
Original assignee: Csic Yuanzhou (beijing) Science & Technology Co ltd; Qinhuangdao Far Distance Industrial Gas Co ltd
Current assignee: Csic Yuanzhou (beijing) Science & Technology Co ltd; Qinhuangdao Far Distance Industrial Gas Co ltd
Priority date: 2022-08-26
Filing date: 2022-08-26
Publication date: 2023-01-13
Anticipated expiration: 2032-08-26

Abstract

The application relates to a charging device and a charging system for an AGV (automatic guided vehicle), which comprise a radio frequency identification module, an infrared correlation sensor, a first controller, a charging seat and a driving mechanism for driving the charging seat to move, wherein a rotating mechanism is fixedly arranged on the charging seat, and a transmitting end of the infrared correlation sensor is fixedly arranged on the rotating mechanism, so that the transmitting end of the infrared correlation sensor rotates on a horizontal plane around a rotating shaft; the first controller is respectively connected with the radio frequency identification module, the infrared correlation sensor, the angle sensor and the driving mechanism. This application has the effect of the accurate butt joint of the charging seat on interface and the charging device that charges of being convenient for realize the AGV transport vechicle.

Description

Charging device for AGV (automatic guided vehicle)

Technical Field

The application relates to the field of AGV transport vechicle charging, especially to a charging device for AGV transport vechicle.

Background

The AGV transport vehicle is also known as an unmanned transport vehicle, an automatic navigation vehicle and a laser navigation vehicle. The AGV has the remarkable characteristics that the AGV is unmanned, the AGV is provided with an automatic guiding system, the system can be ensured to automatically run along a preset route without manual navigation, and goods or materials are automatically conveyed to a destination from a starting point.

The charging assembly for the AGV transport vehicle generally comprises a charging seat and a charging panel, wherein the charging seat is arranged on the charging device, the charging device is arranged in the charging station, and the charging seat is electrically connected with the cabinet in the charging station. The cabinet can convert the 220V/380V charging voltage into the working voltage of the charging seat. The charging panel sets up on the AGV transport vechicle, treats that the electric quantity of AGV transport vechicle has consumed the back, and the AGV transport vechicle can drive into in the charging station and charge. Before charging, the charging panel on the AGV transport vechicle docks with the charging seat first.

In the actual charging process, the charging panel on the AGV transportation vehicle is difficult to be accurately butted with the charging seat on the charging device.

SUMMERY OF THE UTILITY MODEL

In order to facilitate the accurate butt joint of charging seat on charging panel and the charging device on realizing the AGV transport vechicle, this application provides a charging device for AGV transport vechicle.

The application provides a charging device for AGV transport vechicle adopts following technical scheme:

a charging device for an AGV (automatic guided vehicle) transport vehicle is characterized by comprising a radio frequency identification module, an infrared correlation sensor, a first controller, a charging seat and a driving mechanism for driving the charging seat to move, wherein the rotating mechanism is fixedly arranged on the charging seat, and the transmitting end of the infrared correlation sensor is fixedly arranged on the rotating mechanism, so that the transmitting end of the infrared correlation sensor rotates on the horizontal plane around a rotating shaft;

the first controller is respectively connected with the radio frequency identification module, the infrared correlation sensor, the angle sensor and the driving mechanism.

Through adopting the above technical scheme, the radio frequency identification module can discern the electronic tags of installation on the AGV transport vechicle, thereby obtain the motorcycle type of AGV transport vechicle, first controller can match the distance that the charging seat need remove in vertical direction according to the motorcycle type of AGV transport vechicle, output first control signal, move the charging seat to corresponding height with control actuating mechanism drive, this moment, infrared correlation sensor can detect whether the AGV transport vechicle aligns with the charging seat, if the AGV transport vechicle does not align with the charging seat, then first controller control slewing mechanism rotates, make infrared correlation sensor transmitting terminal rotate thereupon. And rotating the infrared correlation sensor to the posture vertical to the charging seat until the transmitting end of the infrared correlation sensor is aligned with the receiving end of the infrared correlation sensor arranged on the AGV transportation vehicle. The first controller controls the driving mechanism to drive the position of the charging seat according to the rotation angle detected by the angle sensor, so that the transmitting end of the infrared correlation sensor is aligned with the receiving end of the infrared correlation sensor. At this time, it is explained that the charging interface on the AGV transport vehicle is aligned with the charging seat on the charging device. This application provides the hardware basis for realizing that charging panel and charging seat are accurate to be alignd, cooperates certain algorithm can realize that charging panel and charging seat are accurate to be alignd better.

Optionally, the driving mechanism includes an X-axis track and a Y-axis track, the charging seat is connected with the X-axis track in a sliding manner, the X-axis track is perpendicular to the Y-axis track, and the X-axis track is connected with the Y-axis track in a sliding manner.

Optionally, an X-axis motor for driving the charging seat to slide along the horizontal direction is arranged on the X-axis track, and a Y-axis motor for driving the X-axis track to slide along the Y-axis is arranged on the Y-axis track;

the X-axis motor and the Y-axis motor are respectively connected with the first controller.

Through adopting above-mentioned technical scheme, the charging seat can be along with X axle track and Y axle track, and the sliding in charging device plane to X axle motor and Y axle motor receive the control of first controller, move the charging seat to suitable position.

Optionally, still be provided with charging socket and contact post on the charging seat, contact post one end is fixed to be set up on the charging seat, and the one end that the charging seat was kept away from to the contact post is provided with pressure sensor, pressure sensor is connected with first controller.

Optionally, one end of the contact column away from the charging seat is tapered.

Optionally, a first electromagnet is further arranged on the charging seat, the first electromagnet is arranged along the side edge of the charging socket, and the first electromagnet is connected with the first controller.

Through the technical scheme, be provided with infrared correlation sensor transmitting terminal on the charging seat, angle sensor, slewing mechanism, first electro-magnet and pressure sensor, infrared correlation sensor transmitting terminal sends the infrared ray, slewing mechanism rotates and drives infrared correlation sensor and rotates certain angle, angle sensor detects the angle of having rotated, when angle sensor detects slewing mechanism and has rotated 90 degrees, infrared correlation sensor transmitting terminal is received, then explain the charging seat and AGV transport vechicle position of charging well, after adjusting well, the AGV transport vechicle continues to travel forward, until contacting the charging seat. Pressure sensor can detect the pressure value, and when first controller received the pressure detection signal for nonzero value, control first electro-magnet circular telegram, first electro-magnet was adsorbed and is lived the AGV transport vechicle this moment.

Optionally, the system further comprises a first communication module, and the first communication module is connected to the first controller.

Through the technical scheme, the charging device for the AGV transporting vehicle is communicated with the AGV transporting vehicle by using the first communication module.

In summary, the present application includes at least one of the following beneficial technical effects:

1. radio frequency identification module can discern the electronic tags of installation on the AGV transport vechicle, thereby obtain the motorcycle type of AGV transport vechicle, first controller can match the distance that the charging seat need remove in vertical direction according to the motorcycle type of AGV transport vechicle, output first control signal, move the charging seat to corresponding height with control actuating mechanism drive, at this moment, infrared correlation sensor can detect whether the AGV transport vechicle aligns with the charging seat, if the AGV transport vechicle does not align with the charging seat, then first controller control slewing mechanism rotates, make infrared correlation sensor transmitting terminal rotate thereupon. And rotating the infrared correlation sensor to the posture vertical to the charging seat until the transmitting end of the infrared correlation sensor is aligned with the receiving end of the infrared correlation sensor arranged on the AGV transportation vehicle. The first controller controls the driving mechanism to drive the position of the charging seat according to the rotation angle detected by the angle sensor, so that the transmitting end of the infrared correlation sensor is aligned with the receiving end of the infrared correlation sensor. At this time, it is explained that the charging interface on the AGV transport vehicle is aligned with the charging seat on the charging device. The method and the device provide a hardware basis for realizing the accurate alignment of the charging panel and the charging seat, and can better realize the accurate alignment of the charging panel and the charging seat by matching with a certain algorithm;

2. when the charging socket of this application was inserted to the AGV transport vechicle interface that charges, pressure sensor sensed pressure, explains that all access this moment.

Drawings

FIG. 1 is a schematic diagram of a charging device for an AGV provided in the present application.

FIG. 2 is a schematic diagram of an AGV configuration according to an embodiment of the present application.

FIG. 3 is a schematic diagram of a system showing a charging device for an AGV transport provided by the present application.

FIG. 4 is a system diagram of an AGV transport of an embodiment of the present application.

Description of reference numerals: 1. a radio frequency identification module; 21. an infrared correlation sensor transmitting end; 22 infrared correlation sensor receiving end; 31. a first controller; 32. a second controller; 41. a charging seat; 411. a rotating mechanism; 412. an angle sensor; 413. a charging jack; 414. a first electromagnet; 415. a contact post; 416. a pressure sensor; 421. a charging interface; 422. A limiting hole; 423. a second electromagnet; 5. a drive mechanism; 51. an X-axis orbit; 52. a Y-axis track; 53. an X-axis motor; 54. a Y-axis motor; 61. a first communication module; 62. a second communication module; 7. a battery management module; 8. an electronic tag; 9. and a driving module.

Detailed Description

The present application is described in further detail below with reference to figures 1-4.

The embodiment of the application discloses charging device for AGV transporting vehicle.

Referring to fig. 1, a charging device for an AGV transport vehicle includes a radio frequency identification module 1, an infrared correlation sensor, a first controller 31, a charging seat 41, and a driving mechanism 5 for driving the charging seat 41 to move.

The charging stand 41 is provided with a rotating mechanism 411 capable of rotating horizontally, and the infrared correlation sensor emitting end 21 is fixedly arranged on the rotating mechanism 411 and can rotate around the rotating shaft along the horizontal direction under the driving of the rotating mechanism 411. The charging socket 413 is arranged on the charging base 41, a circle of first electromagnets 414 is arranged along the side edge of the charging socket 413, and the charging base 41 is also fixedly provided with a contact column 415. The axis of the contact posts 415 is perpendicular to the plane of the charging mount 41. The end of the contact column 415 far from the charging seat 41 is provided with a pressure sensor 416, in this embodiment, the rotating mechanism 411 is an arbitrary rotating structure capable of driving the infrared correlation sensor emitting end 21 to horizontally rotate around the rotating shaft, and the position of the contact column 415 depends on the actual situation.

The charging stand 41 is attached to the charging device. Specifically, a square groove is formed in the charging device, a through line hole is formed in the square groove, the power line penetrates through the through line hole and is fixedly connected with one surface of the charging base 41 deviating from the charging socket 413, and the power line is wrapped by an electric shock preventing material. The drive mechanism 5 includes an X-axis rail 51 and a Y-axis rail 52. The Y-axis rails 52 are provided in two, are each disposed at the same height inside the groove in a vertical posture, and are disposed closely to the inner wall of the groove. The two Y-axis tracks 52 are spaced apart by a distance. Two ends of the X-axis track 51 are slidably connected with the two Y-axis tracks 52, respectively, and the X-axis track 51 and the Y-axis track 52 are both vertically arranged. The charging stand 41 is disposed on the X-axis track 51 and connected to the X-axis track 51 in a sliding manner.

The driving mechanism 5 further comprises a driving structure further comprising an X-axis motor 53 for driving the charging base 41 to slide along the X-axis and a Y-axis motor 54 for driving the X-axis rail 51 to slide along the Y-axis. The charging stand 41 is movable within an area surrounded by the X-axis rail 51 and the Y-axis rail 52 by driving the X-axis motor 53 and the Y-axis motor 54.

The following is further described with reference to the working process thereof:

referring to fig. 2 to 4, the rfid module 1 is configured to identify an electronic tag 8 mounted on an AGV transport vehicle and output a vehicle type identification signal. In the electronic tag 8, vehicle type information is described.

The first controller 31 is respectively connected to the rfid module 1 and the Y-axis motor 54, and is configured to output a first control signal when receiving a vehicle type identification signal. The first control signal is used to control the Y-axis motor 54 to start, so that the charging seat 41 moves to a specific position along the vertical direction, and the charging position is matched with the height of the charging pad of the AGV transport vehicle. The moving distance corresponds to vehicle type information reflected by the vehicle type recognition signal. The first control signal is also used to control the infrared correlation sensor to activate to detect whether the AGV transport is aligned with the charging dock 41.

It can be understood that the rfid module 1 can only identify the electronic tag 8 when the distance between the rfid module 1 and the electronic tag 8 is within a certain range. Therefore, when the rfid module 1 identifies the electronic tag 8, the vehicle type identification signal serves as a trigger signal, so that the AGV moving to the charging dock 41 can stop moving under the driving of the driving module 9, so as to ensure that there is enough space between the AGV and the charging dock 41, and before charging, the driving mechanism 5 adjusts the position of the charging dock 41.

Specifically, the first controller 31 is connected to a first communication module 61, and the first communication module 61 is configured to transmit a first control signal.

The AGV transport has a second controller 32 and a second communication module 62 disposed thereon.

The second communication module 62 is connected to the first communication module 61 and is configured to perform data interaction with the first communication module 61.

The second controller 32 is coupled to the second communication module 62 for controlling the AGV to stop moving upon receiving the first control signal.

The infrared correlation sensor is connected to the first controller 31 for detecting whether the AGV transport vehicle is aligned with the charging stand 41. The emitting end 21 of the infrared correlation sensor is used for emitting infrared rays when receiving the first control signal. At this time, the infrared correlation sensor emitting end 21 is in a posture perpendicular to the charging stand 41. The infrared correlation sensor receiving end 22 is arranged at a corresponding position on the AGV transportation vehicle and used for receiving infrared rays. When the infrared correlation sensor receiving terminal 22 receives the infrared ray, the infrared correlation sensor receiving terminal 22 outputs a low level signal, i.e. a driving signal, which indicates that the AGV transport vehicle is aligned with the charging seat 41, and the AGV transport vehicle can continue to move to the charging seat 41 until the charging socket 413 of the charging seat 41 is inserted into the charging interface 421 of the AGV transport vehicle. On the contrary, when the infrared correlation sensor receiving end 22 does not receive the infrared ray, the infrared correlation sensor receiving end 22 outputs a high level signal, i.e., a rotation signal. It should be noted that the infrared correlation sensor receiving end 22 is connected to the second communication module 62, and transmits the driving signal and the rotation signal to the first controller 31.

The first controller 31 is further connected to the rotating mechanism 411 for outputting a second control signal upon receiving the rotating signal.

The rotating mechanism 411 is connected to the first controller 31, and is configured to start rotating around the rotating shaft when receiving the second control signal, so that the infrared correlation sensor emitting end 21 rotates therewith. The rotation range of the emission end 21 of the infrared correlation sensor is 0-180 degrees. In the process of rotating the infrared correlation sensor emitting end 21, the infrared correlation sensor emitting end 21 continuously emits infrared rays until the infrared correlation sensor receiving end 22 can receive the infrared rays. When the infrared correlation sensor receiving end 22 can receive the infrared ray, the infrared correlation sensor receiving end 22 feeds back, so that the rotating mechanism 411 rotates to the initial position under the control of the first controller 31, and the infrared correlation sensor transmitting end 21 is at the posture perpendicular to the charging seat 41 at this time.

In the above process, in order to accurately know the position relationship between the AGV transport vehicle and the charging stand 41, the charging apparatus for an AGV transport vehicle further includes an angle sensor 414.

The angle sensor 414 is used for detecting the posture, i.e. the rotation angle, of the infrared correlation sensor emitting end 21 in real time and outputting an angle detection signal. For convenience of explanation, a direction perpendicular to the plane of the charging stand 41 is defined as a reference standard. I.e. 0. When the emitting end 21 of the infrared correlation sensor is located in the range of 0 to 90 degrees, the attitude of the emitting end 21 of the infrared correlation sensor detected by the angle sensor 414 is-90 to 0 degrees. On the contrary, when the infrared correlation sensor emission end 21 is located in the range of 90 ° to 180 °, the angle sensor 414 detects that the posture of the infrared correlation sensor emission end 21 is 0 ° to 90 °. Here, "-" represents the left side.

The first controller 31 is connected to the angle sensor 414, and is configured to collect an angle value reflected by the angle detection signal while receiving the feedback from the infrared correlation sensor receiving end 22, and output a third control signal. The third control signal is used to control the activation of the X-axis motor 53 so that the charging dock 41 moves horizontally to a designated position to align with the charging pad of the AGV transport. Specifically, when the angle value reflected by the angle detection signal is-90 ° to 0 °, the X-axis motor 53 is controlled to drive the charging stand 41 to move leftward. On the contrary, when the angle value reflected by the angle detection signal is 0 to 90 °, the X-axis motor 53 is controlled to drive the charging stand 41 to move rightward.

When the X-axis motor 53 moves, the infrared opposite-emitting sensor emitting end 21 is in a posture perpendicular to the plane of the charging seat 41, and continuously emits infrared rays. Until the infrared correlation sensor receiving end 22 receives the infrared ray, the infrared correlation sensor receiving end 22 outputs a driving signal. This illustrates the alignment of the charging pad of the AGV transport with the charging dock 41.

The first controller 31 is further configured to output a fourth control signal when receiving the driving signal. The fourth control signal is used to control the rotating mechanism 411 to stop rotating, and also used to control the driving module 9 to start, so that the AGV transport vehicle starts and moves to the charging seat 41.

To this end, the charge plate of the AGV transport vehicle can be precisely aligned with the charging dock 41.

Furthermore, in order to avoid the fine deviation between the charging board and the charging seat 41 of the AGV transport vehicle, a limiting hole 422 matched with the contact column 415 is formed in a corresponding position of the AGV transport vehicle. The depth of the limiting hole 422 is consistent with the length of the contact column 415, and the contact column 415 can be accommodated. When the AGV transport vehicle approaches the charging seat 41 and the contact post 415 is about to be inserted into the position-limiting hole 422, the end of the contact post 415 away from the charging seat 41 is tapered, so that when the contact post 415 is dislocated with the position-limiting hole 422, the contact post 415 can be inserted into the position-limiting hole 422 more accurately, and thus, the slight deviation between the charging board of the AGV transport vehicle and the charging seat 41 can be corrected.

It can be understood that when the contact column 415 is fully inserted into the position-limiting hole 422, the charging socket 413 of the charging base 41 is fully inserted into the charging interface 421 of the charging plate.

The pressure sensor 416 is disposed on an end of the contact post 415 away from the charging socket 41, and is used for detecting an acting force between the contact post 415 and the limiting hole 422, and outputting a pressure detection signal.

The first controller 31 is connected to the pressure sensor 416, and is further configured to output the energization signal when receiving a value that is not zero and reflected by the pressure detection signal, and to not output the energization signal when receiving a value that is zero and reflected by the pressure detection signal.

The first electromagnet 414 is connected to the first controller 31, and is used for receiving a power supply when receiving a power-on signal, and generating a magnetic force to attract the second electromagnet 423 at a corresponding position on the charging plate of the AGV transport vehicle, so as to ensure the stability of the charging process.

Meanwhile, a battery management module 7 for monitoring the electric quantity of the battery is further arranged on the AGV.

The battery management module 7 is connected to the second controller 32, and is configured to detect the battery power in real time and output a power detection signal.

The second controller 32 is connected to the battery management module 7, and is configured to output a power-off signal when the received power value reflected by the power detection signal reaches 100. The power-down signal can be transmitted through the first communication module 61 and the second communication module 62 such that the first electromagnet 414 is disconnected from the power source, thereby being powered down and disconnected from the second electromagnet 423. At this point, the AGV has been charged and can continue to perform its work.

It is worth explaining that, the charging device for the AGV transportation vehicle of the present application only provides a hardware basis for realizing the accurate alignment of the charging panel of the AGV transportation vehicle and the charging seat 41, and has an effect of being convenient for realizing the accurate alignment of the charging panel of the AGV transportation vehicle and the charging seat 41. To achieve this effect better, algorithms for the respective functions also need to be loaded in the first controller 31.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: equivalent changes in structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The charging device for the AGV transportation vehicle is characterized by comprising a radio frequency identification module (1), an infrared correlation sensor, a first controller (31), a charging seat (41), a rotating mechanism (411) and a driving mechanism (5) for driving the charging seat (41) to move, wherein the rotating mechanism (411) is fixedly arranged on the charging seat (41), an infrared correlation sensor transmitting end (21) is fixedly arranged on the rotating mechanism (411), so that the infrared correlation sensor transmitting end (21) rotates on the horizontal plane around a rotating shaft, an angle sensor (412) is further arranged on the rotating mechanism (411), and an infrared correlation sensor receiving end (22) is arranged on the AGV transportation vehicle;

the first controller (31) is respectively connected with the radio frequency identification module (1), the infrared correlation sensor, the angle sensor (412) and the driving mechanism (5).

2. The charging device for the AGV transporting vehicle according to claim 1, wherein the driving mechanism (5) includes an X-axis rail (51) and a Y-axis rail (52), the charging seat (41) is slidably connected to the X-axis rail (51), the X-axis rail (51) is perpendicular to the Y-axis rail (52), and the X-axis rail (51) is slidably connected to the Y-axis rail (52).

3. The charging device for the AGV according to claim 2, wherein an X-axis motor (53) for driving the charging stand (41) to slide along the horizontal direction is disposed on the X-axis rail (51), and a Y-axis motor (54) for driving the X-axis rail (51) to slide along the Y-axis is disposed on the Y-axis rail (52);

the X-axis motor (53) and the Y-axis motor (54) are respectively connected with the first controller (31).

4. The charging device for the AGV transporting vehicle according to claim 3, wherein the charging seat (41) is further provided with a charging socket (413) and a contact column (415), one end of the contact column (415) is fixedly arranged on the charging seat (41), one end of the contact column (415) far away from the charging seat (41) is provided with a pressure sensor (416), and the pressure sensor (416) is connected with the first controller (31).

5. A charging arrangement for an AGV according to claim 4 wherein the end of the contact post (415) remote from the charging dock (41) is tapered.

6. The charging device for the AGV transporting vehicle according to claim 4, wherein a first electromagnet (414) is further disposed on the charging seat (41), the first electromagnet (414) is disposed along a side of the charging socket (413), and the first electromagnet (414) is connected to the first controller (31).

7. The charging device for an AGV according to claim 6, further comprising a first communication module (61) connected to the first controller (31).