WO2021043056A1 - Agv的电池更换方法及电池更换装置 - Google Patents
Agv的电池更换方法及电池更换装置 Download PDFInfo
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- WO2021043056A1 WO2021043056A1 PCT/CN2020/111724 CN2020111724W WO2021043056A1 WO 2021043056 A1 WO2021043056 A1 WO 2021043056A1 CN 2020111724 W CN2020111724 W CN 2020111724W WO 2021043056 A1 WO2021043056 A1 WO 2021043056A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
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- 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
- B60L53/30—Constructional details of charging stations
- B60L53/35—Means for automatic or assisted adjustment of the relative position of charging devices and vehicles
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- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
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- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
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- 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
- B60L53/10—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 characterised by the energy transfer between the charging station and the vehicle
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- B60L53/80—Exchanging energy storage elements, e.g. removable batteries
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
- B60K1/04—Arrangement or mounting of electrical propulsion units of the electric storage means for propulsion
- B60K2001/0455—Removal or replacement of the energy storages
- B60K2001/0472—Removal or replacement of the energy storages from below
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- 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
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60L2260/32—Auto pilot mode
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- B—PERFORMING OPERATIONS; TRANSPORTING
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- B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
- B60Y2200/00—Type of vehicle
- B60Y2200/60—Industrial applications, e.g. pipe inspection vehicles
- B60Y2200/62—Conveyors, floor conveyors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors
Definitions
- the present disclosure relates to the technical field of logistics and transportation, and in particular to a battery replacement method and battery replacement device for AGV.
- AGV Automated Guided Vehicle abbreviation, meaning "automatic guided transport vehicle”
- AGV is a type that can drive along a prescribed guided path and has safety Transport vehicles with protection and various transfer functions.
- the AGV usually uses its own battery to provide power. When the battery's power is nearly exhausted, it needs to be replenished in time. Therefore, the system needs to support equipment that automatically powers the AGV.
- the embodiments of the present disclosure provide an AGV battery replacement method and battery replacement device to solve the above-mentioned problems.
- an embodiment of the present disclosure provides a battery replacement method for AGV, which includes the following steps:
- the AGV In the step of relatively moving the new battery module and the AGV so that the new battery module is placed in the battery module assembly area, the AGV is moved down as a whole until the new battery module is in the battery module assembly area of the AGV.
- the method further includes:
- the old battery module in the step of docking the old battery module on the AGV with the battery disassembly mechanism and disconnecting the connection relationship with the AGV, the old battery module is separated from the battery of the AGV.
- the steps of the module assembly area, the steps of removing the old battery module from the battery dismounting mechanism and docking the new battery module with the battery dismounting mechanism, and the relative movement of the new battery module and the AGV to make the new battery module During the execution of the steps of placing the battery module assembly area and establishing a connection relationship with the AGV, the AGV is always in a pre-charged state.
- the AGV Before the step of docking the old battery module on the AGV with the battery disassembly mechanism and disconnecting the connection relationship with the AGV, the AGV is connected to the pre-charging line;
- the steps of removing the old battery module from the battery dismounting mechanism and docking the new battery module with the battery dismounting mechanism include:
- the step of docking the old battery module on the AGV with the battery disassembly mechanism further includes: positioning the horizontal position of the old battery module.
- the step of positioning the horizontal position of the old battery module specifically includes:
- the step of roughly positioning the battery module of the AGV in the horizontal direction is specifically: in the process of relative movement and approach between the battery module and the abutment surface of the abutment table of the battery disassembly mechanism located below it in the vertical direction Make the coarse positioning column extend into the coarse positioning hole of the battery module from below to perform coarse positioning of the battery module of the AGV in the horizontal direction, and the battery module abuts against the abutting surface when the horizontal coarse positioning is completed;
- the step of performing fine positioning of the battery module of the AGV in the horizontal direction is specifically: moving the fine positioning column from the lower direction of the abutting surface protruding from the direction of the abutting surface and extending into the fine positioning hole of the battery module, and the AGV The battery module for precise positioning in the horizontal direction.
- the width of the annular gap formed by the fine positioning column and the fine positioning hole is smaller than the width of the annular gap formed by the coarse positioning column and the coarse positioning hole.
- the battery module moves and approaches the abutment surface of the abutment table of the battery disassembly mechanism located below it in the vertical direction.
- the abutment table is pressed downward to elastically deform the elastic jacking module connected to the abutment table, and the relative movement of the battery module and the abutment table is stopped after detecting that the abutment table is pressed to a predetermined position.
- the step of placing the battery disassembly mechanism below the AGV includes positioning the horizontal position of the AGV.
- the step of positioning the horizontal position of the AGV specifically includes:
- the position of the AGV along the second horizontal direction of the wheel axis is positioned, and the AGV always keeps the position of the AGV in the first horizontal direction unchanged during the positioning of the AGV along the second horizontal direction.
- the step of positioning the AGV's wheels to realize the positioning of the position of the AGV in the first horizontal direction perpendicular to the wheel axis is specifically:
- the wheel of the AGV rolls into a positioning groove extending in the second horizontal direction along the second horizontal direction, and the wheel is stuck in the positioning groove under the action of gravity to locate the position of the AGV in the first horizontal direction.
- the AGV in the above-mentioned AGV battery replacement method, in the positioning of the position of the AGV along the second horizontal direction of the wheel axis, and the AGV always keeps the AGV in the first direction during the positioning in the second direction. In the steps where the position in the horizontal direction is unchanged:
- the step of detecting that the AGV has completed the positioning of the position in the first horizontal direction it is determined that the AGV has completed the positioning of the position in the first horizontal direction.
- An AGV wheel is detected in the positioning slot.
- an embodiment of the present disclosure provides an AGV battery replacement device, including a lifting frame, a lifting frame lifting mechanism, and a battery disassembly and assembly mechanism;
- the lifting frame is used to carry AGV;
- the lifting frame lifting mechanism is used to raise and lower the lifting frame
- the battery disassembly and assembly mechanism When the battery disassembly and assembly mechanism is under the AGV, it is used to dock with the battery module and release or establish the connection relationship between the battery module and the AGV.
- the battery disassembly and assembly mechanism includes an unlocking module
- the unlocking module includes an unlocking power unit and an unlocking ejector rod corresponding to the position of the locking module on the battery module of the AGV, the unlocking ejector being capable of protruding and retracting under the driving of the unlocking power unit, and When the unlocking mandrel protrudes, the locking module can be unlocked.
- the battery disassembly mechanism includes a walking module, and the walking module is used to drive the battery disassembly mechanism to move horizontally below the battery module of the AGV.
- the above-mentioned AGV battery replacement device includes two walking modules, the two walking modules move relative to each other, and each walking module drives a part of the battery disassembly mechanism to move horizontally. .
- the lifting frame includes a support platform for carrying the AGV, and the support platform is provided with a avoidance area for the battery module of the AGV to pass in a vertical direction;
- the avoidance area extends to one side of the support platform and forms an opening.
- the lifting frame further includes a sub-frame lifting mechanism and a support frame;
- the support frame includes a main body part and an extension part, the main body part is fixedly connected to the support platform, the extension part extends from the main body part to one side of the support platform, and the sub-frame lifting mechanism It is fixed on the extension part and opposite to the opening, and the sub-frame lifting mechanism can extend toward the opening and lift the AGV.
- the lifting frame further includes a pre-charging mechanism that provides power for the AGV positioned on the lifting frame.
- the lifting frame further includes a positioning mechanism for positioning the position of the AGV, and the positioning mechanism includes a first positioning module and a second positioning module;
- the first positioning module is used to locate the AGV in a first horizontal direction perpendicular to the wheel axis by positioning the wheels of the AGV;
- the second positioning module is used for positioning the AGV along the second horizontal direction of the wheel axis.
- the battery replacement device further includes a frame, the lifting frame lifting mechanism and the battery dismounting mechanism are integrated on the frame, and the lifting frame is located The space enclosed by the frame.
- the above-mentioned AGV battery replacement device further includes a guide slope which is arranged in front of the frame and is used to guide the AGV to the lifting frame.
- the battery replacement method and battery replacement device suitable for AGV disclosed in the embodiments of the present disclosure can quickly replace the battery module of the AGV, and reduce the time waste caused by the recharge of the AGV.
- Fig. 1 is a view of the overall structure of a switching station disclosed in an embodiment of the disclosure.
- FIG. 2 is a three-dimensional structural view of the battery replacement device disclosed in an embodiment of the disclosure.
- Fig. 3 is a front structural view of the battery replacement device disclosed in an embodiment of the disclosure.
- FIG. 4 is a diagram of the specific structure of the AGV disclosed in an embodiment of the disclosure.
- FIG. 5 is a detailed structural view of the battery module disclosed in an embodiment of the disclosure.
- FIG. 6 is a bottom structural view of the battery module disclosed in an embodiment of the disclosure.
- FIG. 7 is a cross-sectional view of the lock catch, the locking module, and the unlocking jack disclosed in the embodiment of the disclosure.
- Fig. 8 is a view of the matching structure of the lifting frame, the main frame and the sub-frame disclosed in the embodiment of the disclosure.
- Fig. 9 is a specific structural view of the lifting frame disclosed in the embodiment of the disclosure.
- FIG. 10 is a top view of the structure of the supporting table and positioning mechanism disclosed in the embodiment of the disclosure.
- FIG. 11 is a specific structural view of the first positioning module disclosed in an embodiment of the disclosure.
- FIG. 12 is a specific structural view of the second positioning module disclosed in the embodiment of the disclosure.
- FIG. 13 is a detailed structural view of the battery disassembly and assembly mechanism and the slope disclosed in the embodiment of the disclosure.
- FIG. 14 is a specific structural view of the battery disassembly and assembly mechanism disclosed in the embodiment of the disclosure.
- FIG. 15 is a view of the overall structure of the battery compartment system disclosed in an embodiment of the disclosure.
- FIG. 16 is a view of the specific structure of the battery pick-and-place device disclosed in an embodiment of the disclosure.
- FIG. 17 is a top structural view of the battery pick-and-place device disclosed in an embodiment of the disclosure.
- FIG. 18 is a view of a specific structure of the charging device disclosed in an embodiment of the disclosure.
- FIG. 19 is a specific structural view of the charging stand disclosed in the embodiment of the disclosure.
- Fig. 20 is a schematic diagram of a fire fighting device disclosed in an embodiment of the disclosure.
- FIG. 21 is a view of the matching structure of the battery module receiving mechanism and the detector disclosed in the embodiment of the disclosure.
- FIG. 22 is a flowchart of the AGV battery replacement method disclosed in an embodiment of the disclosure.
- FIG. 23 is a flowchart of a method for disassembling the battery of an AGV disclosed in an embodiment of the disclosure.
- FIG. 24 is a flowchart of an AGV positioning method disclosed in an embodiment of the disclosure.
- 1-Battery replacement device 10-lifting frame, 100-support table, 1000-support surface, 1000a-accommodating cavity, 1001- avoidance area, 1002-opening, 101-positioning mechanism, 1010-first positioning module, 1010a-positioning Slider, 1010b-guide rail, 1010c-positioning groove, 1010d-guide slope, 1010e-reset elastic member, 1010f-wheel detection sensor, 1011-second positioning module, 1011a-horizontal pushing component, 1011a1-fixed bracket, 1011a2-movement Bracket, 1011a3- horizontal push power unit, 1011a4- push guide unit, 1011a5- flexible clamping block, 1012-reference mark, 102- subframe pressing mechanism, 1020- pressing power unit, 1021- pressing piece, 103 -Sub-frame lifting mechanism, 104-Main frame down-pressing mechanism, 1040-Down-pressing power unit, 1041-pressing part, 105-support frame, 1050-main body, 1051-extension, 106-
- 2-Battery compartment system 20-battery pick-and-place device, 200-bearing platform, 2000-battery module fixing part, 2001-limiting mechanism, 2001a-limiting part, 2001b-limiting power unit, 201-transferring mechanism, 2010-retractable module, 2011-rotating module, 202-battery lifting mechanism, 203-battery replacement port, 204-battery storage port, 205-fire exhaust port, 206-fixed frame, 207-main support frame, 2070-lifting channel , 21-storage device, 210-charging base bracket, 211-charging base, 2110-charging stand, 2110a-receiving surface, 2111-charging base coarse positioning module, 2111a-charging base coarse positioning column, 2112-charging base fine positioning module , 2112a-Charging base precision positioning column, 2113-connector module, 2113a-connector, 2114-charging base ball unit, 2115-charging base battery module detection sensor, 2116-support frame, 2117-mounting table,
- 3-Fire-fighting device 30-battery module receiving mechanism, 300- telescopic support module, 3000- fixed part, 3001- support part, 3002- telescopic power unit, 3003- rail, 31- fire box, 32- fire-fighting material storage box , 320-discharge port, 33-discharge valve, 34-fire protection bracket, 35-detector;
- 9-AGV 90-main frame, 91-sub-frame, 910-lock, 9100-unlock lever, 9101-U-shaped lock, 9102-lock body, 92-pin hole, 93-battery module, 930- Locking module, 931-positioning hole;
- the embodiments of the present disclosure provide a switch station suitable for AGVs.
- Figure 1 shows a two-wheel drive AGV structure that can be applied to the switch station of the present disclosure.
- the embodiments of the present disclosure all take the AGV as an example for description. .
- the AGV9 described in this disclosure is not limited to the two-wheel drive AGV shown in Figure 4, but can also be a four-wheel drive or bionic walking AGV, which can walk and stop in the form of automatic navigation and can Simply unload and load the battery module 93 from the downward side of the AGV9.
- the AGV 9 shown in FIG. 4 includes a main frame 90 and a sub-frame 91. In the embodiment shown in FIG.
- the main frame 90 and the sub-frame 91 are arranged back and forth along the direction of travel of the AGV 9, or the sub-frame 91 It is configured as a structure that is fixedly connected to the main frame 90 of the AGV9 in the vertical direction and can be connected to the outside, and the posture of the main body of the AGV 9 can be changed by applying external force to the main frame 90 and the sub-frame 91.
- the battery module 93 described in the present disclosure is installed in the sub-frame 91. It can be a nickel-hydrogen rechargeable battery, a lithium battery, or a non-rechargeable battery. It is not limited to the shape shown in FIG.
- the sub-frame 91 of the AGV 9 can be unloaded and loaded from the downward side of the sub-frame 91 of the AGV 9 in accordance with the switching station described in this disclosure.
- the situation that the battery module 93 is installed in the main frame 90 is not excluded. This embodiment only takes the installation in the sub-frame 91 as an example to introduce the relevant structure of the power exchange station.
- the battery module 93 can also be installed in the main frame 90 or even other positions.
- the switching station described in this embodiment includes a battery replacement device 1 and a battery compartment system 2 as shown in FIG. 1.
- the battery replacement device 1 and the battery compartment system 2 are used in conjunction with each other.
- the battery replacement device 1 and the battery compartment system 2 can be used independently.
- the battery replacement device 1 will be described in detail below.
- the battery replacement device 1 of this embodiment is used to remove and install the battery module 93 from the AGV 9.
- the battery replacement device 1 includes a lifting frame 10, a lifting frame lifting mechanism 11, and a battery disassembly and assembly mechanism 12.
- the lifting frame 10 and the lifting frame are lifted and lowered.
- the mechanisms 11 can be connected to each other as shown in FIG. 3.
- the lifting frame lifting mechanism 11 can be configured as a frame type, so that the lifting frame 10 is raised and lowered inside.
- the battery dismounting mechanism 12 can be placed under the AGV 9 or the battery dismounting mechanism 12 can be moved out from below the AGV 9.
- the battery disassembly and assembly mechanism 12 can dock with the old battery module on the AGV9 and disconnect the old battery module from the AGV9, separate the old battery module from the battery module assembly area of the AGV9, and move the new battery module relative to the AGV9 to make the new battery module move relative to the AGV9.
- the battery module is placed in the battery module assembly area and establishes a connection relationship with the AGV 9 so as to realize the disassembly and assembly of the battery module 93.
- the lifting frame 10 includes a supporting platform 100. After the AGV 9 travels on the supporting platform 100, the lifting frame lifting mechanism 11 can lift the lifting frame 10, and then the AGV 9 is lifted.
- the battery dismounting mechanism 12 can be located under the lifting frame 10 after the lifting frame 10 is lifted. Therefore, the lifting frame lifting mechanism 11 can adjust the vertical distance between the bottom of the AGV 9 and the battery dismounting mechanism 12, thereby disassembling and disassembling the battery from the bottom.
- the module 93 and the lifting frame lifting mechanism 11 can also be configured as a jack supporting the lifting frame 10 and the like, and the lifting frame 10 can be raised and lowered as required. Under normal circumstances, the support platform 100 of the lifting frame 10 cannot be close to the ground, so a slope 13 can be provided in front of the lifting frame 10 to facilitate the AGV 9 to drive on the support platform 100.
- the lifting frame 10 includes a first positioning module 1010, a second positioning module 1011, a sub-frame pressing mechanism 102, and a sub-frame support.
- the lifting mechanism 103 and the main frame pressing mechanism 104, etc., in actual applications, each part of the lifting frame 10 can be used independently, or can be used in any combination according to different process requirements, and is not limited to the use shown in this embodiment. All or part of the technical solution can realize the smooth removal of the battery module 93 from the AGV9.
- Each part of the lifting frame 10 has different functions, and some parts may also have other additional functions after being used in combination.
- Each part of the lifting frame 10 will be described separately below.
- the matching accuracy of each device is extremely important. If the matching accuracy is too low, the relative position of each device will have a large deviation, causing the device to fail to complete the setting action.
- the lifting frame 10 includes a positioning mechanism 101.
- the positioning mechanism 101 can position the AGV 9 and the lifting frame 10, mainly the relative posture and relative positions of the AGV 9 and the support platform 100. Specifically, since the AGV 9 can be directly parked on the support platform 100, the vertical position of the AGV 9 and the support platform 100 may not be considered. As shown in FIG. 9, the positioning mechanism 101 generally only needs to consider the parking position of the AGV 9 in the horizontal plane.
- the positioning mechanism 101 can realize the positioning of the AGV 9 by positioning the position of the AGV 9 in the first horizontal direction a perpendicular to the wheel axis and the position along the second horizontal direction b of the wheel axis.
- the positioning mechanism 101 may include a first positioning module 1010 for positioning the wheels of the AGV9 to achieve the first position of the AGV9 perpendicular to the wheel axis.
- the positioning mechanism 101 may include a second positioning module 1011 for positioning the AGV9 along the second horizontal direction b of the wheel axis. Positioning.
- the position of the AGV 9 in the horizontal direction can be fixed, which facilitates the positioning of the battery disassembly mechanism 12 and the disassembly and assembly of the battery module 93.
- the first positioning module 1010 may include a positioning slider 1010a and a guide rail 1010b.
- the positioning slider 1010a In order to locate the position of the AGV 9 along the first horizontal direction a, the positioning slider 1010a There is a positioning groove 1010c extending along the second horizontal direction b.
- the positioning groove 1010c can be set in a V shape as shown in Figure 11, so that the wheels of the AGV9 can be automatically caught in the V-shaped positioning groove 1010c.
- it can also Consider setting the positioning groove 1010c into a rectangle, inverted trapezoid, semicircular or other shape that just accommodates the wheels of the AGV9.
- the wheel of the AGV9 passes through the positioning groove 1010c, it can sink down into the positioning groove 1010c and be fixed by it.
- a support surface 1000 is provided on the upper surface of the support platform 100.
- the support surface 1000 can be set as a complete plane as shown in FIG. 10, or can be set as a grid-like surface, which can support the AGV 9 and allow the AGV 9 to travel on it.
- a receiving cavity 1000a formed by the self-supporting surface 1000 recessed downward is provided on the supporting surface 1000, and the receiving cavity 1000a can accommodate the first positioning Module 1010, so that most of the structure of the first positioning module 1010 can be located below the supporting surface 1000, so that the positioning groove 1010c and the supporting surface 1000 can be basically level, and the wheels of the AGV9 can be easily driven from the supporting surface 1000 to the positioning sliding In the positioning groove 1010c of the block 1010a.
- the positioning sliding block 1010a is also provided with a guiding inclined surface 1010d. As shown in FIG. 11, one side of the guiding inclined surface 1010d is flush with the supporting surface 1000, and the other side of the guiding inclined surface 1010d is flush with one side of the positioning groove 1010c. One side of the positioning groove 1010c is adjacent, so that the wheel of the AGV 9 can be easily guided from the supporting surface 1000 by the guiding inclined surface 1010d into the positioning groove 1010c.
- the positioning mechanism 101 needs to position the AGV9 in both the first horizontal direction a and the second horizontal direction b, when the AGV9 is positioned in the first horizontal direction a by the first positioning module 1010, it will pass through the second horizontal direction a.
- the positioning module 1011 is positioned in the second horizontal direction b, the position of the AGV 9 in this direction needs to be adjusted.
- the wheels will also move in this direction.
- both the positioning slot 1010c and the guide rail 1010b extend along the second horizontal direction b, and the positioning slider 1010a is slidingly matched with the guide rail, so that the positioning slider 1010a can slide along the second horizontal direction b.
- the positioning slider 1010a can move along the second horizontal direction b with the AGV9 under the guidance of the guide rail 1010b, which not only enables the AGV9 to move along the second horizontal direction b more conveniently, At the same time, it can also ensure that the position of the AGV9 in the first horizontal direction a does not change.
- the first positioning module 1010 may further include a reset elastic member 1010e, the reset elastic member 1010e is connected to the positioning slider 1010a, and the reset elastic member 1010e is adjusted to enable the positioning slider 1010a to be stably maintained in a reset position.
- the reset elastic member 1010e is in a force-balanced state.
- the reset elastic member 1010e will be compressed, stretched or other elastic deformation and store elastic potential energy, and when the external force disappears, the elasticity of the elastic member 1010e will be reset The potential energy is released and the positioning slider 1010a can be restored to the reset position along the second horizontal direction b by itself.
- the reset elastic member 1010e can be a spring, an elastic piece, a highly elastic rubber band, etc., which has elasticity and can elastically push the positioning slider 1010a to the reset position.
- the reset position is usually designed In the middle of the accommodating cavity 1000a, a certain gap is left between the positioning sliding block 1010a and both sides of the accommodating cavity 1000a for movement.
- a reset elastic member 1010e can be provided on both sides of the positioning sliding block 1010a to make the movement of the positioning sliding block 1010a more stable.
- the first positioning module 1010 may also include a wheel detection sensor 1010f.
- the wheel detection sensor 1010f may be arranged on the positioning slider 1010a to detect whether there is an AGV wheel in the positioning groove 1010c.
- the wheel detection sensor 1010f may be as shown in FIG. 11
- the upward side of the embedded positioning slider 1010a can also be protrudingly arranged on the side of the positioning slider 1010a; the wheel detection sensor 1010f can be set as a photoelectric sensor, or a pressure sensor, etc., which can sense whether the wheels of the AGV9 have reached the positioning Slot 1010c is sufficient, and will not be repeated here.
- the AGV9 can automatically travel to the support platform 100 and drive the two wheels into the positioning slider 1010a of the first positioning module 1010 to automatically locate the wheels of the AGV9 and the position of the AGV9 in the first horizontal direction a.
- the detection sensor 1010f detects the wheel synchronously, and informs the central control unit AGV9 such as the central processing unit that the AGV9 has reached the battery replacement device 1.
- the central processing unit issues instructions to the second positioning module 1011 to continue positioning the AGV 9 in the second horizontal direction b.
- the second positioning module 1011 is used to position the position of the AGV 9 in the second horizontal direction b, and the second positioning module 1011 includes a horizontal pushing assembly 1011a.
- the horizontal pushing assembly 1011a is symmetrically arranged on both sides of the support platform 100 along the second horizontal direction b, and is positioned in the second horizontal direction b by pushing the AGV 9 along the second horizontal direction b.
- the second positioning module 1011 is used to position the AGV9 along the second horizontal direction b of the wheel axis, and the AGV9 always keeps the AGV9 at the first level during the positioning process along the second horizontal direction b.
- the position in the direction a does not change.
- the second positioning module 1011 starts to work, and the horizontal pushing assembly 1011a extends along the second horizontal direction b.
- Abutting the side of the AGV9, viewed from above, is equivalent to the horizontal pushing assembly 1011a sandwiching the AGV9, so that the AGV9 can move with the movement of the horizontal pushing assembly 1011a, thereby realizing positioning in the second horizontal direction b.
- the horizontal pushing assembly 1011a may include a fixed bracket 1011a1, a movable bracket 1011a2, a horizontal pushing power unit 1011a3, and a pushing guide unit 1011a4;
- the fixed bracket 1011a1 is fixed to the support table 100 and is used to fix and support other mechanisms of the horizontal pushing assembly 1011a.
- the fixed bracket 1011a1 is set in a plate shape, or may be set as an upwardly extending support column, It can serve as a fixed support; the fixed bracket 1011a1 and the movable bracket 1011a2 are connected by a push guide unit 1011a4.
- the push guide unit 1011a4 can be set as a guide rail, or as a guide rod or guide.
- the column can be guided to move the support 1011a2 along the second horizontal direction b.
- the horizontal pushing power unit 1011a3 can be set as a hydraulic rod as shown in Figure 12, or can be set as a mechanical arm, a servo motor, etc., and can be set along the second horizontal direction b. Push the mobile bracket 1011a2 and push the AGV9 to the positioning position. Since the mobile bracket 1011a2 moves along the second horizontal direction b, when the pair of mobile brackets 1011a2 extend and simultaneously push the AGV9, the AGV9 can be uniformly stressed on both sides, and the AGV9 can be prevented from twisting due to uneven forces.
- a flexible clamping block 1011a5 is provided on the mobile support 1011a2, and the flexible clamping block 1011a5 can be set as shown in Figure 12 to protrude from the side of the mobile support 1011a2 facing the AGV9
- the small block can also be set to cover the side of the mobile support 1011a2 facing the AGV9.
- the positioning data of the second positioning module 1011 can be provided by a camera or other type of identification device that can observe the relative position of the AGV 9 and the support platform 100 in the second horizontal direction b.
- a fiducial mark 1012 can be set on the support platform 100, and the fiducial mark 1012 can be set in the form of a cross-hair mark, a QR code, etc.
- the AGV9 recognizes the reference mark 1012, it can calculate the position difference between the current AGV9 in the second horizontal direction b and the reference mark 1012, and notify the central control device such as the central processing unit, and then the central control device can control the second positioning module 1011 pushes the AGV9 and moves it to face the reference mark 1012 to complete the positioning of the main body of the AGV9 in the horizontal direction.
- the AGV 9 After the positioning of the main body of the AGV 9 is completed, the AGV 9 also needs to be fixed to prepare for the next step of removing or installing the battery module 93.
- the main frame 90 and the sub-frame 91 may be fixedly connected, or may be movably connected by hinges.
- the main frame 90 and the sub-frame 91 since the main frame 90 and the sub-frame 91 can rotate relative to each other to change the angle, on the one hand, it may have a negative impact on the positioning accuracy, on the other hand,
- the structure of the AGV 9 may be changed due to stress during the installation or disassembly of the battery module 93, which increases the difficulty of the operation.
- the lifting frame 10 in this embodiment further includes a sub-frame pressing mechanism 102 as shown in FIG. 12 and a sub-frame as shown in FIG. 9
- the frame supporting mechanism 103 at this time, the supporting table 100, the sub-frame pressing mechanism 102, and the sub-frame supporting mechanism 103 can form the sub-frame fixing assembly of the AGV9.
- the sub-frame pressing mechanism 102 is used to press the sub-frame 91 of the AGV 9 downwards
- the sub-frame lifting mechanism 103 is used to lift the sub-frame 91 of the AGV 9 upwards, by simultaneously aligning the opposite sides in the vertical direction.
- the sub-frame 91 exerts force to at least fix the AGV sub-frame 91 firmly.
- the sub-frame pressing mechanism 102 may be arranged on a horizontal pushing assembly.
- the horizontal pushing component mentioned here may be another independent horizontal pushing structure different from the horizontal pushing component 1011a in the second positioning module 1011.
- these embodiments may or may not include the positioning mechanism 101, or in an embodiment including the positioning mechanism 101, the positioning mechanism 101 may include the second positioning module 1011 or not include the second positioning module 1011, Or in an embodiment including the second positioning module 1011, the second positioning module 1011 may also include the horizontal pushing component 1011a or not including the horizontal pushing component 1011a.
- the sub-frame pressing mechanism 102 may also be provided on the horizontal pushing assembly 1011a. Regardless of whether it is an independent horizontal pushing component or a horizontal pushing component 1011a attached to the second positioning module, the position of the sub-frame pressing mechanism 102 needs to correspond to the sub-frame 91 of the AGV 9.
- the specific position of the sub-frame pressing mechanism 102 in this embodiment can be designed according to the structure of the AGV 9 and the location of the pressure-bearing surface. For different AGVs 9, the sub-frame pressing mechanism 102 may be set at different positions.
- the sub-frame pressing mechanism 102 it should ensure that when the horizontal pushing assembly 1011a pushes the AGV 9 along the second horizontal direction b, it can drive the sub-frame pressing mechanism 102 to move to the auxiliary vehicle. Above a certain pressure-bearing surface of the frame 91. Then, the sub-frame pressing mechanism 102 can press the pressure-bearing surface downward.
- sub-frame pressing mechanism 102 may also be provided on another structure that can move it to above the pressure-bearing surface of the sub-frame 91.
- the sub-frame downward pressing mechanism 102 may be symmetrically arranged on the horizontal pushing assembly 1011a along the second horizontal direction b.
- the lifting frame 10 may further include a main frame pressing mechanism 104, as shown in FIGS. 9 and 10, the main frame pressing mechanism 104 and the sub-frame pressing mechanism 104 102 is arranged on the horizontal pushing assembly 1011a along the first horizontal direction a.
- the main frame pressing mechanism 104 can press the main frame 90 of the AGV 9 downwards, thereby simultaneously pressing the main frame 90 and the sub-frame 91 to avoid
- the AGV9's posture is unstable due to uneven force.
- the sub-frame pressing mechanism 102 includes a pressing power unit 1020 and a pressing member 1021, and the pressing member 1021 is connected to the pressing power unit 1020.
- the pressing member 1021 extends along the second horizontal direction.
- the pressing member 1021 is configured as a pin extending in the second direction.
- a pin hole 92 with a pressure bearing surface is correspondingly provided on the AGV 9 and the pressing member 1021 can also be set as a protruding strip extending in the second direction, and the AGV 9 is provided with a corresponding groove with a pressure bearing surface, and the lower pressing member 1021 can be moved above the pressure bearing surface of the AGV 9 by the horizontal pushing assembly 1011a, namely The pin extends into the pin hole 92.
- the pressing power unit 1020 pushes the pressing member 1021 to move downward, and the pressing member 1021 presses the pressure-bearing surface downward, thereby exerting a downward pressing force on the AGV 9.
- the main frame pressing mechanism 104 may include a pressing power unit 1040 and a pressing member 1041, and the structure and working principle are the same as those of the sub-frame pressing mechanism 102, which will not be repeated here.
- the sub-frame lifting mechanism 103 can provide upward lifting force to the AGV 9 alone or together with the support platform 100.
- an avoidance area 1001 for the battery module 93 to pass through in the vertical direction is provided on the support platform 100, and the avoidance area 1001 may be the support platform 100.
- the last closed hollow area may also be a gap extending to one side of the support platform 100 and forming an opening 1002.
- the shape of the avoiding area 1001 shown in FIG. 10 is the same as that of the battery module 93 shown in FIG. 18 in the vertical direction.
- the projections of are roughly consistent, or it can be set to not coincide, so that the battery module 93 can be allowed to pass in the vertical direction.
- the sub-frame 91 may not be lifted by the support platform 100. At this time, it is more important to provide the sub-frame lifting mechanism 103 to lift the sub-frame 91 alone.
- the lifting frame 10 may include a supporting frame 105, which is fixedly connected to the supporting platform 100, and at the same time, the supporting frame 105 is also used to fix the sub-frame lifting mechanism 103.
- the support frame 105 includes a main body portion 1050 and an extension portion 1051. As shown in FIG. 8, the main body portion 1050 is fixedly connected to the support platform 100.
- the extension portion 1051 extends from the main body portion 1050 to one side of the support platform 100.
- the sub-frame lifting mechanism 103 can be fixed on the extension part 1051, so that there is a larger installation space and a better lifting position.
- the sub-frame lifting mechanism 103 can be opposite to the opening 1002, and the sub-frame lifting mechanism 103 can extend and lift toward the opening 1002 when the AGV 9 is at a predetermined position on the support platform 100 Subframe 91.
- the sub-frame lifting mechanism 103 includes a lifting member 1030 and a lifting power unit 1031; the lifting power unit 1031 is fixedly connected to the extension portion 1051, and the lifting member 1030 is driven by the lifting power unit 1031 to move To the bottom of the sub-frame 91, when the sub-frame 91 needs to be lifted, the lifting member 1030 can move upward to lift the sub-frame 91.
- the lifting member 1030 is provided with a support The lifting surface coincides with the bottom surface of the sub-frame 91, and it may also be provided with a protruding top joint portion, and the sub-frame 91 is lifted by abutment.
- the positioning and fixing of the AGV 9 can be realized.
- the lifting frame 10 of this embodiment may further include a pre-charging mechanism 106.
- the pre-charging mechanism 106 can interact with the pre-charging mechanism set on the AGV 9
- the charging coordination device cooperates to pre-charge the AGV9.
- the pre-charging mechanism 106 may include a pre-charging electrical connector 1060 for electrically connecting with the pre-charging coordination device.
- the pre-charging electrical connector 1060 may be a charging capable of cooperating with the pre-charging coordination device.
- the coil may also be a plug or other structure that can be electrically connected to the pre-charging cooperating device and can be electrically connected and charged, which will not be repeated here.
- the pre-charging mechanism 106 also includes a cylinder, a turret, or other forms of pre-charging power unit 1061.
- the pre-charging power unit 1061 can be fixed to the extension 1051 or other parts of the lifting frame 10, and the pre-charging electrical connection
- the component 1060 is driven by the pre-charged power unit 1061.
- the pre-charging power unit 1061 can drive the pre-charging electrical connector 1060 to move and interact with The pre-charging coordination device is electrically connected.
- the pre-charging power unit 1061 only needs to be driven in the reverse direction to disconnect the pre-charging electrical connector 1060 from the electrical connection with the pre-charging matching device.
- the central processing unit can control the lifting frame 10 to drive the AGV 9 to go up and down, so as to adjust the relative position of the AGV 9 and the battery disassembly and assembly mechanism 12.
- the battery module 93 is provided with a locking module 930 as shown in FIG. 5.
- the locking module 930 can be a lock or other structure.
- a lock 910 is provided on the sub-frame 91, and the lock 910 can be As shown in FIG. 7, the lock buckle 910 includes an unlocking lever 9100, a U-shaped lock head 9101 and a lock body 9102, and the unlocking lever 9100 and the U-shaped lock head 9101 are both rotatably connected with the lock body 9102.
- the U-shaped lock head 9101 is in a natural state, its opening faces downwards.
- the U-shaped lock head 9101 can be driven by the locking module 930 to rotate to the horizontal direction. And it is lapped and fixed with the unlocking lever 9100 to realize the locking of the locking module 930. Afterwards, the unlocking lever 9100 is pushed up by external force to cause the unlocking lever 9100 to rotate, which can collapse the lap fixing structure of the unlocking lever 9100 and the U-shaped lock 9101, so that the U-shaped lock 9101 can resume free rotation, thereby releasing the lock Module 930.
- the locking module 930 and the lock buckle 910 can also be configured as other structures that can be automatically locked and easily unlocked, for example, an unlocking button is provided.
- the battery disassembly and assembly mechanism 12 includes an abutment table 120, a coarse positioning module 121, a fine positioning module 122, and an unlocking module 123.
- the battery module 93 is provided with a coarse positioning module 121 and the positioning hole 931 corresponding to the fine positioning module 122.
- the coarse positioning module 121, the fine positioning module 122 and the unlocking module 123 are all arranged on the abutment table 120.
- the abutment table 120 has an abutment surface 1200.
- the coarse positioning module 121 in this embodiment may include coarse positioning pillars 1210, and these coarse positioning pillars 1210 protrude from the abutment surface 1200. And corresponding to the positions of some positioning holes 931 on the battery module 93, these positioning holes 931 corresponding to the coarse positioning posts 1210 may be referred to as coarse positioning holes in this embodiment.
- the fine positioning module 122 in this embodiment includes a fine positioning column 1220 and a fine positioning power unit 1221. These fine positioning posts 1220 correspond to the positions of other positioning holes 931 on the battery module 93.
- these positioning holes 931 corresponding to the fine positioning posts 1220 may be called fine positioning holes.
- the coarse positioning holes and the fine positioning holes in are only used to distinguish different correspondences, but there are no restrictions on the structure, shape, and size of the two.
- the shape and structure of the coarse positioning hole and the fine positioning hole can be exactly the same , Or the diameter of the coarse positioning hole is smaller than that of the fine positioning hole.
- the other positioning holes 931 in this embodiment can all adopt the same or different structure, shape or size, and there is no limitation.
- These fine positioning posts 1220 are usually retracted below the abutting surface 1200 and can protrude from the abutting surface 1200 under the driving of the fine positioning power unit 1221.
- the precise positioning power unit 1221 can be set as a hydraulic jack or as an electric telescopic pole.
- the coarse positioning column 1210 can first extend into the corresponding positioning hole 931, thereby realizing the battery disassembly and assembly mechanism 12 and the battery module 93 The rough positioning.
- the thick positioning pillar 1210 is much slender, so the width of the annular gap formed between the thick positioning pillar 1210 and the positioning hole 931 is relatively large. The purpose is to enable the coarse positioning column 1210 to smoothly extend into the positioning hole 931 to complete the coarse positioning even when the position difference between the two sides is large.
- the fine positioning power unit 1221 is turned on to extend the fine positioning column 1220 and extend into the corresponding positioning hole 931.
- the width of the annular gap formed between the fine positioning column 1220 and the positioning hole 931 is much smaller, and the positioning hole 931 can be basically filled. Therefore, the fine positioning post 1220 and the positioning hole 931 have a high degree of agreement.
- the positioning hole 931 on the battery module 93 may have a large deviation from the coarse positioning column 1210 or the fine positioning column 1220.
- the head of the coarse positioning column 1210 and the fine positioning column 1220 or the edge of the positioning hole 931 can be provided with a guiding surface, and the guiding surface can be an inclined surface or Arcuate.
- the battery module 93 will move when the coarse positioning column 1210, the fine positioning column 1220 and the positioning hole 931 cooperate to position the battery module 93. At this time, if there is a large gap between the abutment table 120 and the battery module 93 Friction will affect the moving effect of the battery module 93 and even cause wear.
- the surface of the abutting surface 1200 is provided with a ball unit 1201 protrudingly.
- the battery module 93 When the battery module 93 is placed on the abutting table 120, the battery module 93 can interact with the ball unit.
- the unit 1201 rolls and fits so as to avoid excessive friction and reduce wear.
- the unlocking module 123 in this embodiment may specifically include an unlocking power unit 1231 and an unlocking jack 1230 corresponding to the position of the locking module 930, that is, each locking module 930 has its corresponding unlocking jack 1230 responsible for unlocking, There will be no omissions.
- the unlocking jack 1230 can protrude from the abutting surface 1200 or retract below the abutting surface 1200 under the driving of the unlocking power unit 1231.
- the lock buckle 910 used in this embodiment is equipped with an unlocking lever 9100.
- the opening of the lock buckle 910 can be rotated and the locking module 930 can be released by pushing up the unlocking lever 9100 by an external force, so that the locking module 930 can be locked. Unlocking. Therefore, in this embodiment, the unlocking mandrel 1230 actually needs to be aligned with the unlocking lever 9100 on the lock 910 that is matched and locked with each locking module 930 from below.
- the unlocking jack 1230 When the unlocking jack 1230 protrudes from the abutting surface 1200 under the driving of the unlocking power unit 1231, the unlocking jack 1230 can push the unlocking lever 9100 upwards to unlock the locking module 930.
- the battery module 93 can be separated from the sub-frame 91. Then the lifting frame 10 is raised again, the AGV 9 will rise together with the lifting frame 10, and the battery module 93 remains on the battery disassembly and assembly mechanism 12.
- other unlocking structures that enable the unlocking lever 9100 to be lifted upwards can also be used, which will not be repeated here.
- the battery disassembly and assembly mechanism 12 of the embodiment of the present disclosure may include a plurality of rough positioning modules 121, and the plurality of rough positioning modules 121 are preferably along a diagonal of the battery module 93. Line distribution, the farther the distance, the higher the positioning accuracy.
- the battery disassembly and assembly mechanism 12 of the embodiment of the present disclosure may also include a plurality of fine positioning modules 122, and the plurality of fine positioning modules 122 are preferably along the other diagonal of the battery module 93. Line distribution, the two settings can be used independently or synergistically.
- the battery disassembly and assembly mechanism 12 may further include a battery module detection sensor 124.
- the battery module detection sensor 124 is arranged on the abutment table 120 and is used to detect whether there is a battery module 93 on the abutment table 120.
- This embodiment The battery module detection sensor 124 used is a photoelectric sensor. In other embodiments, a pressure sensor or the like can also be used to determine whether the battery module 93 is placed in the battery removal mechanism 12.
- the mechanism 12 may also include a pulling module 125.
- the pulling module 125 includes a hook 1250 and a hook power unit 1251.
- the hook 1250 protrudes from the contact surface 1200 and can be rotated by the hook power unit 1251 to hook the battery module 93. action.
- the periphery of the battery module 93 is provided with a circle of protruding edges that can be hooked, and the hook 1250 can rotate and hook these protruding edges, thereby preventing the battery module 93 from being together when the lifting frame 10 drives the AGV 9 to rise again. Ascend, thereby separating the two. In this way, it can be avoided that the battery module 93 is stuck in the sub-frame 91 and cannot be separated from the sub-frame 91.
- an abutment platform 120 and an unlocking module 123 can be respectively provided for each locking module 930.
- an elasticity is provided at the bottom of each abutment platform 120. Tighten the module 126.
- the lifting frame 10 is used to drive the AGV 9 down to a position that can simultaneously compress all the abutment tables 120.
- the elastic jacking module 126 can push up each abutment table 120 and close to the battery module 93, thereby unlocking each The top rods 1230 are as close to the corresponding locking module 930 as possible. This can effectively avoid the problem that the unlocking jack 1230 cannot unlock the locking module 930 due to the deformation of the bottom of the battery module 93.
- the elastic jacking module 126 can be set as a spring or can be set It is an elastic material block and other structures that have elasticity and can push up the abutment table 120.
- the battery disassembly mechanism 12 in this embodiment further includes a tightening sensor 127, which can determine whether at least one abutting platform 120 is It is pressed to a predetermined position, as shown in FIG. 14, the tightening sensor 127 can be set as a pressure sensor or a distance measuring sensor, which can determine the position of the abutment table 120.
- the battery disassembling mechanism 12 in this embodiment can always be arranged under the lifting frame 10, for example, the initial position of the lifting frame 10 is set in the air, or a recess is formed under the battery replacement device 1 to accommodate the battery disassembling mechanism 12.
- the former of the two methods may cause difficulty for the AGV 9 to enter the lifting frame 10, and the latter method may cause difficulties in conveying the battery module 93.
- the initial position of the battery disassembly mechanism 12 is set on the side of the lifting frame 10 in this embodiment.
- the lifting frame 10 will rise and give space for disassembly and assembly of the battery module 93.
- the battery disassembly mechanism 12 at this time also includes a walking module 128.
- the walking module 128 can be configured as a crawler, a lead screw, a wheel set or other power structure.
- the walking module 128 can drive the abutment table 120, the coarse positioning module 121, the fine positioning module 122, the unlocking module 123, and the elastic
- Each module including the tightening module 126 moves horizontally below the battery module 93 from the initial position.
- multiple walking modules 128 can be used according to the actual situation and a part of the abutment table 120 can be respectively driven to move.
- the other modules of the battery disassembly mechanism 12 can be divided into two parts, respectively. Set on both sides of the lifting frame 10, the two part modules are moved below the battery module 93 by using two walking modules 128 respectively.
- each walking module 128 can be equipped with a base body 129, the part of the abutment table 120 that the walking module 128 needs to drive, the coarse positioning module 121, the fine positioning module 122, the unlocking module 123, and the elastic jacking module 126 and the like can be uniformly arranged on the base 129, so that the walking module 128 can drive a part of the corresponding modules to move by driving the base 129 matched with it.
- the walking module 128 drives the abutment table 120 to reach below the battery module 93, and then the abutment table 120 abuts against the battery module 93 under the cooperation of the elastic jacking module 126 and the lifting frame 10, and passes The positioning function of the coarse positioning module 121 and the fine positioning module 122 enables the unlocking module 123 to align with the locking module 930 on the battery module 93 and complete the unlocking action.
- the lifting frame 10 is raised by the lifting frame lifting mechanism 11, and the battery module 93 is separated from the sub-frame 91 under the cooperation of its own gravity and the pulling module 125 to complete the disassembly of the battery module 93.
- the battery module 93 When the battery module 93 is installed, the battery module 93 only needs to be positioned to a position where it can be installed by the positioning function of the coarse positioning module 121, and the AGV9 approaches the battery module 93 as the lifting frame 10 descends, so that the locking module 930 extends in It extends into the opening of the lock catch 910 provided in the sub-frame 91 and rotates the opening to automatically lock the battery module 93.
- the battery module 93 can be removed or installed from the AGV 9 in a certain automatic step, thereby providing a support basis for the AGV 9 automatic battery replacement process.
- the switching station After completing the steps of disassembling and installing the battery module 93, it is necessary to transfer the exhausted battery module 93 to the battery compartment system 2 for storage, and even the battery compartment system 2 can store the battery module 93 at the same time as the battery module 93
- the battery module 93 is charged, and the charged battery module 93 is transferred to the battery disassembly and assembly mechanism 12 to prepare for installation.
- the switching station further includes a battery compartment system 2.
- the battery compartment system 2 includes a battery pick-and-place device 20 and a storage device 21, wherein the storage device 21 only has the function of storing the battery module 93 but not charging
- the storage device 21 may have storage and charging functions at the same time, and the latter will be described as an example in this embodiment.
- the battery pick-and-place device 20 removes the old battery module from the battery disassembly mechanism 12 and docks the new battery module with the battery disassembly mechanism 12.
- the battery pick-and-place device 20 takes out or puts the battery module 93 from the battery disassembly mechanism 12 or the storage device 21 as needed, and transfers the battery module 93 between the battery disassembly mechanism 12 and the storage device 21, inside the storage device 21
- a number of charging docks 211 are provided for storing and charging the battery module 93. Several charging docks 211 may be arranged on the charging dock support 210.
- the battery pick-and-place device 20 includes a carrying platform 200, a transfer mechanism 201, and a battery lifting mechanism 202.
- the carrying platform 200 can be set as a flat plate as shown in FIG.
- a battery clip or the like can carry the battery module 93 and transfer the battery module 93 between the carrying platform 200 and the battery disassembly mechanism 12 or between the carrying platform 200 and the charging dock 211 by vertical movement.
- the transfer mechanism 201 is connected to the carrying platform 200, and the two can be directly and fixedly connected as shown in FIG. 17, or they can be connected to each other through a connecting piece.
- the transfer mechanism 201 can drive the carrying platform 200 to move the battery module 93 to the battery removal.
- the installation mechanism 12 or the storage device 21 is sufficient.
- the transfer mechanism 201 can be moved in a horizontal plane, or can be a more complicated way of movement.
- the transfer mechanism 201 may be configured to include a telescopic module 2010 and a rotating module 2011 as shown in FIG. 15.
- the rotating module 2011 may be configured as a rotating shaft structure as shown in FIG. 15, or may be configured as a circular track It suffices that the carrying platform 200 can be driven to rotate horizontally and the horizontal orientation of the carrying platform 200 can be changed.
- the telescopic module 2010 can be set as a telescopic arm with a track as shown in FIG. 15 or a hydraulically controlled telescopic arm, which can be telescopic in a straight line in the horizontal plane.
- the rotating module 2011 and the telescopic module 2010 Function by rotating and telescoping, the position and posture of the battery module 93 placed on the carrying platform 200 can be changed, so as to achieve matching with the battery disassembly and assembly mechanism 12 or the charging stand 211 to achieve the purpose of transfer.
- the battery lifting mechanism 202 is connected to the transfer mechanism 201.
- the battery lifting mechanism 202 can be configured as a lifting chain as shown in FIG. 17, and the transfer mechanism 201 is fixedly connected to the lifting chain to achieve lifting.
- the battery lifting mechanism 202 may also be configured as a hydraulic rod extending in a vertical direction or other structures with lifting functions.
- the carrying table 200 is first moved by the battery lifting mechanism 202 to a position lower than the battery module 93, and then the transfer mechanism 201 controls the carrying table 200 to move horizontally below the battery module 93.
- the carrying table 200 can be slightly lower than the abutting table 120 , And respectively align with the abutment platform 120 to different areas of the battery module 93.
- the battery lifting mechanism 202 lifts the carrying platform 200 upward, and the carrying platform 200 supports the battery module 93 from below until the battery module 93 is completely separated from the battery disassembly mechanism 12, thereby completing the battery module 93 from the battery disassembly mechanism 12 to the carrying platform 200 Transfer.
- the carrying table 200 carrying the battery module 93 is moved to a position higher than the battery dismounting mechanism 12 Position, and align the abutment table 120 with the battery module 93, and then control the battery lifting mechanism 202 to move downward until the battery module 93 is supported by the abutment table 120 of the battery disassembly mechanism 12 and is completely separated from the carrier 200 to complete the battery
- the transfer mechanism 201 can be arranged on the fixing frame 206 in this embodiment, and then the battery lifting mechanism 202 and the fixing frame 206 can be connected.
- a battery module fixing member 2000 can be provided on the carrying platform 200, as shown in Figs. 15 and 5 As shown in FIG. 6, the battery module fixing member 2000 may be configured as an upward fixing pin that can be inserted into some positioning holes 931 of the battery module 93, or may be a structure such as a clamping plate or a claw that clamps the battery module 93.
- the positioning holes 931 corresponding to the coarse positioning pillars 1210 and the fine positioning pillars 1220 will always be occupied, so the positioning holes 931 corresponding to the fixing pins of the carrying platform 200 It should be different from the positioning holes 931 corresponding to the coarse positioning posts 1210 and the fine positioning posts 1220 on the battery disassembly and assembly mechanism 12.
- the carrying platform 200 A limit mechanism 2001 can also be provided.
- the limit mechanism 2001 includes a limit member 2001a that restricts the battery module 93 from moving upward and away from the battery module 93, and a limit power unit 2001b that drives the limit member 2001a.
- the limiting member 2001a can be set as shown in FIG.
- the movement mode of the limiting member 2001a can be telescopic, rotating, translation and other various modes.
- a battery replacement port 203 is required on the battery pick-and-place device 20.
- at least one battery storage port 204, the battery replacement port 203 and the battery storage port 204 can be horizontally passed by the carrier 200, the battery replacement device 1 faces the battery replacement port 203, and the storage device 21 faces the battery storage port 204.
- the battery pick-and-place device 20 may include a main support frame 207, and the battery replacement port 203 and the battery storage port 204 are both provided on the main support frame 207.
- the main support frame 207 also has a lifting channel 2070, that is, a space area formed by the four columns of the main support frame 207.
- the battery lifting mechanism 202 is arranged on the main support frame 207, and the carrying platform 200 and the transfer mechanism 201 are both It is arranged in the lifting channel 2070 and can move vertically along the lifting channel 2070 under the drive of the battery lifting mechanism 202.
- the battery storage port 204 and the battery replacement port 203 may be arranged adjacent to each other.
- the main support frame 207 of the battery pick-and-place device 20 may be a rectangular parallelepiped frame structure, which is adjacent to both sides of the battery replacement port 203.
- a battery storage port 204 is provided for each, so that the moving distance of the battery module 93 can be reduced and the travel time can be saved.
- the battery storage port 204 can also be provided on the side opposite to the battery replacement port 203 in this embodiment.
- the battery storage port 204 is far away from the battery replacement port 203 here, it is better. Make full use of the space around the battery pick-and-place device 20.
- the main support frame 207 of the battery pick-and-place device 20 adopts other structures, such as a hexagonal prism structure, the number of battery storage ports 204 and even battery replacement ports 203 may be larger.
- each battery storage port 204 can be vertically arranged with multiple charging docks 211 to save floor space.
- the structure of the charging stand 210 can be designed according to the position of the battery replacement port 203, the number of charging stands 211, and the number of vertical arrangements.
- the charging stand 210 can be an integrated structure or can be divided into several independent structures. In the structure, a part of the charging stand 211 is fixed respectively.
- the charging dock 211 may include a charging dock 2110, a charging dock coarse positioning module 2111, a charging dock fine positioning module 2112, and a connector module 2113.
- the charging base coarse positioning module 2111 and the charging base fine positioning module 2112 are all arranged on the charging stand 2110.
- the charging stand 2110 has a receiving surface 2110a, and the charging base coarse positioning module 2111 includes charging base coarse positioning posts 2111a. These charging base coarse positioning posts 2111a protrude from the receiving surface 2110a and are connected to the battery Some positioning holes 931 on the module 93 correspond to the positions. In this embodiment, these positioning holes 931 corresponding to the charging base coarse positioning posts 2111a may be referred to as charging base coarse positioning holes.
- the charging base fine positioning module 2112 in this embodiment includes a charging base fine positioning column 2112a and a charging base fine positioning power unit. These charging base fine positioning posts 2112a correspond to the positions of other positioning holes 931 on the battery module 93.
- these positioning holes 931 corresponding to the charging base fine positioning posts 2112a may be referred to as charging base fine positioning holes.
- the coarse positioning holes of the charging base and the fine positioning holes of the charging base in this embodiment are only used to distinguish different correspondences, but for the structure, shape, and size of the two There are no restrictions.
- the charging base fine positioning column 2112a can extend into these positioning holes 931 under the driving of the charging base fine positioning power unit.
- the precise positioning power unit of the charging base can be set as a hydraulic ejector rod or an electric telescopic rod.
- the positioning hole 931 corresponding to the fixing pin of the carrying platform 200 will always be occupied, so the coarse positioning post 2111a of the charging stand and the fine positioning post 2112a of the charging stand correspond to The positioning hole 931 should be different from the positioning hole 931 corresponding to the fixing pin of the carrying platform 200.
- the positioning holes 931 corresponding to the coarse positioning post 2111a and the fine positioning post 2112a of the charging stand may be completely the same, partly the same or completely different from the positioning holes 931 corresponding to the coarse positioning post 1210 and the fine positioning post 1220.
- the charging base coarse positioning post 2111a can first extend into the corresponding positioning hole 931, so as to realize the coarse positioning of the charging base 211 and the battery module 93.
- the thick positioning post 2111a of the charging stand is much slender. Therefore, the width of the annular gap formed between the coarse positioning post 2111a of the charging stand and the positioning hole 931 is relatively large. The purpose is to enable the charging base coarse positioning post 2111a to smoothly extend into the positioning hole 931 to complete the coarse positioning even when the position difference between the two sides is large.
- the charging base fine positioning power unit is turned on to extend the fine positioning post 2112a of the charging base into the corresponding positioning hole 931.
- the annular gap formed between the charging base fine positioning column 2112a and the positioning hole 931 has a much smaller width, which can basically fill the positioning hole 931. Therefore, the precision positioning post 2112a of the charging stand and the positioning hole 931 have a high degree of agreement.
- the precision positioning post 2112a of the charging stand smoothly extends into the positioning hole 931, the battery module 93 and the charging stand 211 can be accurately positioned.
- the positioning holes 931 on the battery module 93 and the charging base coarse positioning pillar 2111a or the charging base fine positioning pillar 2112a may have large deviations. In order to make the charging base coarse positioning pillar 2111a And when there is a certain deviation between the charging seat fine positioning column 2112a and the positioning hole 931, it can still smoothly extend and move the battery module 93 to achieve the positioning function.
- the head or positioning of the charging seat coarse positioning column 2111a and the charging seat fine positioning column 2112a The edge of the hole 931 may be provided with a guiding surface, and the guiding surface may be an inclined surface or an arc surface.
- the battery module 93 will move during the process of the charging base coarse positioning column 2111a, the charging base fine positioning column 2112a and the positioning hole 931 to locate the battery module 93. At this time, if the charging station 2110 is between the battery module 93 The presence of large friction will affect the moving effect of the battery module 93 and even cause wear.
- the surface of the receiving surface 2110a is protrudingly provided with a charging stand ball unit 2114.
- the battery module 93 When the battery module 93 is placed on the charging station 2110, the battery module 93 can be charged
- the seat ball unit 2114 is rolled to avoid excessive friction and reduce wear.
- the charging dock 211 of the embodiment of the present disclosure may include a plurality of charging dock coarse positioning modules 2111, and the plurality of charging dock coarse positioning modules 2111 are preferably along a line of the battery module 93. Diagonal distribution, the longer the distance, the higher the positioning accuracy.
- the charging base 211 of the embodiment of the present disclosure may also include a plurality of fine positioning modules 122, and the plurality of charging base coarse positioning modules 2111 are along another diagonal line of the battery module 93. Distribution, the two settings can be used independently or synergistically.
- the electrical connection between the connector module 2113 and the battery module 93 is provided. And the conditions for charging it.
- the connector module 2113 may be equipped with a connector 2113a and a connector power unit.
- the connector power unit can be configured as a telescopic rod or For other power mechanisms such as a mechanical arm, it is sufficient to drive the connector 2113a and the corresponding electrical socket on the battery module 93 to complete the electrical conduction operation.
- the shape of the connector 2113a corresponds to the electrical socket on the battery module 93, for example, one is a socket, the other is a plug, etc., which will not be repeated here.
- a charging dock battery module detection sensor 2115 is also provided on the charging station 2110.
- the charging dock battery module detection sensor 2115 is used to detect whether the battery module 93 has been placed on the charging station 2110.
- the battery module detection sensor 2115 of the charging station used in the example can be a micro switch. When the battery module 93 is placed on the charging station 2110, the micro switch is touched to start fine positioning and electrical conduction operations.
- the charging base battery module detection sensor 2115 can also be set as other inductive switches such as a photoelectric sensor, which can determine whether the battery module 93 has been placed on the charging station.
- the charging stand 2110 can be configured as a U-shaped structure as shown in FIG. 2113a are all located above the charging station 2110 and facing the hollow area of the U-shaped structure.
- the protruding direction of the charging seat fine positioning column 2112a is opposite to the protruding direction of the charging seat coarse positioning column 2111a, that is, it protrudes downward.
- the charging base fine positioning power unit drives the charging base fine positioning column 2112a to move in the vertical direction.
- the charging station 2110 in this embodiment may also adopt other structures that can allow the carrying platform 200 to pass through from below, which will not be repeated here.
- the charging base fine positioning power unit of the charging base fine positioning module 2112 drives the charging base fine positioning column 2112a to descend and extend into the corresponding positioning hole 931 to complete the fine positioning.
- the connector power unit drives the connector 2113a to be electrically connected to the battery module 93.
- the charging base fine positioning post 2112a and the connector 2113a are separated from the mating state of the battery module 93, and then the load is loaded.
- the table 200 moves below the battery module 93 and then rises upwards. During the raising process, the carrying table 200 can lift the battery module 93 until it disengages from the charging table 2110 and the charging base coarse positioning module 2111 to complete the removal process.
- the orientation of the connector 2113a may be the same as the protruding direction of the charging base fine positioning pillar 2112a, or may be different from the protrusion direction of the charging base fine positioning pillar 2112a.
- the protruding direction of the charging seat fine positioning column 2112a is opposite to the charging seat coarse positioning column 2111a, that is, it protrudes downward, and the direction of the connector 2113a can be the same as the protruding direction of the charging seat fine positioning column 2112a
- the power of the connector The unit can drive the connector 2113a to also move in the vertical direction, that is, at this time, the moving direction of the connector 2113a and the charging base precision positioning column 2112a are the same.
- the charging base 211 may further include a support frame 2116.
- the support frame 2116 extends upward from the bottom of the U-shaped structure.
- the charging base fine positioning module 2112 and the connector module 2113 The plug-in modules 2113 can all be arranged on the support frame 2116.
- the moving directions of the connector 2113a and the charging base precision positioning column 2112a are also the same. Therefore, in order to save space and improve efficiency, in this embodiment, the mounting table 2117 can be used at the same time.
- the charging stand fine positioning column 2112a and the connector 2113a Fix the charging stand fine positioning column 2112a and the connector 2113a, and at the same time integrate the charging stand fine positioning power unit and the connector power unit into an integrated power unit 2118, as shown in Figure 19, the integrated power unit 2118 is fixedly arranged on the support On the frame 2116, the mounting table 2117 can be moved in the vertical direction under the drive of the integrated power unit 2118, so that the charging stand fine positioning column 2112a and the connector 2113a move together, and the fine positioning and electrical conduction operations are completed synchronously.
- the battery module 93 may catch fire or even explode due to problems such as current overload and overheating. If the fire is not suppressed in time at this time, it may spread to other battery modules and cause serious consequences. Therefore, once the above-mentioned problem occurs, it is necessary to be able to move the accidental battery module 93 away from other battery modules 93 as soon as possible and perform fire fighting treatment.
- the replacement station may also include a fire fighting device 3, and the battery pick-and-place device 20 is also provided with a fire-fighting exhaust port 205, a fire-fighting device 3 and a fire-fighting exhaust port. 205 is right.
- the fire-fighting waste discharge port 205 may be arranged opposite to the battery replacement port 203.
- the battery replacement device 1, the battery compartment system 2, and the fire-fighting device 3 may be arranged in sequence.
- the fire fighting device 3 includes a battery module receiving mechanism 30, a fire fighting box 31, a fire fighting material storage box 32 and a discharge valve 33.
- the battery module receiving mechanism 30 is used for receiving the battery module 93 that requires fire fighting, and can transport the battery module 93 into the fire fighting box 31.
- the fire-fighting material container 32 is used for storing fire-fighting materials, such as sand.
- the fire-fighting material storage box 32 has a discharge port 320, the discharge port 320 needs to face the fire box 31, and the discharge valve 33 is provided on the discharge port 320.
- a fire-fighting bracket 34 as shown in FIG. 20 may also be provided, and the above-mentioned equipment can be fixed on the fire-fighting bracket 34.
- the fire box 31 may be arranged below the battery module receiving mechanism 30, and at this time, the battery module receiving mechanism 30 may drop the battery module 93 to the fire box 31.
- the battery module receiving mechanism 30 can remove the receiving force according to a preset step, thereby causing the battery module 93 to fall.
- the battery module 93 can be transferred to the battery module receiving mechanism 30 through the battery pick-and-place device 20.
- the transfer principle is the same as that of the battery module 93 being transferred from the carrier 200 to the charging dock 211, both of which are moved in a vertical direction. Implementation, I won't repeat it here.
- the battery module receiving mechanism 30 may be provided with two telescopic support modules 300 opposite to each other.
- the battery module 93 can be supported only when the telescopic support module 300 is in the extended posture, and the battery module 93 will fall when the telescopic support module 300 is in the retracted posture.
- the above-mentioned solution can be realized if the extension directions of two telescopic support modules 300 are opposite.
- the above-mentioned solution may also be realized by the extension directions of the telescopic support modules 300 deviating from each other.
- the telescopic support module 300 may include a fixed part 3000, a support part 3001 and a telescopic power unit 3002, and the telescopic support module 300 may be fixed on the fire fighting support 34 or other components through the fixed part 3000.
- the telescopic power unit 3002 is fixed on the fixed part 3000.
- the telescopic power unit 3002 is used to drive the support part 3001 to complete the telescopic action.
- the telescopic power unit 3002 can be configured as a telescopic arm or a telescopic rod, which can be extended and retracted in the horizontal direction.
- the telescopic support module 300 can also be provided with a telescopic guide rail 3003.
- the support part 3001 and the fixed part 3000 are connected by a telescopic guide rail 3003, and the support part 3001 can be telescopic guide rail during the telescopic process. 3003 oriented.
- the battery module receiving mechanism 30 can also be set in the form of a fire-resistant conveyor belt or the like, which can receive the battery module 93 and transport the battery module 93 to the fire box 31.
- the fire-fighting material holding box 32, the discharge valve 33, the battery module receiving mechanism 30, and the fire-fighting box 31 can be arranged in sequence from top to bottom, so whether it is the transfer of the battery module 93 to the fire-fighting box 31 or the direction of fire-fighting materials
- the transfer of the fire box 31 can be achieved by gravity, and no other power is required.
- the fire-fighting device 3 in this embodiment may further include a detector 35, which can detect whether the battery module receiving mechanism 30 receives the battery module 93.
- the detector 35 may be a thermal sensor, or other types such as a micro switch, which can detect whether there is a battery module 93 on the battery module receiving mechanism 30.
- the detector 35 When the detector 35 detects that the battery module 93 is received on the battery module receiving mechanism 30, it can send a detection signal to the central processing unit. After receiving the signal, the central processing unit can issue an instruction to the battery module receiving mechanism 30 to control the battery module receiving mechanism. 30 Transfer the battery module 93 to the fire fighting box 31. After that, the discharge valve 33 is controlled to open to release the fire-fighting materials in the fire-fighting material storage box 32 to contain the danger of the battery module 93 in the fire-fighting box 31, and the fire-fighting operation is completed.
- the switching station suitable for AGV provided by the embodiments of the present disclosure has many advantages such as saving switching time, improving AGV work efficiency, fast switching speed, high accuracy, and high degree of automation.
- Another embodiment of the present disclosure also provides a battery replacement method for AGV.
- the method can be implemented by the above-mentioned AGV battery swapping station or by other equipment.
- the AGV battery replacement method includes the following steps:
- Step S10 Place the battery disassembly and assembly mechanism under the AGV;
- Step S20 Docking the old battery module on the AGV with the battery disassembly and assembly mechanism and disconnect the connection with the AGV;
- Step S30 separating the old battery module from the battery module assembly area of the AGV;
- Step S40 Remove the old battery module from the battery disassembly mechanism and dock the new battery module with the battery disassembly mechanism;
- step S50 the new battery module and the AGV are relatively moved and approached, so that the new battery module is placed in the battery module assembly area and a connection relationship is established with the AGV.
- the battery module assembly area can be understood as an area of the AGV for installing battery modules.
- the battery module assembly area is the inner area of the sub-frame 91.
- the original battery module in the power-deficient state can be removed from the AGV, and the new battery module in the fully-charged state can be replaced into the AGV, thereby completing the entire battery module replacement process.
- this method of replacing the battery can save a lot of time.
- steps S10 to S50 except for the case that the implementation of a certain step needs to depend on the result of another step, other steps may not have a strict sequence (for example, step S10 and step S20).
- any two or more of these steps may be executed at the same time, or when one step reaches a certain stage, another step starts to execute, and the next step is executed
- the step may also end before the step executed first. As long as the five steps are finally completed, the battery module of the AGV can be updated.
- Step S10 is a preparatory step for replacing the battery module on the AGV.
- the battery dismounting mechanism may be the battery dismounting mechanism 12 in the above-mentioned switching station, or other mechanisms for disassembling and disassembling batteries.
- the battery disassembly and assembly mechanism is already under the AGV's carrying equipment (for example, the lifting frame 10 in the above-mentioned switching station) at the beginning, then only the AGV needs to be moved to the carrying equipment by means of self-movement or other equipment-assisted movement. This step can be realized naturally.
- the AGV is only placed in the initial position, and then the AGV needs to be moved from The initial position is raised to a certain height so that the battery disassembly and assembly mechanism can be moved horizontally below the AGV. After lifting the AGV, the battery disassembly and assembly mechanism must be moved horizontally below the AGV.
- the lifting process of the AGV can be realized by the lifting frame lifting mechanism 11 driving the lifting frame 10, and the battery dismounting mechanism 12 itself is also provided with a corresponding walking module 128 for horizontal movement.
- the process of horizontal movement of the battery disassembly and assembly mechanism can be started after the AGV stops being too healthy, can be started after a period of time after the AGV starts to rise, or it can start at the same time as the lifting process of the AGV.
- the process of horizontal movement of the battery disassembly and assembly mechanism may end before or after the AGV stops, or both processes may end at the same time.
- the AGV Since the AGV usually needs to be moved from other positions to above the battery disassembly and assembly mechanism, and for the above-mentioned substation or other similar equipment, the AGV also needs to be moved up and down by the lifting frame 10, so the overall horizontal position of the AGV is relative to the step S20. Smooth progress also has a certain impact. Improving the overall position certainty of the AGV also helps to increase the success rate of step S20. Therefore, during the process of step S10, the horizontal position of the AGV can be positioned synchronously.
- the positioning of the horizontal position of the AGV can also be divided into two stages.
- the first stage the positioning of the AGV's position in the first horizontal direction a perpendicular to the axis of the wheel is achieved by positioning the wheels of the AGV.
- the second stage is the positioning of the AGV along the second horizontal direction b of the wheel axis.
- the AGV needs to be kept in the positioning process along the second horizontal direction b.
- the position in the first horizontal direction a is unchanged.
- the positioning groove can be used to locate the AGV.
- the specific process can be: roll the AGV wheel along the second horizontal direction b into a positioning groove extending along the second horizontal direction b, and make it under the action of gravity.
- the wheel is stuck in the positioning groove to locate the position of the AGV in the first horizontal direction a.
- the relevant structure of the positioning slot refer to the substation in the above-mentioned embodiment.
- the AGV can always keep the wheels stuck in the positioning grooves during the movement in the second horizontal direction b, so as to maintain the position of the AGV in the first horizontal direction. Since the positioning groove extends along the second horizontal direction b, even if the positioning groove moves relative to the positioning groove during the movement in the second horizontal direction b, it can be ensured that the positioning groove can always restrain the wheel and the AGV as a whole in the first horizontal direction. s position.
- the wheels when the AGV is moving in the second horizontal direction b, the wheels can drive the positioning groove to move along the second horizontal direction b through friction. In this way, the positioning groove and the wheel can be kept relatively stationary when the second stage is executed, so that a higher positioning accuracy can be obtained.
- the above solution can be implemented using the switching station in the above embodiment, or can also be implemented using other structures or equipment that are different from the corresponding structure described in the switching station.
- the status of the AGV can be detected synchronously during the first stage.
- the AGV will start to position the AGV along the wheel axis. 2. Positioning of the position in the horizontal direction b.
- the AGV has completed the positioning in the first horizontal direction a, such as detecting whether the position of a marker on the AGV is within a limited range, and if it is within the limited range, it is considered that the positioning in the first horizontal direction has been completed, or It is detected whether the time that the AGV is in a stationary state exceeds a defined threshold, and when the defined threshold is exceeded, it is considered that the positioning in the first horizontal direction has been completed, etc.
- this embodiment combines the characteristics of positioning groove positioning to provide a relatively simple judging method, that is, detecting whether there are AGV wheels in the positioning groove. When it is detected that there is a wheel in the positioning slot, it can be considered that the positioning in the first horizontal direction has been completed.
- the related implementation structure has been clarified in the switching station in the above embodiment, and the wheel detection sensor 1010f may be provided in the first positioning module 1010 of the positioning mechanism 101, which will not be repeated here.
- the position of the AGV along the second horizontal direction b of the wheel axis can be positioned according to the acquired position difference between the AGV in the second direction and the reference mark.
- the reference mark can be in various forms, such as a notch, a two-dimensional code, the outline of a certain designated structure, etc., which is not limited in this embodiment.
- step S20 The purpose of step S20 is to disconnect the old battery module on the AGV from the main part of the AGV.
- step S10 there is usually no direct contact between the AGV as a whole and the battery disassembly mechanism 12, but there is a certain distance. Therefore, in this step, if the battery disassembly mechanism is required to operate the old battery module, you need Connect the old battery module with the battery disassembly mechanism.
- One way of docking the old battery module with the battery disassembly and assembly mechanism is to move the battery disassembly mechanism upward so that it is close to the AGV, and finally achieve the connection between the two.
- the other way is the opposite, which is to move the AGV as a whole down to a position where it is docked with the battery disassembly and assembly mechanism.
- the two can be moved towards each other at the same time, or even the two can move in the same direction and approach at different speeds, and finally realize the docking.
- the second method is adopted, that is, the lifting frame lifting mechanism 11 in the battery replacement device 1 is used to move the lifting frame 10 and the AGV downward as a whole, and disassemble and assemble them with the battery.
- Organization 12 docking is adopted, that is, the lifting frame lifting mechanism 11 in the battery replacement device 1 is used to move the lifting frame 10 and the AGV downward as a whole, and disassemble and assemble them with the battery.
- Organization 12 docking is adopted, that is, the lifting frame lifting mechanism 11 in the battery replacement device 1 is used to move the lifting frame 10 and the AGV downward as a whole, and disassemble and assemble them with the battery.
- the horizontal position of the old battery module can also be positioned.
- the positioning process can be started before, during, or even after the docking is completed, and can be completed before, when the docking is completed, or after the docking is completed.
- the positioning process can usually be scheduled to start during the docking process and ends after the docking is completed.
- the process of positioning the horizontal position of the battery module in this embodiment can be divided into two stages.
- the first stage is the coarse positioning of the battery module of the AGV in the horizontal direction, that is, the positioning with lower accuracy and larger error.
- the second stage is the precise positioning of the battery module of the AGV in the horizontal direction, that is, positioning with higher accuracy and smaller error.
- the coarse positioning column can be extended into the coarse positioning hole of the battery module from below to coarsely position the battery module of the AGV in the horizontal direction.
- this embodiment can use the fine positioning column to extend from below into the fine positioning hole of the battery module to perform horizontal fine positioning of the AGV battery module.
- the width of the annular gap formed by the fine positioning column and the fine positioning hole is smaller than the width of the annular gap formed by the coarse positioning column and the coarse positioning hole. That is, the size of the annular gap is used as the basis for the accuracy. The larger the annular gap, the lower the accuracy. On the contrary, the smaller the annular gap, the higher the accuracy.
- the process of extending the coarse positioning column 1210 into the coarse positioning hole of the battery module from below can be performed when the battery module 93 faces the abutment table 120 of the battery disassembly mechanism 12 located below it.
- the movement of the abutting surface 1200 is completed synchronously, and the battery module 93 is in abutting state with the abutting surface 1200 when the rough positioning in the horizontal direction is completed.
- the process of extending the fine positioning column 1220 into the fine positioning hole of the battery module 93 from below may specifically be adopted to move the fine positioning column 1220 from the lower direction of the abutting surface 1200 out of the direction of the abutting surface 1200 and extend into the battery module.
- the precision positioning hole of 93 can be used to accurately position the battery module of the AGV in the horizontal direction.
- the battery disassembly mechanism can begin to release the connection relationship between the battery module and the AGV.
- a locking module 930 such as the locking module 930 described in the above-mentioned embodiment of the switch station, and the lock button 910 of the AGV sub-frame 91 are arranged to form a connection relationship. Therefore, to release the connection relationship between the battery module and the AGV is actually to release the connection relationship between the locking module 930 and the lock 910 to unlock the locking module 930.
- the battery module of the AGV can be unlocked through the unlocking module.
- the structure of the unlocking module can be referred to the relevant introduction of the above-mentioned power exchange station.
- the unlocking module 123 has an unlocking jack 1230, and the locking module 930 can be installed at
- the unlocking mandrel 1230 of the unlocking module 123 is unlocked in the process of moving from the downward direction of the abutting surface 1200 to protrude from the abutting surface 1200.
- the related unlocking structure and principle have been explained in detail in the above-mentioned embodiment of the substation, and will not be repeated here.
- the battery module 93 it may be necessary to install multiple locking modules 930 in different positions. Due to the large area of the bottom surface of the battery module 93, if it is made of plastic and other non-durable materials, it is prone to deformation during use. The deformed bottom surface may cause the relative position between the locking module 930 and the unlocking mandrel 1230 to be possible. The change occurs, so that even if the partially unlocked jack 1230 is extended, the locking module 930 cannot be unlocked.
- the battery module 93 when the battery module 93 moves relative to and approaches the abutment surface 1200 of the abutment table 120 below it in the vertical direction, the battery module 93 will touch the abutment table 120. Pressing downward and elastically deforms the elastic jacking module 126 connected to the abutting platform 120. This process will stop after detecting that the abutting platform 120 is pressed to a predetermined position, that is, the relative movement of the battery module 93 and the abutting platform 120 will be stopped. Through this elastic compression, the abutting surface 1200 can be closely attached to the bottom surface of the battery module 93, thereby ensuring the relative position accuracy between the locking module 930 and the unlocking jack 1230.
- step S20 since the old battery module is still in the battery module assembly area of the AGV (for example, the inner area of the sub-frame 91) at this time, it is limited by the spatial position of both parties. , It is difficult to transfer the old battery module directly, so step S30 needs to be performed to remove the old battery module from the battery module assembly area of the AGV.
- step S30 since the old battery module has been docked with the battery dismounting mechanism below in step S20, the battery dismounting mechanism is usually moved vertically away from each other with respect to the carrying equipment of the main body of the AGV.
- the old battery module is docked with the battery disassembly mechanism, and the two can remain relatively stationary, while the AGV is carried by the carrying equipment, and the two remain relatively stationary, so the old battery module can be separated from the battery module assembly area of the AGV.
- the separation of the AGV from the old battery module can be that one of them does not move, the other moves away in the vertical direction, or the two move in the direction away from each other at the same time, or even the two move in the same direction at different speeds and move each other. keep away.
- it usually uses the cooperation of the lifting frame lifting mechanism 11 and the lifting frame 10 to move the AGV upward to the battery module assembly area where the old battery module is separated from the AGV.
- step S30 In order to remedy by the automated equipment, the following steps may be included in step S30:
- step S30 is ended; when it is detected that there is no battery module on the abutment platform Perform the following steps when there is a battery module:
- the process of detecting whether there is the battery module 93 on the abutting station 120 can be implemented by the battery module detection sensor 124.
- the pull hook 1250 is provided in the battery disassembly and assembly mechanism 12, but in other devices, the pull hook may also be provided on other structures or devices that do not move with the AGV.
- step S40 can be started to remove the old battery module from the battery disassembly mechanism and dock the new battery module with the battery disassembly mechanism. This process can be done manually, or it can be done using the above-mentioned substation.
- step S50 can be executed to place the new battery module in the battery module assembly area and establish a connection relationship with the AGV to complete the entire battery replacement process.
- step S50 In order to improve the automation efficiency, it is possible to detect whether the battery module re-exists on the abutting station during the execution of step S40, and when it is detected that the battery module re-exists on the abutting station, step S50 is executed again.
- step S50 There are many ways to determine whether the battery module re-exists on the abutment table, such as using a counter or counting software to cooperate with the battery module detection sensor 124 and so on.
- step S30 Since there will be a long distance between the battery disassembly and assembly mechanism and the AGV in step S30, after the new battery module is docked on the battery disassembly and assembly mechanism in step S40, there will still be a long distance between the new battery module and the AGV. Long distance, and cannot be directly assembled. Therefore, in step S50, the new battery module and the AGV need to be relatively moved and approached, and the distance between the two needs to be shortened so that the new battery module is placed in the battery module assembly area. This approaching process can be achieved by moving the AGV as a whole downwards. As the AGV moves downwards, the new battery module can gradually enter the battery module assembly area of the AGV.
- the method for establishing a connection between the new battery module and the AGV can be used to re-lock the locking module through a set mechanism.
- the style and locking principle of the mechanism can be adjusted according to the difference in the locking module and its matching structure.
- the unlocking module 123 can be used as an unlocking and locking mechanism at the same time. Unlocking the ejector bar 1230 extends for the first time so that the locking module is unlocked, the connection between the battery module and the AGV is released, and the unlocking ejector bar 1230 extends for the second time so that the locking module is re-locked, and the connection between the battery module and the AGV set up. For another example, if the operation actions of the locking module being unlocked and locked are completely opposite, the locking action can be implemented by setting a mechanism opposite to the control action of the unlocking module 123.
- the matching structure of the locking module 930 and the lock buckle 910 provided in the above-mentioned embodiment, there is also a faster locking method, that is, when the battery module 93 is moved into the battery module assembly area, it can be automatically locked. To achieve the locking of the locking module 930 and the locking buckle 910, no other extra steps are required.
- the various systems of the AGV may need to receive, send, store, and read multiple instructions or other information at all times under working conditions, and once the AGV is powered off, these functions will be lost, and even the information stored in it may be lost. . Therefore, the various systems of the AGV usually need to be energized at all times, even when the battery is replaced. Under normal circumstances, the power of the AGV is provided by the battery module on it, and in the above four steps from step S20 to step S50, especially when the old battery module is about to be disconnected from the AGV until the new battery module is established with the AGV During the period before the connection relationship, the AGV may not be connected to the battery module, so the power of the battery module cannot be used.
- this embodiment can keep the AGV in the precharge state during the execution of the above four steps from step S20 to step S50.
- the pre-charged state is to temporarily power the AGV through an external temporary connection.
- the pre-charging line may have completed the connection with the AGV before step S20 is executed. Specifically, the pre-charging line may complete the connection with the AGV before performing step S10, and then perform step S10. Or the pre-charging line can also complete the connection with the AGV during the execution of step S10.
- the pre-charging line can be synchronized during the process of positioning the horizontal position of the AGV.
- the pre-charging circuit may also be executed before or after the positioning of the AGV is completed. At the same time, in this embodiment, the AGV can be disconnected from the pre-charging line after the execution of step S50 is completed.
- connection structure of the pre-charging circuit and the AGV can refer to the related structure of the pre-charging mechanism 106 of the above-mentioned switching station, which will not be repeated here.
- the pre-charging line can also complete the connection with the AGV after the execution of step S10 is completed and before the execution of step S20 is started.
- the new battery module can be further separated from the battery disassembly mechanism, and then the battery disassembly and assembly
- the mechanism moves horizontally out of the bottom of the AGV and drops the AGV downwards to the initial position, thereby returning the equipment to its original state. It is not only conducive to the departure of the AGV from the initial position, but also the entry of the next AGV.
- This process can also be implemented by the above-mentioned switching station, and the relevant implementation manners have been clarified in the above-mentioned embodiments.
- the AGV battery removal method provided by the embodiment of the present disclosure includes the following steps S60 to S80.
- Step S60 positioning the battery module of the AGV in a horizontal direction
- Step S70 Unlock the locking module on the battery module of the AGV through the unlocking module;
- Step S80 Move the battery module and the AGV away from each other in the vertical direction, so that the battery module is separated from the AGV from below the AGV.
- the AGV positioning method provided by the embodiment of the present disclosure includes the following steps S90 and S100.
- Step S90 Realize the positioning of the position of the AGV in the first horizontal direction perpendicular to the wheel axis by positioning the wheels of the AGV;
- Step S100 Position the position of the AGV along the second horizontal direction of the wheel axis, and the AGV always keeps the position of the AGV in the first horizontal direction unchanged during the positioning of the AGV along the second horizontal direction.
- the AGV battery replacement method provided by the embodiments of the present disclosure has many advantages, such as saving power replacement time, improving AGV work efficiency, fast power replacement speed, high accuracy, and high degree of automation.
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Abstract
本公开提供了一种AGV的电池更换方法及电池更换装置,方法包括:将电池拆装机构置于AGV的下方;将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系;将旧电池模块脱离AGV的电池模块装配区域;将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接;将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系。装置包括提升架、提升架升降机构以及电池拆装机构;提升架升降机构用于将提升架升起及放下;电池拆装机构处于AGV的下方时用于与电池模块对接并解除或建立电池模块与AGV的连接关系。
Description
本申请要求于2019年09月06日提交中国专利局、申请号为201910844634.8、发明名称为“AGV的电池更换方法及电池更换装置”的中国专利申请的优先权,其全部内容通过引用结合在本申请中。
本公开涉及物流运输技术领域,尤其涉及一种AGV的电池更换方法及电池更换装置。
随着社会的发展,物流***越来越自动化和智能化。在当前的物流分拣与运输作业中,需要用到大量的AGV(Automated Guided Vehicle的缩写,意即“自动导引运输车”),AGV是一种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。
AGV通常采用自身所携带的电池提供电力,当电池的电力临近枯竭时需要及时补充,因此***中需要配套对AGV自动供电的设备。
相关技术中,普遍采用自动充电装置对AGV的电池进行充电。然而,这种自动充电装置在对AGV进行充电时需要将AGV整体保持在充电设备内,直至电池充满电。在充电过程中AGV无法工作,因此会浪费大量的时间。
发明内容
本公开实施例提供一种AGV的电池更换方法及电池更换装置,以解决上述问题。
本公开实施例采用下述技术方案:
第一方面,本公开实施例提供了一种AGV的电池更换方法,包括下列步骤:
将电池拆装机构置于AGV的下方;
将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系;
将旧电池模块脱离AGV的电池模块装配区域;
将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接;
将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系。
在一些实施例中,上述的AGV的电池更换方法中,
在所述将AGV上的旧电池模块与电池拆装机构对接的步骤中,将AGV整体向下移动至与电池拆装机构对接;
和/或
在所述将旧电池模块脱离AGV的电池模块装配区域的步骤中,将AGV向上移动至旧电池模块脱离AGV的电池模块装配区域;
和/或
在所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域的步骤中,将AGV整体向下移动至新电池模块处于AGV的电池模块装配区域内。
在一些实施例中,上述的AGV的电池更换方法中,
在所述将电池拆装机构置于AGV的下方的步骤中,将AGV由初始位置向上抬升并将电池拆装机构水平移动至AGV的下方;
和/或
在所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤之后还包括:
将新电池模块脱离电池拆装机构;
将电池拆装机构水平移出AGV的下方并将AGV向下降落至初始位置。
在一些实施例中,上述的AGV的电池更换方法中,在所述将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系的步骤、所述将旧电池模块脱离AGV的电池模块装配区域的步骤、所述将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接的步骤以及所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤的执行过程中,AGV始终处于预充电状态。
在一些实施例中,上述的AGV的电池更换方法中,
在所述将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系的步骤之前,将AGV与预充电线路连通;
在将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤之后,将AGV与预充电线路断开。
在一些实施例中,上述的AGV的电池更换方法中,在所述将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接的步骤中包括:
检测抵接台上是否重新存在电池模块,待检测到抵接台上重新存在电池模块时,执行所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤。
在一些实施例中,上述的AGV的电池更换方法中,在所述将AGV上的旧电池模块与电池拆装机构对接的步骤中还包括:对旧电池模块的水平位置进行定位。
在一些实施例中,上述的AGV的电池更换方法中,所述对旧电池模块的水平位置进行定位的步骤具体包括:
对AGV的电池模块进行水平方向的粗定位;
对AGV的电池模块进行水平方向的精定位。
在一些实施例中,上述的AGV的电池更换方法中,
所述对AGV的电池模块进行水平方向的粗定位的步骤具体为:在电池模块沿竖直方向与位于其下方的电池拆装机构的抵接台的抵接面发生相对移动并接近的过程中使粗定位柱由下方伸入电池模块的粗定位孔,对AGV的电池模块进行水平方向的粗定位,且电池模块完成水平方向的粗定位时与抵接面抵接;
所述对AGV的电池模块进行水平方向的精定位的步骤具体为:将精定位柱由抵接面的下方向凸出于抵接面的方向移动并伸入电池模块的精定位孔,对AGV的电池模块进行水平方向的精定位。
所述精定位柱与精定位孔所形成的环隙宽度小于所述粗定位柱与粗定位孔所形成的环隙宽度。
在一些实施例中,上述的AGV的电池更换方法中,在电池模块沿竖直方向与位于其下方的电池拆装机构的抵接台的抵接面发生相对移动并接近的过程中,电池模块将将抵接台向下压迫并使与抵接台连接的弹性顶紧模块发生弹性形变,并在检测到抵接台被压迫至预定位置后停止电池模块与抵接台的 相对移动。
在一些实施例中,上述的AGV的电池更换方法中,所述将电池拆装机构置于AGV的下方的步骤中包括:对AGV的水平位置进行定位。
在一些实施例中,上述的AGV的电池更换方法中,所述对AGV的水平位置进行定位的步骤具体包括:
通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位;
对AGV沿车轮轴线的第二水平方向的位置的定位,且AGV在沿第二水平方向的定位过程中始终保持AGV在第一水平方向上的位置不变。
在一些实施例中,上述的AGV的电池更换方法中,所述通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位的步骤具体为:
AGV的车轮沿第二水平方向滚入一沿第二水平方向延伸的定位槽内,在重力作用下使车轮卡在定位槽内,以定位AGV在第一水平方向的位置。
在一些实施例中,上述的AGV的电池更换方法中,在所述对AGV沿车轮轴线的第二水平方向的位置的定位,且AGV在沿第二方向的定位过程中始终保持AGV在第一水平方向上的位置不变的步骤中:
在检测到AGV已经完成在第一水平方向的位置的定位时,开始对AGV沿车轮轴线的第二水平方向的位置的定位。
在一些实施例中,上述的AGV的电池更换方法中,在所述检测到AGV已经完成在第一水平方向的位置的定位的步骤中,判断AGV已经完成在第一水平方向的位置的定位的方法具体为:
检测到定位槽内存在AGV的车轮。
第二方面,本公开实施例提供了一种AGV的电池更换装置,包括提升架、提升架升降机构以及电池拆装机构;
所述提升架用于承载AGV;
所述提升架升降机构用于将所述提升架升起及放下;
所述电池拆装机构处于所述AGV的下方时用于与电池模块对接并解除或建立电池模块与AGV的连接关系。
在一些实施例中,上述的AGV的电池更换装置中,所述电池拆装机构包括解锁模块;
所述解锁模块包括解锁动力单元以及与AGV的电池模块上的锁紧模块的位置相对应的解锁顶杆,所述解锁顶杆能够在所述解锁动力单元的驱动下凸出及缩回,且当所述解锁顶杆凸出时能够解锁锁紧模块。
在一些实施例中,上述的AGV的电池更换装置中,所述电池拆装机构包括行走模块,所述行走模块用于带动所述电池拆装机构水平移动至AGV的电池模块的下方。
在一些实施例中,上述的AGV的电池更换装置中,包括两个所述行走模块,两个所述行走模块相对移动,每个所述行走模块分别带动所述电池拆装机构的一部分水平移动。
在一些实施例中,上述的AGV的电池更换装置中,所述提升架包括用于承载AGV的支撑台,所述支撑台上开设有供AGV的电池模块沿竖直方向通过的避让区域;所述避让区域延伸所述支撑台的一侧并形成开口。
在一些实施例中,上述的AGV的电池更换装置中,所述提升架还包括副车架托举机构以及支撑框;
所述支撑框包括主体部以及延伸部,所述主体部与所述支撑台固定连接,所述延伸部由所述主体部延伸至所述支撑台的一侧,所述副车架托举机构固定在所述延伸部上接并与所述开口相对,所述副车架托举机构能够朝所述开口伸出并托举AGV。
在一些实施例中,上述的AGV的电池更换装置中,所述提升架还包括为定位在所述提升架上的AGV提供电力的预充电机构。
在一些实施例中,上述的AGV的电池更换装置中,所述提升架还包括定位所述AGV的位置的定位机构,所述定位机构包括第一定位模块以及第二定位模块;
所述第一定位模块用于通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位;
所述第二定位模块用于对AGV沿车轮轴线的第二水平方向的位置的定位。
在一些实施例中,上述的AGV的电池更换装置中,所述电池更换装置还包括框架,所述提升架升降机构以及所述电池拆装机构均集成于所述框架上,所述提升架位于所述框架所包围的空间内。
在一些实施例中,上述的AGV的电池更换装置中,还包括引导斜坡,所述引导斜坡设置在所述框架的前方,用于将AGV引导至所述提升架上。
本公开实施例采用的上述至少一个技术方案能够达到以下有益效果:
本公开实施例公开的适用于AGV的电池更换方法及电池更换装置能够快速更换AGV的电池模块,减少AGV因补电造成的时间浪费。
此处所说明的附图用来提供对本公开的进一步理解,构成本公开的一部分,本公开的示意性实施例及其说明用于解释本公开,并不构成对本公开的不当限定。在附图中:
图1为本公开实施例公开的换电站的整体结构视图。
图2为本公开实施例公开的电池更换装置的立体结构视图。
图3为本公开实施例公开的电池更换装置的正视结构视图。
图4为本公开实施例公开的AGV的具体结构示图。
图5为本公开实施例公开的电池模块的具体结构视图。
图6为本公开实施例公开的电池模块的底部结构视图。
图7为本公开实施例公开的锁扣与锁紧模块以及解锁顶杆的配合剖面视图。
图8为本公开实施例公开的提升架与主车架、副车架的配合结构视图。
图9为本公开实施例公开的提升架具体结构视图。
图10为本公开实施例公开的支撑台及定位机构的俯视结构视图。
图11为本公开实施例公开的第一定位模块的具体结构视图。
图12为本公开实施例公开的第二定位模块的具体结构视图。
图13为本公开实施例公开的电池拆装机构及斜坡的具体结构视图。
图14为本公开实施例公开的电池拆装机构的具体结构视图。
图15为本公开实施例公开的电池仓***的整体结构视图。
图16为本公开实施例公开的电池取放装置的具体结构视图。
图17为本公开实施例公开的电池取放装置的俯视结构视图。
图18为本公开实施例公开的充电装置的具体结构视图。
图19为本公开实施例公开的充电座的具体结构视图。
图20为本公开实施例公开的消防装置的示意图。
图21为本公开实施例公开的电池模块承接机构以及检测器的配合结构视图。
图22为本公开实施例公开的AGV的电池更换方法的流程图。
图23为本公开实施例公开的AGV的电池拆卸方法的流程图。
图24为本公开实施例公开的AGV的定位方法的流程图。
附图标记说明:
1-电池更换装置、10-提升架、100-支撑台、1000-支撑面、1000a-容纳腔、1001-避让区域、1002-开口、101-定位机构、1010-第一定位模块、1010a-定位滑块、1010b-导轨、1010c-定位槽、1010d-引导斜面、1010e-复位弹性件、1010f-车轮检测传感器、1011-第二定位模块、1011a-水平推动组件、1011a1-固定支架、1011a2-移动支架、1011a3-水平推动动力单元、1011a4-推动导向单元、1011a5-柔性夹紧块、1012-基准标识、102-副车架下压机构、1020-下压动力单元、1021-下压件、103-副车架托举机构、104-主车架下压机构、1040-下压动力单元、1041-下压件、105-支撑框、1050-主体部、1051-延伸部、106-预充电机构、1060-预充电电连接件、1061-预充电动力单元、11-提升架升降机构、12-电池拆装机构、120-抵接台、1200-抵接面、1201-滚珠单元、121-粗定位模块、1210-粗定位柱、122-精定位模块、1220-精定位柱、1221-精定位动力单元、123-解锁模块、1230-解锁顶杆、1231-解锁动力单元、124-电池模块检测传感器、125-拉动模块、1250-拉钩、1251-拉钩动力单元、126-弹性顶紧模块、127-顶紧传感器、128-行走模块、129-基体、13-斜坡;
2-电池仓***、20-电池取放装置、200-承载台、2000-电池模块固定件、2001-限位机构、2001a-限位件、2001b-限位动力单元、201-移载机构、2010-伸缩模块、2011-转动模块、202-电池升降机构、203-电池更换口、204-电池存放口、205-消防排废口、206-固定架、207-主支撑架、2070-升降通道、21-存放装置、210-充电座支架、211-充电座、2110-充电台、2110a-承接面、2111- 充电座粗定位模块、2111a-充电座粗定位柱、2112-充电座精定位模块、2112a-充电座精定位柱、2113-接插件模块、2113a-接插件、2114-充电座滚珠单元、2115-充电座电池模块检测传感器、2116-支撑架、2117-安装台、2118-一体式动力单元;
3-消防装置、30-电池模块承接机构、300-伸缩支撑模块、3000-固定部、3001-支撑部、3002-伸缩动力单元、3003-导轨、31-消防箱、32-消防材料盛放箱、320-出料口、33-出料阀、34-消防支架、35-检测器;
9-AGV、90-主车架、91-副车架、910-锁扣、9100-解锁杠杆、9101-U形锁头、9102-锁体、92-销孔、93-电池模块、930-锁紧模块、931-定位孔;
a--第一水平方向、b-第二水平方向。
为使本公开的目的、技术方案和优点更加清楚,下面将结合本公开具体实施例及相应的附图对本公开技术方案进行清楚、完整地描述。显然,所描述的实施例仅是本公开一部分实施例,而不是全部的实施例。基于本公开中的实施例,本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其它实施例,都属于本公开保护的范围。
以下结合附图,详细说明本公开各实施例提供的技术方案。
本公开实施例提供了一种适用于AGV的换电站,图1示出的是本公开的换电站能够适用的一种两轮驱动的AGV结构,本公开实施例均以该AGV为例进行说明。但需要声明的是,本公开所述的AGV9,并不仅限于图4所示的两轮驱动的AGV,还可以是四轮驱动或仿生行走的AGV,能够以自动导航的形式行走及停止并能够从AGV9朝下一侧卸下及装载电池模块93即可。图4所示的AGV9包括主车架90和副车架91,图4所示的实施例中,主车架90与副车架91沿AGV9的行驶方向前后设置,也可以将副车架91设置为与AGV9主车架90沿竖直方向固定相连并能与外部连接的结构,能够通过对主车架90及副车架91施加外力以改变AGV9的主体的姿态即可。
本公开所述的电池模块93,安装于副车架91中,可以是镍氢充电电池,也可以是锂电池,还可以是不可充电电池,同时也并不仅限于图4所示的形状,能够配合本公开所述的换电站从AGV9的副车架91朝下一侧卸下及装载 即可。当然,在其它一些实施例中,也不排除电池模块93被安装于主车架90的情形,本实施例仅以安装于副车架91中为例进行介绍换电站的相关结构,在本公开的另一些实施例中,电池模块93也可以被安装于主车架90甚至其它位置。
本实施例所述的换电站,如图1所示包括电池更换装置1和电池仓***2,在图1所示的实施例中,电池更换装置1和电池仓***2为配套使用,在具体实施过程中,电池更换装置1、电池仓***2可以分别独立使用。
下面首先对电池更换装置1进行详细介绍。
本实施例的电池更换装置1用于将电池模块93从AGV9中拆下及安装。
为能够从AGV9朝下一侧更换电池,在本实施例中,电池更换装置1包括提升架10、提升架升降机构11以及电池拆装机构12,具体使用过程中,提升架10与提升架升降机构11可以如图3所示相互连接。提升架升降机构11可以设置为框架式,使提升架10在其内部进行抬升以及降低。
在提升架10、提升架升降机构11以及电池拆装机构12的协同作用下,能够将电池拆装机构12置于AGV9的下方或将电池拆装机构12从AGV9的下方移出。电池拆装机构12能够与AGV9上的旧电池模块对接并使旧电池模块与AGV9解除连接关系,使旧电池模块脱离AGV9的电池模块装配区域,以及将新电池模块与AGV9发生相对移动,使新电池模块置于电池模块装配区域并与AGV9建立连接关系,从而实现对电池模块93的拆装。
提升架10包括支撑台100,当AGV9行驶至支撑台100上之后,提升架升降机构11能够将提升架10抬升,进而将AGV9提升。电池拆装机构12能够在提升架10被抬升后处于提升架10的下方,因此提升架升降机构11能够调整AGV9的底部与电池拆装机构12之间的竖直间距,进而从底部拆装电池模块93,提升架升降机构11还可以设置为支撑提升架10的千斤顶等结构,能够根据需要升起及放下提升架10即可。通常情况下提升架10的支撑台100不能紧贴地面,因此可以在提升架10的前方设置一斜坡13,以方便AGV9驶上支撑台100。
下面将对提升架10中各个部分进行分别描述,如图9和图10所示,提升架10包括第一定位模块1010、第二定位模块1011、副车架下压机构102、 副车架托举机构103以及主车架下压机构104等,在实际应用中,提升架10的各部分可以独立使用,也可以根据不同工艺需求任意组合使用,并不限于本实施例中所示的使用上述全部或部分的技术方案,能够实现顺利将电池模块93从AGV9中拆下即可。提升架10中各部分各自具有不同的功能,同时一些部分组合使用后也可能具备其它附加功能。下面将对提升架10的各部分进行分别说明。
首先,在对电池模块93进行拆卸或安装时,各设备的配合精度是极为重要的,如果配合精度太低,则各设备的相对位置会出现较大偏差,导致设备无法完成设定动作。
在本实施例中,为便于电池拆装机构12顺利拆装电池模块93,提升架10包括定位机构101。定位机构101能够定位AGV9与提升架10、主要是AGV9与支撑台100的相对姿态以及相对位置。具体而言,由于AGV9可以直接停放在支撑台100上,因此AGV9与支撑台100在竖直方向的位置可以不用考虑。如图9所示,定位机构101通常只需要考虑AGV9在水平面内的停放位置。定位机构101可以通过定位AGV9的垂直于车轮轴线的第一水平方向a的位置以及沿车轮轴线的第二水平方向b的位置的方式实现对AGV9的定位。
为定位AGV9垂直于车轮轴线的第一水平方向a的位置,如图9所示,定位机构101可以包括第一定位模块1010,用于通过定位AGV9的车轮实现对AGV9垂直于车轮轴线的第一水平方向a的位置的定位;而为定位AGV9沿车轮轴线的第二水平方向b的位置,定位机构101可以包括第二定位模块1011,用于对AGV9沿车轮轴线的第二水平方向b的位置的定位。这样,通过第一定位模块1010与第二定位模块1011的定位作用,AGV9在水平方向上的位置就可以固定,也就方便了电池拆装机构12定位和拆装电池模块93。
具体而言,在本实施例中,如图10和图11所示,第一定位模块1010可以包括定位滑块1010a和导轨1010b,为定位AGV9沿第一水平方向a的位置,定位滑块1010a上设置有沿第二水平方向b延伸的定位槽1010c,定位槽1010c可以如图11所示设置为的V字形,这样AGV9的车轮可以自动卡在V字形的定位槽1010c内,当然,也可以考虑将定位槽1010c设置为恰好容纳AGV9的车轮的矩形、倒梯形、半圆形或其它形状,当AGV9的车轮经过定位槽1010c 时能够向下沉入定位槽1010c并被其固定即可,这样,通过定位AGV9的车轮,即实现了对AGV9在第一水平方向a上的定位。
在支撑台100的上表面设置有支撑面1000,支撑面1000可以如图10所示设置为完整平面,也可以设置为网格状表面,能够支撑AGV9并允许AGV9在其上行驶即可。为使AGV9的车轮能够顺利沉入定位槽1010c并被定位,在本实施例中,在支撑面1000上设置有自支撑面1000向下凹陷形成的容纳腔1000a,容纳腔1000a能够容纳第一定位模块1010,以使得第一定位模块1010的大部分结构能够相对于支撑面1000处于下方,这样定位槽1010c与支撑面1000可以基本持平,AGV9的车轮由支撑面1000能够很容易地行驶至定位滑块1010a的定位槽1010c内。
定位滑块1010a上还设置有引导斜面1010d,如图11所示,引导斜面1010d的一侧与支撑面1000平齐,引导斜面1010d的另一侧与定位槽1010c的一侧平齐,即与定位槽1010c的一侧邻接,这样AGV9的车轮可以容易地从支撑面1000被引导斜面1010d引导进入定位槽1010c内。
由于定位机构101需要对AGV9在第一水平方向a以及第二水平方向b两个方向上进行定位,因此当AGV9被第一定位模块1010定位在第一水平方向a的位置后,在通过第二定位模块1011定位在第二水平方向b的位置时需要调整AGV9在该方向上的位置,在调整AGV9位置时车轮也会沿该方向进行移动。
为了保证AGV9在定位第二水平方向b的位置时保持第一水平方向a的位置,同时也为了降低AGV9沿第二水平方向b移动的难度,如图10和图11所示,本实施例中将定位槽1010c以及导轨1010b均沿第二水平方向b延伸,同时使定位滑块1010a与导轨滑动配合,以使定位滑块1010a能够沿第二水平方向b滑动。这样当AGV9沿第二水平方向b移动时,定位滑块1010a可以在导轨1010b的引导下随AGV9一起沿第二水平方向b移动,不但可以使AGV9能够更加便捷的沿第二水平方向b移动,同时也可以确保AGV9在第一水平方向a的位置不发生变化。
第一定位模块1010还可包括复位弹性件1010e,复位弹性件1010e与定位滑块1010a连接,调整复位弹性件1010e使其能够使定位滑块1010a稳定的 保持在一复位位置。当定位滑块1010a处于复位位置时,复位弹性件1010e处于受力平衡状态。当定位滑块1010a沿第二水平方向由复位位置滑动至其它位置时,复位弹性件1010e将受到压缩、拉伸或其它弹性形变并储存弹性势能,而当外力消失后,复位弹性件1010e的弹性势能释放并能够使定位滑块1010a自行沿第二水平方向b恢复至复位位置。当第一辆AGV9驶离提升架10后,定位滑块1010a可以自行恢复到初始位置以准备迎接下一辆AGV9并为其定位。复位弹性件1010e可以是弹簧、弹片、高弹性的橡皮筋等,具备弹性并能够弹性推动定位滑块1010a至复位位置即可,在本实施例中,如图10所示,复位位置通常被设计在容纳腔1000a的中部,使定位滑块1010a距离容纳腔1000a两侧均留有一定间隙用以移动。在定位滑块1010a的两侧可以各设置一个复位弹性件1010e,以使定位滑块1010a的移动更加平稳。
第一定位模块1010还可包括车轮检测传感器1010f,车轮检测传感器1010f可以被设置在定位滑块1010a上,用于检测定位槽1010c内是否存在AGV的车轮,车轮检测传感器1010f可以如图11所示嵌入定位滑块1010a朝上的一面,也可以凸出设置在定位滑块1010a的一侧;车轮检测传感器1010f可以设置为光电传感器,也可以设置为压力传感器等,能够感知AGV9的车轮是否到达定位槽1010c即可,此处不再赘述。
通过如上设置,AGV9可以自动行驶至支撑台100,并使双轮驶入第一定位模块1010的定位滑块1010a上自动定位AGV9的车轮以及AGV9在第一水平方向a上的位置,此时车轮检测传感器1010f同步检测到车轮,通知中央处理器等中央控制机构AGV9已经到达电池更换装置1。中央处理器向第二定位模块1011下达指令,继续定位AGV9在第二水平方向b的位置。
在本实施例中,使用第二定位模块1011定位AGV9在第二水平方向b上的位置,第二定位模块1011包括水平推动组件1011a。水平推动组件1011a沿第二水平方向b对称设置在支撑台100的两侧,并以沿第二水平方向b推挤AGV9的方式定位其在第二水平方向b的位置。
在本实施例中,第二定位模块1011,用于对AGV9沿车轮轴线的第二水平方向b的位置的定位,且AGV9在沿第二水平方向b的定位过程中始终保持AGV9在第一水平方向a上的位置不变。如图9和图12所示,当AGV9在 第一水平方向a上的位置被第一定位模块1010定位后,第二定位模块1011开始工作,水平推动组件1011a沿第二水平方向b伸出并抵接AGV9的侧面,从上方看,相当于水平推动组件1011a夹住了AGV9,这样AGV9可以随着水平推动组件1011a的移动而移动,进而实现在第二水平方向b上的定位。
如图12所示,在本实施例中,水平推动组件1011a可以包括固定支架1011a1、移动支架1011a2、水平推动动力单元1011a3以及推动导向单元1011a4;
固定支架1011a1与支撑台100相固定,用于固定支撑水平推动组件1011a的其它机构,图12所示的实施例中,固定支架1011a1设置为板状,也可以设置为向上伸出的支撑柱,能起固定支撑作用即可;固定支架1011a1与移动支架1011a2通过推动导向单元1011a4相连接,在图12所示的实施例中,推动导向单元1011a4可以设置为导轨,也可以设置为导向杆或导向柱,能够沿第二水平方向b导向移动支架1011a2即可,水平推动动力单元1011a3可以如图12所示设置为液压杆,也可以设置为机械臂、伺服电机等,能够沿第二水平方向b推动移动支架1011a2并推挤AGV9至定位位置即可。由于移动支架1011a2为沿第二水平方向b移动,因此当一对移动支架1011a2伸出并同时推挤AGV9时,能够使AGV9的两侧实现均匀受力,避免AGV9因受力不均而扭转。
为避免移动支架1011a2夹紧过程中伤害AGV9的外表面,移动支架1011a2上设置有柔性夹紧块1011a5,柔性夹紧块1011a5可以如图12所示设置为凸出于移动支架1011a2朝向AGV9的一面的小块,也可以设置为覆盖移动支架1011a2朝向AGV9的一面,移动支架1011a2通过柔性夹紧块1011a5推挤AGV9时能够减轻移动支架1011a2与AGV9之间的应力即可。
在本实施例中,第二定位模块1011的定位数据可以由能够观测到AGV9与支撑台100在第二水平方向b上的相对位置的摄像头或其它类型的识别装置提供,在本实施例中,如图10所示,可以在支撑台100上设置一个基准标识1012,基准标识1012可以设置为支撑台100上的一个十字线标识、二维码等形式,并能够被AGV9上的识别装置识别,当AGV9识别基准标识1012时,可以计算出当前AGV9在第二水平方向b上与基准标识1012之间的位置 差,并通知中央处理器等中央控制装置,之后中央控制装置可以控制第二定位模块1011对AGV9进行推挤,并使其移动至至正对基准标识1012,以完成AGV9的主体在水平方向上的定位。
在完成AGV9的主体的定位后,还需要对AGV9进行固定,为下一步取下或安装电池模块93做好准备。
对于图4中所示的AGV9而言,其主车架90与副车架91可能固定连接,也可能采用铰链活动连接。对于主车架90与副车架91采用铰链连接的结构而言,由于主车架90与副车架91之间可以发生相对转动而改变角度,一方面可能对定位精度造成负面影响,另一方面也可能在电池模块93的安装或拆卸过程中造成AGV9的结构受力而发生改变,增加作业难度。
由于电池模块93设置在副车架91上,因此为了避免上述问题,本实施例中的提升架10还包括如图12所示的副车架下压机构102以及如图9所示的副车架托举机构103,此时,支撑台100、副车架下压机构102以及副车架托举机构103可以组成AGV9的副车架固定总成。其中副车架下压机构102用于向下压迫AGV9的副车架91,副车架托举机构103用于向上托举AGV9的副车架91,通过在竖直方向上相反两侧同时对副车架91施力,至少可以将AGV的副车架91固定牢固。
在本实施例中,如图12所示,副车架下压机构102可以被设置于一个水平推动组件上。需要说明的是,在一些实施例中,这里所说的水平推动组件可以是不同于第二定位模块1011内的水平推动组件1011a的其它独立的水平推动结构。并且,这些实施例中可以包含有定位机构101也可以不包含定位机构101,或者在包含定位机构101的实施例中,定位机构101可以包含第二定位模块1011或者不包含第二定位模块1011,又或者在包含第二定位模块1011的实施例中,第二定位模块1011也可以包含水平推动组件1011a或者不包含水平推动组件1011a。
当提升架10具备隶属于第二定位模块水平推动组件1011a时,为了简化结构,副车架下压机构102也可以被设置在水平推动组件1011a上。无论是独立的水平推动组件还是隶属于第二定位模块水平推动组件1011a,副车架下压机构102的位置均需要与AGV9的副车架91相对应。本实施例中的副车架下 压机构102的具***置可随AGV9的结构以及承压面的所在位置进行设计,针对不同的AGV9,副车架下压机构102可能被设置在不同的位置,但无论副车架下压机构102被设置在何处,其均应保证当水平推动组件1011a在沿第二水平方向b推挤AGV9时,均能够带动副车架下压机构102移动至副车架91的某一承压面上方。之后副车架下压机构102便可向下压迫该承压面。
当然,副车架下压机构102也可以被设置在能够使其移动至副车架91的承压面上方的其它结构上。
为使副车架91受到均匀的下压力,避免受力不均,副车架下压机构102可以沿第二水平方向b对称设置于的水平推动组件1011a上。
为进一步固定AGV9,在本实施例中,提升架10还可包括主车架下压机构104,如图9和图10所示,主车架下压机构104与所述副车架下压机构102沿第一水平方向a排布在水平推动组件1011a上,主车架下压机构104能够向下压迫AGV9的主车架90,从而能够同时下压主车架90和副车架91,避免受力不均导致的AGV9姿态不稳。
在本实施例中,为实现稳定下压,如图12所示,副车架下压机构102包括下压动力单元1020和下压件1021,下压件1021与下压动力单元1020连接,下压件1021沿所述第二水平方向延伸,如图12所示,下压件1021设置为沿第二方向延伸的柱销,AGV9上对应设置有具备承压面的销孔92,下压件1021还可以设置为沿第二方向延伸的凸条,则AGV9上对应设置有具备承压面的凹槽即可,下压件1021能够被水平推动组件1011a移动至AGV9的承压面上方,即柱销伸入销孔92,此时下压动力单元1020推动下压件1021向下运动,则下压件1021向下压迫承压面,进而对AGV9施加向下的压迫力。类似的,主车架下压机构104可包括下压动力单元1040和下压件1041,其结构以及工作原理与副车架下压机构102相同,在此不再赘述。
在本实施例中,副车架托举机构103可以单独或与支撑台100一起对AGV9提供向上的托举力。尤其对于一些实施例而言,为使电池模块93能够顺利向下脱离AGV9,会在支撑台100上开设有供电池模块93沿竖直方向通过的避让区域1001,避让区域1001可能是支撑台100上一个封闭的镂空区域,或者也可以是延伸至支撑台100的一侧并形成开口1002的缺口,图10所示 的避让区域1001的形状与与图18所示的电池模块93在竖直方向的投影大致吻合,也可以设置为不吻合,能够允许电池模块93沿竖直方向通过即可。
由于该避让区域1001的存在,可能会使副车架91无法受到支撑台100的托举,此时设置副车架托举机构103来单独托举副车架91便显得更为重要。
为固定副车架托举机构103,提升架10可包括支撑框105,支撑框105与支撑台100固定连接,同时支撑框105也用于固定副车架托举机构103。支撑框105包括主体部1050以及延伸部1051,如图8所示,主体部1050与支撑台100固定连接,延伸部1051由主体部1050延伸至支撑台100的一侧,副车架托举机构103可以被固定在延伸部1051上,从而有更大的设置空间以及更好的托举位置。
当避让区域1001具备开口1002时,副车架托举机构103可以与开口1002相对,副车架托举机构103在AGV9处于支撑台100上的预定位置时,能够朝开口1002伸出并托举副车架91。
如图9所示,副车架托举机构103包括托举件1030以及托举动力单元1031;托举动力单元1031与延伸部1051固定连接,托举件1030通过托举动力单元1031的驱动移动至副车架91的下方,当需要托举副车架91时,托举件1030能够向上运动托举副车架91,在图9所示的实施例中,托举件1030设置为具备托举面并于副车架91的底面相吻合,也可以设置为具备凸出的顶接部,并通过抵接的方式托举副车架91。
通过上述的支撑台100、定位机构101、副车架下压机构102、副车架托举机构103及主车架下压机构104共同协作,可以实现AGV9的定位以及固定。
由于AGV9在电池模块93的更换过程中会有一段时间处于无电池模块93的状态,此时AGV9可能会完全断电。然而,这种情况可能会对AGV9的后续控制带来困扰。因此,为了时刻保持AGV9处于开启状态,如图9所示,本实施例的提升架10还可包括预充电机构106,当AGV9定位至预定位置后预充电机构106能够与设置于AGV9上的预充电配合装置配合为AGV9预充电,预充电机构106可以包括用于和预充电配合装置电连接的预充电电连接件1060,预充电电连接件1060可以是能够与预充电配合装置相互配合的充电 线圈,也可以是能够与预充电配合装置相互电连接的插头或其它,能够电连接并为其充电的结构,此处不再赘述。除此之外,预充电机构106还包括气缸、转动架或其它形式的预充电动力单元1061,预充电动力单元1061可以被固定于延伸部1051或提升架10的其它部件上,预充电电连接件1060被预充电动力单元1061所驱动。当AGV9定位至预定位置时其预充电配合装置刚好处于预充电电连接件1060的移动路径内,在需要对AGV进行预充电时,预充电动力单元1061可以驱动预充电电连接件1060移动并与预充电配合装置电连接。当需要取消预充电状态时,只需反向驱动预充电动力单元1061便可使预充电电连接件1060脱离与预充电配合装置的电连接。采用该方案,可以避免AGV9在电池模块93更换过程断电,能够时刻保持AGV9处于开启状态。
在AGV9完成在提升架10中定位及固定后,可以通过中央处理器控制提升架10带动AGV9进行升降,以调整AGV9与电池拆装机构12的相对位置。
在本实施例中,电池模块93具备如图5所示的锁紧模块930,锁紧模块930可以为锁挂或其它结构,同时在副车架91上设置有锁扣910,锁扣910可以被设置为快挂结构,如图7所示,锁扣910包括解锁杠杆9100、U形锁头9101以及锁体9102,解锁杠杆9100以及U形锁头9101均与锁体9102转动连接。U形锁头9101处于自然状态时其开口朝下,当锁紧模块930向上伸入U形锁头9101的开口后,U形锁头9101能够在锁紧模块930的带动下转动至朝向水平方向并与解锁杠杆9100搭接固定,实现锁紧锁紧模块930。之后通过外力向上顶起解锁杠杆9100促使解锁杠杆9100转动,就能够使解锁杠杆9100与U形锁头9101的搭接固定结构崩溃,从而使U形锁头9101能够恢复自由转动,从而释放锁紧模块930。当然,锁紧模块930以及锁扣910也可以设置为其它能够自动锁紧并易于解锁的结构,例如设置解锁按钮。
如图13及图14所示,电池拆装机构12包括抵接台120、粗定位模块121、精定位模块122以及解锁模块123,如图6所示,电池模块93上设置有与粗定位模块121及精定位模块122对应的定位孔931。粗定位模块121、精定位模块122以及解锁模块123均设置在抵接台120上。
为承载电池模块93,如图14所示,抵接台120具有抵接面1200,本实施例中的粗定位模块121可以包括粗定位柱1210,这些粗定位柱1210凸出于 抵接面1200并与电池模块93上的一些定位孔931位置对应,本实施例中可以将这些与粗定位柱1210对应的定位孔931称为粗定位孔。本实施例中的精定位模块122包括精定位柱1220以及精定位动力单元1221。这些精定位柱1220与电池模块93上的另一些定位孔931位置对应,本实施例中可以将这些与精定位柱1220对应的定位孔931称为精定位孔,需要说明的是,本实施例中的粗定位孔以及精定位孔仅用于区分不同的对应关系,但对于二者的结构、形状、尺寸等方面没有任何限制,例如,粗定位孔与精定位孔的形状、构造可以完全相同,或者粗定位孔的孔径小于精定位孔的孔径等。并且,本实施例中的其它定位孔931均可采用相同或不同的结构、形状或者尺寸,没有限制。这些精定位柱1220平时缩回抵接面1200下方,并能够在精定位动力单元1221的驱动下凸出于抵接面1200。精定位动力单元1221可设置为液压顶杆,也可以设置为电动伸缩杆。
当AGV9的电池模块93在提升架10的带动下与抵接面1200抵接时,粗定位柱1210能够首先伸入到与其对应的定位孔931内,从而实现电池拆装机构12与电池模块93的粗定位。相对于定位孔931的尺寸而言,粗定位柱1210要纤细的多,因此粗定位柱1210与定位孔931之间所形成的环隙宽度较大。其目的是使粗定位柱1210能够在双方位置相差较大时依然能够顺利伸入定位孔931内完成粗定位。
待粗定位柱1210伸入定位孔931后,再开启精定位动力单元1221将精定位柱1220伸出并伸入与其对应的定位孔931内。如图14所示,相比粗定位柱1210,精定位柱1220与定位孔931之间所形成的环隙宽度要小得多,可以基本填满定位孔931。因此精定位柱1220与定位孔931吻合度很高,当精定位柱1220顺利伸入定位孔931内时,便可实现电池模块93与电池拆装机构12的精确定位。
无论是粗定位还是精定位,电池模块93上的定位孔931与粗定位柱1210或精定位柱1220的位置均可能存在较大偏差,为了使粗定位柱1210以及精定位柱1220在与定位孔931存在一定偏差时依然能够顺利伸入并使电池模块93移动以实现定位功能,粗定位柱1210以及精定位柱1220的头部或者定位孔931的边缘可以设置导向面,导向面可以是斜面或弧面。
如上所述,在粗定位柱1210、精定位柱1220与定位孔931配合定位电池模块93的过程中,电池模块93会发生移动,此时如果抵接台120与电池模块93之间存在较大摩擦力则会影响电池模块93的移动效果甚至造成磨损。
为了避免上述问题,在本实施例中,如图14所示,抵接面1200的表面凸出设置有滚珠单元1201,当电池模块93放置于抵接台120上时,电池模块93可以与滚珠单元1201滚动配合从而避免摩擦过大,减少磨损。
通过粗定位柱1210、精定位柱1220及定位孔931的相互配合作用实现电池模块93相对于电池拆装机构12的精确定位后,就具备了使用解锁模块123解锁锁紧模块930的条件。本实施例中的解锁模块123具体可包括解锁动力单元1231以及与锁紧模块930的位置相对应的解锁顶杆1230,即每个锁紧模块930均有与其对应的解锁顶杆1230负责解锁,不会发生遗漏的情况。解锁顶杆1230能够在解锁动力单元1231的驱动下凸出于抵接面1200或者缩回至抵接面1200下方。
如前面介绍的,本实施例中所使用的锁扣910具备解锁杠杆9100,通过外力顶起解锁杠杆9100就能够使锁扣910的开口转动并释放锁紧模块930,实现对锁紧模块930的解锁,因此在本实施例中,解锁顶杆1230实际上需要由下方对准与每个锁紧模块930配套锁紧的锁扣910上的解锁杠杆9100。
当解锁顶杆1230在解锁动力单元1231的驱动下凸出于抵接面1200时,解锁顶杆1230能够向上顶动解锁杠杆9100从而实现锁紧模块930的解锁。当所有的锁紧模块930全部被解锁后,电池模块93便可脱离副车架91。之后重新升起提升架10,AGV9会随提升架10一起上升,而电池模块93便留在电池拆装机构12上。当然,在一些实施例中也可以使用其它能够使解锁杠杆9100被向上顶起的解锁结构,此处不再赘述。
为提高粗定位效率以及粗定位精度,如图14所示,本公开实施例的电池拆装机构12可以包括多个粗定位模块121,多个粗定位模块121优选沿电池模块93的一条对角线分布,距离越远定位精度越高。与此同时,为了提高精定位效率以及精定位精度,本公开实施例的电池拆装机构12也可以包括多个精定位模块122,多个精定位模块122优选沿电池模块93的另一条对角线分布,两种设置可以独立使用,也可以协同作用。
为提高自动控制效率,电池拆装机构12还可包括电池模块检测传感器124,电池模块检测传感器124设置在抵接台120上,用于检测抵接台120上是否存在电池模块93,本实施例所使用的电池模块检测传感器124为光电传感器,在其它实施例中也可以使用压力传感器等,能够判断电池模块93是否放置于电池拆装机构12的状态即可。
在拆卸电池模块93的过程中,有可能会发生电池模块93卡在副车架91中导致无法与副车架91分离的问题,因此在本实施例中,如图14所示,电池拆装机构12还可包括拉动模块125,拉动模块125包括拉钩1250以及拉钩动力单元1251,拉钩1250凸出于抵接面1200,并可在拉钩动力单元1251的带动下完成转动并勾住电池模块93的动作。在本实施例中,电池模块93的周边具备一圈可被勾住的凸出边缘,拉钩1250可以转动并勾住这些凸出边缘,从而在提升架10带动AGV9重新上升时阻止电池模块93一同上升,从而使二者分离。这样,可以避免电池模块93卡在副车架91中而无法与副车架91分离的情况发生。
如图14所示,由于电池模块93的底面的面积较大,如果以塑料等不耐久的材料制备,在使用过程中容易发生变形,导致部分解锁顶杆1230即使伸出也无法解锁锁紧模块930。因此在本实施例中,对应每个锁紧模块930可以分别设置一个抵接台120以及一个解锁模块123,同时为适应电池模块93底面的形变,在每个抵接台120的底部均设置弹性顶紧模块126。
采用提升架10带动AGV9下降至能够同时压迫所有的抵接台120的位置,此时弹性顶紧模块126能够将每一块抵接台120都顶起并紧贴电池模块93,从而使每个解锁顶杆1230均尽量靠近对应的锁紧模块930。这样可以有效避免由于电池模块93底部变形导致解锁顶杆1230无法解锁锁紧模块930的问题,在本实施例中,如图14所示,弹性顶紧模块126可以被设置为弹簧,也可以设置为弹性材料块等其它结构,具备弹性并能将抵接台120顶起即可。
为进一步确保各抵接台120能够被顶起并压迫至预定位置,本实施例所述的电池拆装机构12还包括顶紧传感器127,顶紧传感器127可以判定至少一个抵接台120是否被压迫至预定位置,如图14所示,顶紧传感器127可以设置为压力传感器,也可以设置为测距感应器,能够判断抵接台120所处的 位置即可。
本实施例中的电池拆装机构12可以始终设置在提升架10的下方,例如将提升架10的初始位置设置在半空,或者在电池更换装置1的下方形成凹坑用以容纳电池拆装机构12。但这两种方式中的前一种可能导致AGV9难以进入提升架10,而后一种方式又可能导致电池模块93的输送困难。
为便于AGV9进入提升架10以及便于电池模块93的输送,本实施例中将电池拆装机构12的初始位置设置在提升架10的侧部,当AGV9与提升架10的相对位置被定位后,提升架10将升起并给予电池模块93拆装的空间,而为了使电池拆装机构12由侧部到达AGV9朝下的一侧,此时的电池拆装机构12中还包括行走模块128,如图13所示,行走模块128可以被设置为履带、丝杠、轮组或其它动力结构,行走模块128能够带动抵接台120、粗定位模块121、精定位模块122、解锁模块123以及弹性顶紧模块126等在内的各模块自初始位置水平移动至电池模块93的下方。
在具体实施过程中,可以根据实际情况使用多个行走模块128并分别带动一部分抵接台120运动,如图13所示的实施例,可以将电池拆装机构12的其它模块分为两部分分别设置在提升架10的两侧,两部分模块分别使用两个行走模块128移动到电池模块93的下方。
在本实施例中可以为每个行走模块128配套一个基体129,该行走模块128所需要带动的这部分抵接台120、粗定位模块121、精定位模块122、解锁模块123以及弹性顶紧模块126等可以统一设置在该基体129上,这样行走模块128通过带动与其配套的基体129便可带动对应的一部分模块移动。
当拆卸电池模块93时,行走模块128带动抵接台120到达电池模块93的下方,然后抵接台120在弹性顶紧模块126及提升架10的配合作用下与电池模块93相互抵接,通过粗定位模块121及精定位模块122的定位作用,使得解锁模块123能够对准电池模块93上的锁紧模块930并完成解锁动作,此时提升架10被提升架升降机构11升起,电池模块93在自身重力及拉动模块125的配合作用下脱离副车架91,完成电池模块93拆卸。
当安装电池模块93时,电池模块93只需通过粗定位模块121的定位作用被定位到能够安装的位置,AGV9随着提升架10的下降而靠近电池模块93, 从而使锁紧模块930伸入伸入设置在副车架91的锁扣910的开口内并转动开口,自动锁紧,完成电池模块93的安装。
通过电池拆装机构12与提升架10、提升架升降机构11的配合作用,能够将电池模块93以一定的自动步骤从AGV9上拆卸或安装,从而为AGV9自动换电过程提供了支持基础。
接下来对电池仓***2进行详细介绍。
在完成了电池模块93拆卸及安装步骤后,需要将耗尽电量的电池模块93转移至电池仓***2进行储存,甚至电池仓***2还可在储存电池模块93的同时还可对电池模块93进行充电,并将完成充电的电池模块93转移至电池拆装机构12以准备安装,为此,换电站还包括电池仓***2。
为了能够移动、存储以及为电池模块93充电,如图16所示,电池仓***2包括电池取放装置20以及的存放装置21,其中存放装置21仅具备存储电池模块93的功能而不具备充电功能,或者存放装置21可同时具备存储以及充电功能,本实施例将以后者为例进行说明。
在本公开实施例中,电池取放装置20将旧电池模块由电池拆装机构12上取下并将新电池模块与电池拆装机构12对接。例如,电池取放装置20根据需要将电池模块93由电池拆装机构12或者存放装置21取出或放入,以及在电池拆装机构12以及存放装置21之间转移电池模块93,存放装置21内部设置有若干充电座211,用于存储电池模块93以及为电池模块93充电。若干充电座211可以设置在充电座支架210上。
在本实施例中,如图17所示,电池取放装置20包括承载台200、移载机构201和电池升降机构202,承载台200可以如图17所示设置为平板状,也可以设置为电池夹等,能够承载电池模块93并能够通过竖直方向的运动将电池模块93在承载台200与电池拆装机构12之间或者承载台200与充电座211之间进行转移即可。
移载机构201与承载台200连接,两者之间可以如图17所示直接固定连接,也可以是通过连接件相互连接,移载机构201能够带动承载台200将电池模块93移动至电池拆装机构12或存放装置21即可。移载机构201可以是在水平面内移动,也可以是更复杂的移动方式。
在本实施例中,移载机构201可以设置为如图15所示包括伸缩模块2010和转动模块2011,转动模块2011可以设置为如图15所示的转轴结构,也可以设置为圆环形轨道,能够带动承载台200水平转动并改变承载台200的水平朝向即可。伸缩模块2010可以设置为如图15所示的具备轨道的伸缩臂,也可以设置为液压控制的伸缩臂,能够在水平面内沿直线伸缩即可,这样,通过转动模块2011与伸缩模块2010的配合作用,通过转动及伸缩可以使放置于承载台200上的电池模块93的位置以及姿态改变,从而实现与电池拆装机构12或者充电座211的匹配,实现转移目的。
为了使承载台200能够完成竖直方向的移动并完成电池模块93在承载台200与电池拆装机构12之间或者承载台200与充电座211之间的转移操作,在本实施例中,使用电池升降机构202与移载机构201相连,电池升降机构202可以如图17所示设置为升降链条,移载机构201通过与升降链条固定连接以实现升降。也可以将电池升降机构202设置为沿竖直方向延伸的液压杆或其它具有升降功能的结构。
承载台200首先被电池升降机构202移动至低于电池模块93的位置,然后移载机构201控制承载台200水平移动至电池模块93的下方,此时承载台200可以略低于抵接台120,并与抵接台120分别对准电池模块93的不同区域。之后电池升降机构202向上升起承载台200,承载台200由下方托起电池模块93并直至电池模块93完全脱离电池拆装机构12,从而完成电池模块93由电池拆装机构12向承载台200的转移。
当需要将充满电的电池模块93由承载台200转移至电池拆装机构12上时,只需要进行反向操作,先将载有电池模块93的承载台200移动至高于电池拆装机构12的位置,并使抵接台120对准电池模块93,然后控制电池升降机构202向下移动直至电池模块93被电池拆装机构12的抵接台120托住并与承载台200完全脱离,完成电池模块93由承载台200至电池拆装机构12的转移过程。
为了便于连接电池升降机构202,在本实施例中可将移载机构201设置在固定架206上,再将电池升降机构202与固定架206连接。
为限制电池模块93在承载台200上的水平移动,避免转移电池模块93 过程中意外掉落,在本实施例中,可以在承载台200上设置电池模块固定件2000,如图15、图5和图6所示,电池模块固定件2000可以设置为能够***电池模块93的一些定位孔931的朝上的固定销,也可以为卡住电池模块93的卡板、卡爪等结构。由于电池模块93在由电池拆装机构12上被取下之前,与粗定位柱1210以及精定位柱1220对应的定位孔931将始终被占用,因此承载台200的固定销所对应的定位孔931应当不同于电池拆装机构12上的粗定位柱1210以及精定位柱1220所对应的定位孔931。
为限制电池模块93在承载台200上的相对竖直移动,避免转移电池模块93过程中因颠簸而产生跳动甚至脱离电池模块固定件2000而意外掉落,在本实施例中,在承载台200还可以设置有限位机构2001,如图18所示,限位机构2001包括限制电池模块93向上移动并脱离电池模块93的限位件2001a及驱动限位件2001a的限位动力单元2001b。限位件2001a可以如图18所示设置为能够在限位动力单元2001b的驱动下移动至电池模块93上方并限制住电池模块93的限位杆、限位板等结构,能够阻止电池模块93沿竖直方向脱离承载台200即可,此处不再赘述。并且限位件2001a的移动方式可以为伸缩、转动、平移等各种方式。
在本实施例中,如图17所示,为允许电池模块93能够自电池取放装置20到达电池更换装置1及存储仓或者存放装置21,在电池取放装置20上需要具备电池更换口203以及至少一个电池存放口204,电池更换口203以及电池存放口204均能够供承载台200水平通过,电池更换装置1正对电池更换口203,存放装置21正对电池存放口204。
在图17中,为了简化设计便于制造,电池取放装置20可以包括主支撑架207,电池更换口203及电池存放口204均设置在主支撑架207上。与此同时,主支撑架207还具有升降通道2070,即由主支撑架207的4个立柱形成的空间区域,电池升降机构202设置在主支撑架207上,承载台200以及移载机构201均设置在升降通道2070内,并且能够在电池升降机构202的带动下沿升降通道2070竖直移动。
在本实施例中,电池存放口204与电池更换口203可以邻接设置,如图17所示,电池取放装置20的主支撑架207可以为长方体框架结构,在临近电 池更换口203的两侧各设置一个电池存放口204,这样可以减少电池模块93的移动距离,节约在途时间。当然,在电池储存量较大时,本实施例中在相对电池更换口203的一侧也可以设置电池存放口204,虽然此处电池存放口204距离电池更换口203较远,但胜在可以充分利用电池取放装置20四周的空间。当电池取放装置20的主支撑架207采用其它结构,例如六棱柱结构时,电池存放口204甚至电池更换口203的数量可能更多。
并且,每个电池存放口204均可以沿竖直方向排布有多个充电座211,以节约占地面积。充电座支架210的结构可以根据电池更换口203的位置、充电座211的数量以及竖直方向的排布数量进行设计,并且,充电座支架210可以为一体式结构,也可以分为几个独立的结构,分别固定一部分充电座211。
如图19所示,充电座211可以包括充电台2110、充电座粗定位模块2111、充电座精定位模块2112以及接插件模块2113。充电座粗定位模块2111、充电座精定位模块2112均设置在充电台2110上。
为承载电池模块93,如图19所示,充电台2110具有承接面2110a,充电座粗定位模块2111包括充电座粗定位柱2111a,这些充电座粗定位柱2111a凸出于承接面2110a并与电池模块93上的一些定位孔931的位置相对应,本实施例中可以将这些与充电座粗定位柱2111a对应的定位孔931称为充电座粗定位孔。本实施例中的充电座精定位模块2112包括充电座精定位柱2112a以及充电座精定位动力单元。这些充电座精定位柱2112a与电池模块93上的另一些定位孔931位置对应,本实施例中可以将这些与充电座精定位柱2112a对应的定位孔931称为充电座精定位孔,需要说明的是,与粗定位孔以及精定位孔一样,本实施例中的充电座粗定位孔以及充电座精定位孔也仅用于区分不同的对应关系,但对于二者的结构、形状、尺寸等方面没有任何限制。充电座精定位柱2112a能够在充电座精定位动力单元的驱动下伸入这些定位孔931。充电座精定位动力单元可设置为液压顶杆,也可以设置为电动伸缩杆等结构。
由于电池模块93在由承载台200上被取下之前,与承载台200的固定销所对应的定位孔931将始终被占用,因此充电座粗定位柱2111a以及充电座精定位柱2112a所对应的定位孔931应当不同于承载台200的固定销所对应的定 位孔931。并且,充电座粗定位柱2111a以及充电座精定位柱2112a所对应的定位孔931可以与粗定位柱1210以及精定位柱1220所对应的定位孔931可以完全相同、部分相同或完全不同。
当电池模块93被承载台200转移至充电台2110上时,充电座粗定位柱2111a能够首先伸入到与其对应的定位孔931内,从而实现充电座211与电池模块93的粗定位。相对于定位孔931的尺寸而言,充电座粗定位柱2111a要纤细的多,因此充电座粗定位柱2111a与定位孔931之间所形成的环隙宽度较大。其目的是使充电座粗定位柱2111a能够在双方位置相差较大时依然能够顺利伸入定位孔931内完成粗定位。
待充电座粗定位柱2111a伸入定位孔931后,再开启充电座精定位动力单元将充电座精定位柱2112a伸入与其对应的定位孔931内。相比充电座粗定位柱2111a,充电座精定位柱2112a与定位孔931之间所形成的环隙宽度要小得多,可以基本填满定位孔931。因此充电座精定位柱2112a与定位孔931吻合度很高,当充电座精定位柱2112a顺利伸入定位孔931内时,便可实现电池模块93与充电座211的精确定位。
类似的,无论是粗定位还是精定位,电池模块93上的定位孔931与充电座粗定位柱2111a或充电座精定位柱2112a的位置均可能存在较大偏差,为了使充电座粗定位柱2111a以及充电座精定位柱2112a在与定位孔931存在一定偏差时依然能够顺利伸入并使电池模块93移动以实现定位功能,充电座粗定位柱2111a以及充电座精定位柱2112a的头部或者定位孔931的边缘可以设置导向面,导向面可以是斜面或弧面。
如上所述,在充电座粗定位柱2111a、充电座精定位柱2112a与定位孔931配合定位电池模块93的过程中,电池模块93会发生移动,此时如果充电台2110与电池模块93之间存在较大摩擦力则会影响电池模块93的移动效果甚至造成磨损。
为了避免上述问题,在本实施例中,如图19所示,承接面2110a的表面凸出设置有充电座滚珠单元2114,当电池模块93放置于充电台2110上时,电池模块93可以在充电座滚珠单元2114滚动配合从而避免摩擦过大,减少磨损。
为提高粗定位效率以及粗定位精度,如图19所示,本公开实施例的充电座211可以包括多个充电座粗定位模块2111,多个充电座粗定位模块2111优选沿电池模块93的一条对角线分布,距离越远定位精度越高。与此同时,为了提高精定位效率以及精定位精度,本公开实施例的充电座211也可以包括多个精定位模块122,多个充电座粗定位模块2111沿电池模块93的另一条对角线分布,两种设置可以独立使用,也可以协同作用。
通过充电座粗定位柱2111a、充电座精定位柱2112a及定位孔931的相互配合作用实现电池模块93相对于充电座211的精确定位后,就具备了使用接插件模块2113与电池模块93电导通并为其进行充电的条件。
为完成接插件模块2113与电池模块93的电导通操作,在本实施例中,接插件模块2113可以具备接插件2113a和接插件动力单元,接插件动力单元可以被设置为伸缩杆,也可以设置为机械臂等其它动力机构,能够带动接插件2113a与电池模块93上的对应电插口完成电导通操作即可。在实际应用中,接插件2113a的形状与电池模块93上的电插口对应设置,如一者为插座,另一者为插头等,此处不再赘述。
为提高自动化效率,在本实施例中,充电台2110上还设置了充电座电池模块检测传感器2115,充电座电池模块检测传感器2115用于检测电池模块93是否已经放置在充电台2110上,本实施例中所使用的充电座电池模块检测传感器2115可以为微动开关,当电池模块93放置在充电台2110上时,触动微动开关,即可开始进行精定位及电导通操作。当然,充电座电池模块检测传感器2115也可以设置为光电传感器等其它感应开关,能够判断电池模块93是否已经放置在充电台上即可。
为了便于电池模块93在承载台200与充电座211之间进行转移,在本实施例中,充电台2110可以设置为如图19所示的U形结构,而充电座精定位柱2112a以及接插件2113a均位于充电台2110的上方且正对U形结构的中空区域。此时充电座精定位柱2112a的凸出方向与充电座粗定位柱2111a的凸出方向相反,即向下凸出。充电座精定位动力单元驱动充电座精定位柱2112a沿竖直方向移动。
这样在充电台2110与充电座精定位柱2112a以及接插件2113a之间便可 以形成一定间隙。当要将电量耗尽的电池模块93由承载台200转移至充电座211时,承载台200可以在移载机构201的带动下将电池模块93由上述间隙伸入并将电池模块93置于充电台2110与充电座精定位柱2112a以及接插件2113a之间,之后通过电池升降机构202降低高度,使电池模块93被充电台2110托住,同时承载台200则可由U形结构的中空区域通过,完成电池模块93与充电座211之间的转移。需要说明的是,本实施例中的充电台2110也可以采用其它能够供承载台200由下方通过的结构,在此不再赘述。
在电池模块93完成转移的同时也会同步完成粗定位,之后充电座精定位模块2112的充电座精定位动力单元驱动充电座精定位柱2112a下降并伸入对应的定位孔931内完成精定位。最后接插件动力单元再带动接插件2113a与电池模块93电导通。
类似的,当需要由充电座211上将充满电的电池模块93取出时,只需要反向操作,先将充电座精定位柱2112a以及接插件2113a脱离与电池模块93的配合状态,之后将承载台200移动至电池模块93下方再向上升起,承载台200在升起过程中便可将电池模块93托起并直至脱离与充电台2110以及充电座粗定位模块2111的配合,完成取出过程。
在本实施例中,接插件2113a的朝向可以与充电座精定位柱2112a的凸出方向相同,也可以与充电座精定位柱2112a的凸出方向不同。当充电座精定位柱2112a的凸出方向与充电座粗定位柱2111a相反,即向下凸出,且接插件2113a的朝向可以与充电座精定位柱2112a的凸出方向相同时,接插件动力单元可以驱动接插件2113a也沿竖直方向移动,即此时接插件2113a与充电座精定位柱2112a的移动方向相同。
本实施例中为了固定充电座精定位模块2112以及接插件模块2113,充电座211上还可包括支撑架2116,支撑架2116由U形结构的底部向上伸出,充电座精定位模块2112以及接插件模块2113均可设置在支撑架2116上。
而由前述分析可知,在不同的操作过程中,接插件2113a与充电座精定位柱2112a的移动方向也均相同,因此为了节省空间以及提高效率,在本实施例中,可以使用安装台2117同时固定充电座精定位柱2112a以及接插件2113a,同时将充电座精定位动力单元以及接插件动力单元一体化设置为一体式动力 单元2118,如图19所示,一体式动力单元2118固定设置在支撑架2116上,安装台2117则能够在一体式动力单元2118的驱动下沿竖直方向移动,从而使充电座精定位柱2112a以及接插件2113a一起移动,同步完成精定位以及电导通操作。
电池模块93在充电过程中可能会由于电流过载、过热等问题发生起火甚至***。此时如果不及时抑制火势,可能会蔓延至其它电池模块,造成严重的后果。因此,一旦发生上述问题,需要能够尽快将事故电池模块93远离其它电池模块93并进行消防处理。
因此,在本实施例中,如图1、图17和图20所示,换电站还可包括消防装置3,电池取放装置20还具备消防排废口205,消防装置3与消防排废口205正对。在本实施例中,消防排废口205可以与电池更换口203相对设置,此时电池更换装置1、电池仓***2以及消防装置3可以依次排布。
在本实施例中,如图20所示,消防装置3包括电池模块承接机构30、消防箱31、消防材料盛放箱32以及出料阀33。其中,电池模块承接机构30用于承接需要消防的电池模块93,并能够将电池模块93输送至消防箱31内。消防材料盛放箱32用于盛放消防材料,例如沙子。并且消防材料盛放箱32具有出料口320,出料口320需要正对消防箱31,出料阀33设置在出料口320上。当需要对消防箱31内的电池模块93进行消防灭火操作时,打开出料阀33,使存放在消防材料盛放箱32内的消防材料进入到消防箱31内,进而实现消防。在本实施例中,还可具备如图20所示的消防支架34,上述各设备均可固定在消防支架34上。
在本实施例中,消防箱31可以设置在电池模块承接机构30的下方,此时电池模块承接机构30可以通过掉落的方式将电池模块93输送至消防箱31。如图20所示,当电池模块93放置于电池模块承接机构30上时,电池模块承接机构30可以按照预设步骤撤去承接力,从而使电池模块93掉落。
本实施例中,电池模块93可以通过电池取放装置20被转移至电池模块承接机构30,转移的原理与电池模块93由承载台200转移至充电座211相同,均是通过竖直方向的移动实现,在此不再赘述。
在本实施例中,如图20和图21所示,电池模块承接机构30可以具备相 对设置的两个伸缩支撑模块300。通常情况下,伸缩支撑模块300处于伸出姿态时才能够托住电池模块93,而当伸缩支撑模块300处于缩回姿态时电池模块93则会掉落。通常情况下,两个伸缩支撑模块300的伸出方向相对便可实现上述方案。而对于一些中部存在较大镂空区域的电池模块而言,可能伸缩支撑模块300的伸出方向相互背离也可以实现上述方案。
如图21所示,伸缩支撑模块300可以包括固定部3000、支撑部3001以及伸缩动力单元3002,伸缩支撑模块300可以通过固定部3000固定在消防支架34或其它部件上。同时伸缩动力单元3002固定在固定部3000上。伸缩动力单元3002用于驱动支撑部3001以完成伸缩动作,伸缩动力单元3002可以设置为伸缩臂,也可以设置为伸缩杆,能够实现沿水平方向具备伸出及缩回两种状态即可。
为了使支撑部3001可以平稳地伸出和缩回,伸缩支撑模块300还可设置有伸缩导轨3003,支撑部3001与固定部3000通过伸缩导轨3003连接,支撑部3001在伸缩过程中能够被伸缩导轨3003导向。
除了上述采用伸缩支撑模块300的方式外,电池模块承接机构30也可以设置为耐火传送带等形式,能够承接电池模块93并将电池模块93输送至消防箱31即可。
本实施例中的消防材料盛放箱32、出料阀33、电池模块承接机构30及消防箱31可以自上而下依次设置,这样无论是电池模块93向消防箱31的转移还是消防材料向消防箱31的转移均可通过重力实现,无需设置其它动力。
为检测了提升消防装置的自动化程度,在本实施例中的消防装置3还可包括检测器35,检测器35可以检测电池模块承接机构30是否承接有电池模块93。检测器35可以是热感感应器,也可以是微动开关等其它类型,能够检测出电池模块承接机构30上是否有电池模块93即可。
当检测器35检测到电池模块承接机构30上承接了电池模块93后,可以向中央处理器发出检测信号,中央处理器收到信号后可向电池模块承接机构30发出指令,控制电池模块承接机构30将电池模块93转移至消防箱31内。之后再控制出料阀33开启,释放消防材料盛放箱32内的消防材料,将处于消防箱31内的电池模块93的险情遏制,至此完成消防操作。
综上所述,本公开实施例所提供的适用于AGV的换电站具有节约换电时间、提升AGV工作效率、换电速度快、精度高、自动化程度高等诸多优点。
本公开的另一实施例还提供了一种AGV的电池更换方法,该方法可以由上述AGV的换电站实施,也可以由其它设备实施。
具体地,如图22所示,该AGV的电池更换方法包括下列步骤:
步骤S10、将电池拆装机构置于AGV的下方;
步骤S20、将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系;
步骤S30、将旧电池模块脱离AGV的电池模块装配区域;
步骤S40、将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接;
步骤S50、将新电池模块与AGV发生相对移动并靠近,使新电池模块置于电池模块装配区域并与AGV建立连接关系。
其中,电池模块装配区域可以理解为AGV的用于安装电池模块的区域,例如,该电池模块装配区域为副车架91的内部区域。
通过上述五个步骤便可将AGV上原有的缺电状态的电池模块取下,并将新的满电状态的电池模块更换到AGV中,从而完成电池模块的整个更换过程。相较于等待充电的方式,这种更换电池的方法能够节省大量时间。需要说明的是,上述步骤S10至步骤S50中,除某一步骤的实施需要依赖于另一步骤的结果之外的情况外,其它一些步骤可能并没有严格的先后顺序(例如步骤S10与步骤S20),根据所采用的设备的结构以及控制程序的不同,这些步骤中的任意两个甚至更多个可能同时执行,或者在一个步骤进行到某一阶段时另一步骤开始执行,并且后执行的步骤也可能先于先执行的步骤结束。只要最终将五个步骤全部执行完毕,以使AGV的电池模块获得更新即可。
下面,对每个步骤进行分别说明。
步骤S10是更换AGV上电池模块的准备步骤,其中所述的电池拆装机构可以为上述换电站内的电池拆装机构12,或者为用于拆装电池的其它机构。
如果电池拆装机构初始时便已经处于AGV的承载设备(例如上述换电站中的提升架10)的下方,则此时只需要将AGV通过自行移动或其它设备辅 助移动等方式移动至承载设备上便可自然实现该步骤。
而如果电池拆装机构初始时并未处于AGV的承载设备下方,而是处于该承载设备的两侧,那么在将AGV移动至承载设备之后只是使AGV处于了初始位置,之后还需要将AGV由初始位置向上抬升一定高度,以能够使电池拆装机构水平移动至AGV的下方。在将AGV抬升后,还要将电池拆装机构水平移动至AGV的下方。在对于上述换电站而言,AGV的抬升过程可以通过提升架升降机构11带动提升架10实现,电池拆装机构12自身也设置有相应的行走模块128用以水平移动。电池拆装机构水平移动的过程可以在AGV停止太生之后开始,可以在AGV开始抬升一段时间后开始,或者与AGV的抬升过程同时开始。并且,电池拆装机构水平移动的过程可以在AGV停止之前或之后结束,或者两个过程同时结束。
由于AGV通常需要由其它位置移动至电池拆装机构的上方,并且对于上述换电站或其它类似的设备而言,AGV还需要由提升架10带动上下移动,因此AGV整体的水平位置对于步骤S20的顺利进行也是有一定影响的。而提升AGV整体的位置确定性也有助于提高步骤S20的成功率,因此在进行步骤S10的过程中,可以同步对AGV的水平位置进行定位。
在本实施例中,对AGV的水平位置进行定位也可以被分为两个阶段。第一个阶段中,通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向a的位置的定位。在第二个阶段是对AGV沿车轮轴线的第二水平方向b的位置的定位,并且为了避免第一阶段的定位失效,在AGV在沿第二水平方向b的定位过程中需要始终保持AGV在第一水平方向a上的位置不变。通过上述两个阶段,便可实现AGV整体的水平位置的定位。
对于第一阶段,可以采用定位槽对AGV进行定位,其具体过程可以为:将AGV的车轮沿第二水平方向b滚入一沿第二水平方向b延伸的定位槽内,在重力作用下使车轮卡在定位槽内,以定位AGV在第一水平方向a的位置。定位槽的相关结构可以参考上述实施例中的换电站。
在执行第二阶段时,AGV可以在沿第二水平方向b移动的过程中将车轮始终卡在定位槽内,从而保持AGV在第一水平方向的位置。由于定位槽沿第二水平方向b延伸,因此即使定位槽在沿第二水平方向b移动的过程中会相 对于定位槽移动,也可以保证定位槽始终能够约束车轮以及AGV整体在第一水平方向的位置。
在更为优选的方案中,AGV在沿第二水平方向b移动的过程中可以使车轮通过摩擦力带动定位槽一起沿第二水平方向b移动。这样在执行第二阶段时可以使定位槽与车轮保持相对静止,因此可以获得更高的定位精度。上述方案可以采用上述实施例中的换电站实施,或者也可以采用不同于换电站中所描述的相应结构的其它结构或设备实施。
为了提升自动化效率以及定位精度,在进行第一阶段的过程中可以同步检测AGV的状态,在检测到AGV已经完成在第一水平方向a的位置的定位时,再开始对AGV沿车轮轴线的第二水平方向b的位置的定位。判断AGV已经完成在第一水平方向a的位置的定位的方法很多,例如检测AGV上某一标志物的位置是否处于限定范围内,处于限定范围则认为已经完成第一水平方向的定位,又或者检测AGV处于静止状态的时间是否超过限定阈值,当超过限定阈值时认为已经完成第一水平方向的定位等等。
而本实施例结合定位槽定位的特点,提供了一种较为简单的判断方式,即检测定位槽内是否存在AGV的车轮。当检测到定位槽内存在车轮时,便可认为第一水平方向的定位已经完成。相关的实施结构已经在上述实施例中的换电站中阐明,可以在定位机构101的第一定位模块1010内设置车轮检测传感器1010f,在此不再赘述。
本实施例在进行第二阶段时,可以根据所获取的AGV在第二方向上与基准标识的位置差对AGV沿车轮轴线的第二水平方向b的位置进行定位。该基准标识可以为刻痕、二维码、某一指定结构的轮廓等各种形式,本实施例中不做限定。
并且,在沿第二水平方向b定位AGV时,免不了要对AGV施加沿第二水平方向b的作用力以使其移动。如果仅从一侧对AGV施加作用力,则当停止施加作用力时,AGV有可能在惯性的作用下继续向前移动一段距离,从而导致定位精度降低。为了避免这一问题,本实施例在进行AGV的第二水平方向b的位置的定位过程中可以沿第二水平方向b同时向AGV的两侧施力,使AGV在被夹紧的状态下被推挤至定位位置。通过这种方法可以有效控制AGV 因惯性而移动的距离,从而提高定位精度。在上述换电站的实施例中可通过第二定位模块1011的水平推动组件1011a实现上述功能,相关结构及原理已在该实施例中进行详细说明,在此不再赘述。
步骤S20的目的是将AGV上的旧电池模块与AGV的主体部分解除连接关系。在步骤S10中,AGV整体与电池拆装机构12之间通常并未直接接触,而是存在一定的间距,因此在此步骤中,如果想要电池拆装机构对旧电池模块进行操作,则需要将旧电池模块与电池拆装机构进行对接。
将旧电池模块与电池拆装机构进行对接的方式,其中之一是将电池拆装机构向上移动,使其靠近AGV,并最终实现二者对接。另一种方式则相反,是将AGV整体向下移动至与电池拆装机构对接的位置。除此之外,可以使二者同时相向移动,甚至可以是二者以不同的速率同向移动并接近,最终实现对接。对于上述实施例中的换电站而言,其所采用的是第二种方式,即利用电池更换装置1内的提升架升降机构11将提升架10以及AGV整体向下移动,并与电池拆装机构12对接。
对于电池拆装机构而言,如果想要顺利、快速地接触旧电池模块与AGV的连接关系,通常需要二者保持较高的定位精度。因此,在将旧电池模块与电池拆装机构对接的过程中,还可以对旧电池模块的水平位置进行定位。该定位过程可以在对接开始前、进行中甚至完成后开始,并且可以在对接完成前、完成时或者完成之后完成。对于上述的换电站而言,其定位过程通常可被安排在对接过程进行的过程中开始,并且在对接完成后才结束。
具体地,本实施例中对电池模块的水平位置进行定位的过程可以分为两个阶段,第一个阶段是对AGV的电池模块进行水平方向的粗定位,即精度较低误差较大的定位。第二个阶段则是对AGV的电池模块进行水平方向的精定位,即精度较高、误差较小的定位。
对于第一个阶段,本实施例可以采用将粗定位柱由下方伸入电池模块的粗定位孔的方式来对AGV的电池模块进行水平方向的粗定位。同时对于第二个阶段,本实施例可以采用将精定位柱由下方伸入电池模块的精定位孔,对AGV的电池模块进行水平方向的精定位。并且,精定位柱与精定位孔所形成的环隙宽度小于所述粗定位柱与粗定位孔所形成的环隙宽度。即利用环隙的 大小作为精度高低的依据,环隙越大,精度越低,反之环隙越小,精度就越高。
结合上述换电站的电池拆装机构12的结构来看,粗定位柱1210由下方伸入电池模块的粗定位孔过程可以在电池模块93向位于其下方的电池拆装机构12的抵接台120的抵接面1200移动的过程中同步完成,且电池模块93完成水平方向的粗定位时与抵接面1200处于抵接状态。
而将精定位柱1220由下方伸入电池模块93的精定位孔的过程具体可以采用将精定位柱1220由抵接面1200的下方向凸出于抵接面1200的方向移动并伸入电池模块93的精定位孔,对AGV的电池模块进行水平方向的精定位。具体的定位部件结构以及相关定位原理均已在上述换电站的实施例中阐明,在此不再赘述。
待电池模块的水平定位已经完成或者基本完成时,电池拆装机构便可开始解除电池模块与AGV的连接关系。在电池模块与AGV的主体之间会设置诸如上述换电站的实施例所说的锁紧模块930与AGV的副车架91的锁扣910形成连接关系。因此,解除电池模块与AGV的连接关系实际上就是解除锁紧模块930与锁扣910之间的连接关系以解锁锁紧模块930。对于本实施例所提供的AGV而言,可通过解锁模块解锁AGV的电池模块,解锁模块的结构可以参见上述换电站的相关介绍,该解锁模块123具备解锁顶杆1230,锁紧模块930可在解锁模块123的解锁顶杆1230由抵接面1200的下方向凸出于抵接面1200的方向移动的过程中被解锁。相关解锁结构及原理在上述换电站的实施例中已详细阐明,在此不再赘述。
对于一个电池模块93而言,可能需要在不同方位设置多个锁紧模块930。由于电池模块93的底面的面积较大,如果以塑料等不耐久的材料制备,在使用过程中容易发生变形,变形后的底面可能导致锁紧模块930与解锁顶杆1230之间的相对位置可能发生变化,从而致使部分解锁顶杆1230即使伸出也无法解锁锁紧模块930。
为了避免或改善上述问题,本实施例在电池模块93沿竖直方向与位于其下方的抵接台120的抵接面1200发生相对移动并接近的过程中,电池模块93会将抵接台120向下压迫并使与抵接台120连接的弹性顶紧模块126发生弹 性形变。这一过程将会在检测到抵接台120被压迫至预定位置后停止,即停止电池模块93与抵接台120的相对移动。通过这种弹性压迫能够使抵接面1200与电池模块93的底面紧密贴合,从而确保锁紧模块930与解锁顶杆1230之间的相对位置精度。
虽然步骤S20使得旧电池模块与AGV的连接关系得以解除,但由于此时旧电池模块仍然处于AGV的电池模块装配区域(例如副车架91的内部区域)内,因此受限于双方的空间位置,很难直接转移旧电池模块,因此还需要执行步骤S30,将旧电池模块脱离AGV的电池模块装配区域。
步骤S30的执行过程中,由于在步骤S20中已经将旧电池模块与下方的电池拆装机构对接,因此通常将电池拆装机构相对于AGV的主体的承载设备进行竖直方向的相互远离,由于旧电池模块与电池拆装机构对接,二者可保持相对静止,而AGV被承载设备承载,二者保持相对静止,因此可实现旧电池模块与AGV的电池模块装配区域的脱离。类似的,AGV与旧电池模块的脱离可以是其中一者不动,另一者沿竖直方向远离,或者二者同时朝相互背离的方向移动,甚至二者以不同速率做同向移动并相互远离。对于上述换电站而言,其通常利用提升架升降机构11与提升架10的配合将AGV向上移动至旧电池模块脱离AGV的电池模块装配区域。
在一些AGV的拆卸过程中,可能由于AGV本身与电池模块的尺寸精度问题,即使二者已经解除了锁紧模块的锁紧关系,但可能在其它本不应该形成固定结构的位置可能由于过盈、挤压等方式形成暂时的固定结构。而由于这些固定结构的存在,即使在竖直方向上使电池拆装机构及其承载台与AGV的承载设备以及AGV整体相互远离,但电池模块仍可能与AGV固定在一起,而没有分离。
此时为了通过自动化设备进行补救,在步骤S30中可包括下列步骤:
在竖直方向上将抵接台与AGV相互远离,并检测抵接台上是否存在电池模块;在检测到抵接台上已存在电池模块时,结束步骤S30;在检测到抵接台上不存在电池模块时进行下列步骤:
将电池模块沿竖直方向与位于其下方的抵接台的抵接面发生相对移动并重新抵接;
将拉钩勾住电池模块;
重新在竖直方向上将抵接台与AGV相互远离。
在再次相互远离的过程中,由于电池模块已经被拉钩勾住而无法跟随AGV一起移动,因此在相互远离过程中前述的临时固定结构将会被破坏,从而使电池模块与AGV顺利脱离。在上述的换电站的实施例中,检测抵接台120上是否存在电池模块93的过程可以通过电池模块检测传感器124实现。拉钩1250被设置在电池拆装机构12中,但在其它设备中,拉钩也可能被设置在其它不随AGV一起移动的结构或设备上。
待AGV处于能够被顺利转移或输送的状态后,便可开始执行步骤S40,将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接。该过程可通过人工完成,也可以采用上述换电站完成。待新电池模块与电池拆装机构对接完成后,便可执行步骤S50,使新电池模块置于电池模块装配区域并与AGV建立连接关系,完成电池更换的全部过程。
为了提高自动化效率,可以在步骤S40执行的过程中检测抵接台上是否重新存在电池模块,待检测到抵接台上重新存在电池模块时,再执行步骤S50。判断抵接台上是否重新存在电池模块的方式有许多种,例如采用计数器或计数软件配合电池模块检测传感器124等。
由于在步骤S30中电池拆装机构与AGV之间会存在较远的距离,因此在步骤S40中将新电池模块对接在电池拆装机构上之后,新的电池模块与AGV之间依然会存在较远的距离,而无法直接装配。因此,在步骤S50中需要将新电池模块与AGV发生相对移动并靠近,缩短二者之间的距离使新电池模块置于电池模块装配区域。这一靠近过程可以通过将AGV整体向下移动的方式实现,随着AGV的向下移动,新电池模块便可逐渐进入AGV的电池模块装配区域内。而使新电池模块与AGV建立连接关系的方式可以通过所设置的机构使锁紧模块重新被锁紧,该机构的样式以及锁紧原理根据锁紧模块及其配合结构的不同而对应调整。
例如,如果锁紧模块被解锁和锁紧的操作动作完全相同,则可以通过解锁模块123同时作为解锁与锁紧机构。解锁顶杆1230第一次伸出使锁紧模块被解锁,电池模块与AGV的连接关系解除,解锁顶杆1230第二次伸出使锁 紧模块被重新锁紧,电池模块与AGV的连接关系建立。又例如,如果锁紧模块被解锁和锁紧的操作动作完全相反,则可以通过设置与解锁模块123的控制动作相反的机构实施锁紧动作。而对于上述实施例所提供的锁紧模块930与锁扣910的配合结构而言,还存在一种更为快捷的锁紧方法,即可在电池模块93向电池模块装配区域内移动的同时自行实现锁紧模块930与锁扣910的锁紧,无需其它多余步骤。
由于AGV的各***在工作状态下可能需要时刻接收、发送、储存以及调阅多指令或其它信息,而AGV一旦断电,这些功能便都将失去,甚至连储存在其内部的信息也可能丢失。因此AGV的各***通常需要随时保持通电状态,即便在更换电池时也是如此。在正常情况下,AGV的电能由其上的电池模块提供,而在上述步骤S20至步骤S50这四个步骤中,尤其是旧电池模块即将与AGV解除连接关系之时至新电池模块与AGV建立连接关系之前的这段时间内,AGV可能并未与电池模块连接,因此无法使用电池模块的电能。因此为了保证在上述四个步骤的执行过程中AGV不断电,本实施例可以在上述步骤S20至步骤S50这四个步骤的执行过程中使AGV始终处于预充电状态。预充电状态即通过外部临时连接的方式为AGV进行临时供电。
在本实施例中,预充电线路可以在执行步骤S20之前便已经完成与AGV的连通。具体而言,预充电线路可以在执行步骤S10之前便完成与AGV的连通,之后再执行步骤S10。或者预充电线路也可以在执行步骤S10的过程中完成与AGV的连通。例如在上述换电站的实施例中,预充电线路可以在对AGV的水平位置进行定位的过程中同步进行。当然,在其它一些实施例中,预充电线路也可能在AGV的定位开始前或完成后再执行。同时,在本实施例中,在步骤S50执行完毕之后可以再将AGV与预充电线路断开。预充电电路与AGV的连接结构可参考上述换电站的预充电机构106的相关结构,在此不再赘述。除此之外,预充电线路也可以在步骤S10执行完毕之后,并在步骤S20开始执行之前完成与AGV的连通。
对于存在将AGV由初始位置向上抬升并将电池拆装机构水平移动至AGV的下方的步骤的实施例,在完成步骤S50之后还可以进一步将新电池模块脱离电池拆装机构,再将电池拆装机构水平移出AGV的下方并将AGV向 下降落至初始位置,从而使设备回归原始状态。既有利于AGV由初始位置离开,也有利于下一辆AGV的进入。该过程同样可由上述换电站实施,且相关实施方式已经在上述实施例中阐明。
如图23所示,本公开实施例提供的AGV的电池拆卸方法,包括以下步骤S60-步骤S80。
步骤S60、对AGV的电池模块进行水平方向的定位;
步骤S70、通过解锁模块解锁AGV的电池模块上的锁紧模块;
步骤S80、在竖直方向上将电池模块与AGV相互远离,使电池模块由AGV的下方脱离AGV。
如图24所示,本公开实施例提供的AGV的定位方法,包括以下步骤S90和步骤S100。
步骤S90、通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位;
步骤S100、对AGV沿车轮轴线的第二水平方向的位置的定位,且AGV在沿第二水平方向的定位过程中始终保持AGV在第一水平方向上的位置不变。
综上所述,本公开实施例所提供的AGV的电池更换方法具有节约换电时间、提升AGV工作效率、换电速度快、精度高、自动化程度高等诸多优点。
本公开上文实施例中重点描述的是各个实施例之间的不同,各个实施例之间不同的优化特征只要不矛盾,均可以组合形成更优的实施例,考虑到行文简洁,在此则不再赘述。
以上所述仅为本公开的实施例而已,并不用于限制本公开。对于本领域技术人员来说,本公开可以有各种更改和变化。凡在本公开的精神和原理之内所作的任何修改、等同替换、改进等,均应包含在本公开的权利要求范围之内。
Claims (18)
- 一种AGV的电池更换方法,包括下列步骤:将电池拆装机构置于AGV的下方;将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系;将旧电池模块脱离AGV的电池模块装配区域;将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接;将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系。
- 根据权利要求1所述的AGV的电池更换方法,其中,在所述将AGV上的旧电池模块与电池拆装机构对接的步骤中,将AGV整体向下移动至与电池拆装机构对接;和/或在所述将旧电池模块脱离AGV的电池模块装配区域的步骤中,将AGV向上移动至旧电池模块脱离AGV的电池模块装配区域;和/或在所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域的步骤中,将AGV整体向下移动至新电池模块处于AGV的电池模块装配区域内。
- 根据权利要求1或2所述的AGV的电池更换方法,其中,在所述将电池拆装机构置于AGV的下方的步骤中,将AGV由初始位置向上抬升并将电池拆装机构水平移动至AGV的下方;和/或在所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤之后还包括:将新电池模块脱离电池拆装机构;将电池拆装机构水平移出AGV的下方并将AGV向下降落至初始位置。
- 根据权利要求1或2所述的AGV的电池更换方法,其中,在所述将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系的步骤、 所述将旧电池模块脱离AGV的电池模块装配区域的步骤、所述将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接的步骤以及所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤的执行过程中,AGV始终处于预充电状态。
- 根据权利要求4所述的AGV的电池更换方法,还包括:在所述将AGV上的旧电池模块与电池拆装机构对接并与AGV解除连接关系的步骤之前,将AGV与预充电线路连通;在将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤之后,将AGV与预充电线路断开。
- 根据权利要求1或2任一项所述的AGV的电池更换方法,其中,在所述将旧电池模块由电池拆装机构上取下并将新电池模块与电池拆装机构对接的步骤中包括:检测抵接台上是否重新存在电池模块,待检测到抵接台上重新存在电池模块时,执行所述将新电池模块与AGV发生相对移动,使新电池模块置于电池模块装配区域并与AGV建立连接关系的步骤。
- 根据权利要求1或2所述的AGV的电池更换方法,其中,在所述将AGV上的旧电池模块与电池拆装机构对接的步骤中还包括:对旧电池模块的水平位置进行定位;所述对旧电池模块的水平位置进行定位的步骤包括:对AGV的电池模块进行水平方向的粗定位;对AGV的电池模块进行水平方向的精定位;所述对AGV的电池模块进行水平方向的粗定位的步骤包括:在电池模块沿竖直方向与位于其下方的电池拆装机构的抵接台的抵接面发生相对移动并接近的过程中使粗定位柱由下方伸入电池模块的粗定位孔,对AGV的电池模块进行水平方向的粗定位,且电池模块完成水平方向的粗定位时与抵接面抵接;所述对AGV的电池模块进行水平方向的精定位的步骤包括:将精定位柱由抵接面的下方向凸出于抵接面的方向移动并伸入电池模块的精定位孔,对AGV的电池模块进行水平方向的精定位;所述精定位柱与精定位孔所形成的环隙宽度小于所述粗定位柱与粗定位 孔所形成的环隙宽度;在电池模块沿竖直方向与位于其下方的电池拆装机构的抵接台的抵接面发生相对移动并接近的过程中,电池模块将将抵接台向下压迫并使与抵接台连接的弹性顶紧模块发生弹性形变,并在检测到抵接台被压迫至预定位置后停止电池模块与抵接台的相对移动。
- 根据权利要求1或2所述的AGV的电池更换方法,其中,所述将电池拆装机构置于AGV的下方的步骤中包括:对AGV的水平位置进行定位;所述对AGV的水平位置进行定位的步骤包括:通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位;对AGV沿车轮轴线的第二水平方向的位置的定位,且AGV在沿第二水平方向的定位过程中始终保持AGV在第一水平方向上的位置不变;所述通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位的步骤包括:AGV的车轮沿第二水平方向滚入一沿第二水平方向延伸的定位槽内,在重力作用下使车轮卡在定位槽内,以定位AGV在第一水平方向的位置;在所述对AGV沿车轮轴线的第二水平方向的位置的定位,且AGV在沿第二方向的定位过程中始终保持AGV在第一水平方向上的位置不变的步骤中:在检测到AGV已经完成在第一水平方向的位置的定位时,开始对AGV沿车轮轴线的第二水平方向的位置的定位;在所述检测到AGV已经完成在第一水平方向的位置的定位的步骤中,判断AGV已经完成在第一水平方向的位置的定位的方法包括:检测到定位槽内存在AGV的车轮。
- 一种AGV的电池更换装置,包括提升架、提升架升降机构以及电池拆装机构;所述提升架用于承载AGV;所述提升架升降机构用于将所述提升架升起及放下;所述电池拆装机构处于所述AGV的下方时用于与电池模块对接并解除或 建立电池模块与AGV的连接关系。
- 根据权利要求9所述的AGV的电池更换装置,其中,所述电池拆装机构包括解锁模块;所述解锁模块包括解锁动力单元以及与AGV的电池模块上的锁紧模块的位置相对应的解锁顶杆,所述解锁顶杆能够在所述解锁动力单元的驱动下凸出及缩回,且当所述解锁顶杆凸出时能够解锁锁紧模块。
- 根据权利要求9所述的AGV的电池更换装置,其中,所述电池拆装机构包括行走模块,所述行走模块用于带动所述电池拆装机构水平移动至AGV的电池模块的下方。
- 根据权利要求11所述的AGV的电池更换装置,其中,所述电池拆装机构包括两个所述行走模块,两个所述行走模块相对移动,每个所述行走模块分别带动所述电池拆装机构的一部分水平移动。
- 根据权利要求9所述的AGV的电池更换装置,其中,所述提升架包括:用于承载AGV的支撑台,所述支撑台上开设有供AGV的电池模块沿竖直方向通过的避让区域,所述避让区域延伸至所述支撑台的一侧并形成开口。
- 根据权利要求13所述的AGV的电池更换装置,其中,所述提升架还包括:副车架托举机构以及支撑框,所述支撑框包括主体部以及延伸部,所述主体部与所述支撑台固定连接,所述延伸部由所述主体部延伸至所述支撑台的一侧,所述副车架托举机构固定在所述延伸部上接并与所述开口相对,所述副车架托举机构能够朝所述开口伸出并托举AGV。
- 根据权利要求9至14任一项所述的AGV的电池更换装置,其中,所述提升架还包括为定位在所述提升架上的AGV提供电力的预充电机构。
- 根据权利要求9至14任一项所述的AGV的电池更换装置,其中,所述提升架还包括定位所述AGV的位置的定位机构,所述定位机构包括第一定位模块以及第二定位模块;所述第一定位模块用于通过定位AGV的车轮实现对AGV垂直于车轮轴线的第一水平方向的位置的定位;所述第二定位模块用于对AGV沿车轮轴线的第二水平方向的位置的定位。
- 根据权利要求9至14任一项所述的AGV的电池更换装置,其中,所述电池更换装置还包括框架,所述提升架升降机构以及所述电池拆装机构均集成于所述框架上,所述提升架位于所述框架所包围的空间内。
- 根据权利要求17所述的AGV的电池更换装置,其中,还包括引导斜坡,所述引导斜坡设置在所述框架的前方,用于将AGV引导至所述提升架上。
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CN116872893A (zh) * | 2023-09-05 | 2023-10-13 | 捷螺智能设备(苏州)有限公司 | 一种电池自动交换装置 |
CN116872893B (zh) * | 2023-09-05 | 2023-11-28 | 捷螺智能设备(苏州)有限公司 | 一种电池自动交换装置 |
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CN112455276A (zh) | 2021-03-09 |
JP7474322B2 (ja) | 2024-04-24 |
CN112455276B (zh) | 2023-11-03 |
JP2022547117A (ja) | 2022-11-10 |
EP4026739A1 (en) | 2022-07-13 |
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