阅读说明：本技术 Agv换电自动充电装置、系统及方法 (Automatic charging device, system and method for AGV battery replacement ) 是由 张亚方 陈英 于 2019-10-08 设计创作，主要内容包括：本公开提供了一种AGV换电自动充电装置、系统及方法,包括：智能充电站本体,所述智能充电站本体用于形成对AGV的待充电电池充电及更换的空间；至少一个充电单元,所述充电单元设置于所述智能充电站内,与充电电源电性连接,用于对AGV的待充电电池进行充电；至少一个电池移载装置,所述电池移载装置安装于所述智能充电站内,用于实现AGV电池在所述AGV与所述充电单元之间的运载。(The utility model provides an AGV trades electric automatic charging device, system and method, includes: the intelligent charging station comprises an intelligent charging station body, a charging control unit and a charging control unit, wherein the intelligent charging station body is used for forming a space for charging and replacing a to-be-charged battery of the AGV; the charging unit is arranged in the intelligent charging station, is electrically connected with a charging power supply and is used for charging a battery to be charged of the AGV; at least one battery moves and carries the device, the battery moves and carries the device install in the intelligent charging station for realize that the AGV battery is in AGV with delivery between the charging unit.)

1. An AGV trades electric automatic charging device includes:

the intelligent charging station comprises an intelligent charging station body (10), wherein the intelligent charging station body (10) is used for forming a space for charging and replacing a battery to be charged of the AGV;

the charging unit (20) is arranged in the intelligent charging station, is electrically connected with a charging power supply and is used for charging a battery to be charged of the AGV;

at least one battery transfer device (30), wherein the battery transfer device (30) is installed in the intelligent charging station and used for carrying the AGV battery (701) between the AGV and the charging unit (20).

2. The AGV battery swapping automatic charging device of claim 1, further comprising:

the constant temperature and humidity adjusting device (40) is arranged in the intelligent charging station body (10) and used for adjusting the temperature and the humidity of the inner space of the intelligent charging station body (10) so that the temperature and the humidity of the inner space of the intelligent charging station body (10) can be kept within a preset range.

3. The AGV power swapping automatic charging device of claim 2, wherein the intelligent charging station body (10) is capable of forming a closed space.

4. The AGV power swapping automatic charging device of claim 3, the intelligent charging station further comprising:

and the automatic door opening and closing device (50) is arranged on the intelligent charging station body (10) and is used for automatically opening or closing in the process of taking out and replacing the batteries of the AGV.

5. The AGV battery replacement automatic charging device according to claim 1, wherein a plurality of charging units (20) are provided in the intelligent charging station body (10) in a horizontal direction and/or a vertical direction.

6. The AGV battery swapping automatic charging device of claim 1, further comprising:

at least one spare AGV battery (60), spare AGV battery (60) set up in intelligent charging station body (10), can with charging unit (20) electric connection is used for replacing the AGV wait to charge the battery.

7. The AGV battery swapping automatic charging device according to claim 1, wherein the battery transfer device (30) includes:

the battery tray (303) is used for taking, placing and bearing a battery;

a horizontal transfer device (301) for moving the battery transfer device (30) in the horizontal direction;

and a vertical transfer device (302) for moving the battery transfer device (30) in the vertical direction.

8. The AGV battery replacing automatic charging device according to claim 7, wherein the transmission structure of the horizontal transfer device (301) and the vertical transfer device (302) adopts a gear rack, a chain wheel, a synchronous toothed belt or a steel wire rope.

9. The AGV battery replacement automatic charging device according to claim 7, wherein the battery tray (303) is mounted on the vertical transfer device (302), and the vertical transfer device (302) and the battery tray (303) are mounted on the horizontal transfer mechanism.

10. The AGV power swapping automatic charging device of claim 7,

the horizontal transfer device (301) comprises a horizontal guide rail (3011), a first sliding block (3012), a first connecting plate (3013), a first rack (3014), a first gear (3015) and a first driving device, wherein the horizontal guide rail (3011) and the first rack (3014) are mounted on a bottom beam (101) of an intelligent charging station body (10), the first sliding block (3012) is in sliding connection with the horizontal guide rail (3011), the first gear (3015) is in matching connection with the first rack (3014), the first driving device drives the first gear (3015) to rotate, and the first connecting plate (3013) is connected with the first sliding block (3012) and the first driving device; and/or

The vertical transfer device (302) comprises a vertical guide rail (3021), a second slider (3022), a second connecting plate (3023) (3023), a second rack (3024), a second gear (3025), and a second driving device, wherein the vertical guide rail (3021) and the second rack (3024) are mounted on a vertical beam (102) of the intelligent charging station body (10), the second slider (3022) is slidably connected to the vertical guide rail (3021), the second gear (3025) is cooperatively connected to the second rack (3024), the second driving device drives the second gear (3025) to rotate, and the second connecting plate (3023) (3023) connects the second slider (3022) and the second driving device.

11. The AGV battery replacement automatic charging device according to claim 7, wherein the battery tray (303) comprises a battery pick-and-place supporting plate (3031), a tray guide rail (3032), an upper rack (3033), a lower rack (3034), a gear box (3035) and a third driving device (3036), wherein the battery pick-and-place supporting plate (3031) and the tray guide rail (3032) are connected with the upper rack (3033), the gear box (3035) is connected with the upper rack (3033) and the lower rack (3034) in a matching manner and is guided by the tray guide rail (3032) in a matching manner, and the third driving device (3036) is used for driving the gear box (3035) to rotate to drive the battery pick-and-place supporting plate (3031) to move horizontally.

12. The AGV swapping automatic charging device of claim 7, the battery tray (303) further comprising:

the battery positioning frame (3037), the battery positioning frame (3037) is fixed on the battery shifting device (30), and is provided with:

and the first positioning pin (30371) is matched with a positioning pin hole of a battery to be charged carried by the battery transfer device (30).

13. The AGV swapping automatic charging device of claim 1, the charging unit (20) comprising:

the charging frame (201), charging frame (201) is fixed in on layer board (103) of intelligent charging station body (10), is provided with on it:

the charging plate (202) is electrically connected with a charging interface of the battery to be charged and is connected to a charging power supply through a charging cable (204);

and the second positioning pin (203) is matched with the positioning pin hole of the battery to be charged.

14. The AGV charging auto-charging device of claim 13, said charging pad (202) comprising:

a guide part (2021), wherein the guide part (2021) is positioned at the end part of the charging plate (202) far away from the charging frame (201), and the end part is provided with a guide inclined surface.

15. The AGV battery swapping automatic charging device of claim 1, further comprising:

the detection device is arranged on the intelligent charging station body (10) and used for detecting the charging current and the charging voltage of the current rechargeable battery and judging whether the battery breaks down or not.

16. The AGV battery swapping automatic charging device of claim 15, further comprising:

a maintenance channel (80), the maintenance channel (80) is arranged in the intelligent charging station body (10), and is provided with an outlet communicated with the outside for carrying the fault battery.

17. An AGV trades electric automatic charging system, includes:

the AGV battery swapping automatic charging device of any one of claims 1-16;

at least an AGV, the AGV includes battery detecting element, battery detecting element is used for detecting the AGV battery under-voltage or the undervoltage condition.

18. An AGV battery replacement automatic charging method adopting the AGV battery replacement automatic charging device according to any one of claims 1 to 16, comprising:

when the AGV runs to the potential changing position outside the intelligent charging station body, the battery transferring device takes out the battery in the AGV body;

the battery transfer device operates to an empty charging position distributed by the system for charging, and then the fully charged battery is taken out from the charging position and operates to a battery replacement position;

the battery transfer device installs a fully charged battery for the AGV.

19. The method of claim 18, further comprising:

the temperature and humidity of the internal space of the intelligent charging station are adjusted through the constant-temperature constant-humidity adjusting device inside the intelligent charging station, so that the temperature and humidity of the internal space of the intelligent charging station are kept within a preset range.

20. The method of claim 18, further comprising:

the automatic door opening and closing device on the intelligent battery replacement station body is opened when the battery is taken and placed, and is closed immediately after the action of taking and placing the battery is finished.

21. The method of claim 18, further comprising:

when detecting that the AGV battery is under-voltage/under-current, the AGV automatically runs to the intelligent charging station and changes the potential, and after changing the electricity, the AGV automatically leaves the potential and enters the normal operation area to work.

Technical Field

The disclosure relates to the field of warehouse logistics, in particular to an automatic charging device, system and method for AGV battery replacement.

Background

With the rapid development of artificial intelligence, AGVs (Automatic Guided vehicles) are increasingly widely used. Current AGV running power generally is lithium ion battery, does not possess automatic change power function when the overwhelming majority of AGV operation, and when AGV battery power is low, the AGV dolly can automatic operation to fixed point location of charging, charges automatically in this position, carries out the operation again after being full of the point, and less partial AGV adopts manual change battery.

In the course of implementing the disclosed concept, the inventors found that there are at least the following problems in the prior art:

1) in order to facilitate charging of the AGV trolley, charging piles are generally arranged on the trolley accessories, the number of the charging piles is increased, so that efficiency can be improved, but the charging piles are open, so that great potential safety hazards exist in the charging process, and particularly in occasions with high fire-proof level, such as warehouses and the like; the battery belongs to flammable and explosive articles, and potential safety hazards also exist if personnel frequently enter a charging area in the charging process;

2) when the AGV trolley adopts an automatic charging mode, a power supply is charged in a high-temperature environment in summer, so that high-temperature alarm is easily generated, the temperature of a battery can be increased along with the charging time and the charging current in the charging process of a lithium battery, and the high-temperature alarm can be generated when the temperature is increased to a set value; under the condition of low environmental temperature in winter, the lithium battery charging can be automatically cut off due to too low temperature, the charging efficiency is influenced, and the inconvenience in use is caused;

3) when the electric quantity of the AGV battery is low, the AGV trolley needs to run to a fixed charging point position, and operation can be performed only after the position is fully charged, so that the charging waiting time is long, and the running efficiency of the AGV is reduced;

4) the manual battery replacement can consume large manpower, personnel can continuously work for 24 hours along with the AGV trolley, the human-computer mixed operation condition can occur in the operation process, and safety accidents are easy to happen.

Disclosure of Invention

In view of this, the present disclosure provides an automatic charging device, system and method for AGV battery replacement.

One aspect of the present disclosure provides an automatic charging device for an AGV battery replacement, including:

the intelligent charging station comprises an intelligent charging station body, a charging control unit and a charging control unit, wherein the intelligent charging station body is used for forming a space for charging and replacing a to-be-charged battery of the AGV;

the charging unit is arranged in the intelligent charging station, is electrically connected with a charging power supply and is used for charging a battery to be charged of the AGV;

at least one battery moves and carries the device, the battery moves and carries the device install in the intelligent charging station for realize that the AGV battery is in AGV with delivery between the charging unit.

According to the embodiment of the present disclosure, the AGV swap automatic charging device further includes:

the constant temperature and humidity adjusting device is arranged in the intelligent charging station body and used for adjusting the temperature and the humidity of the internal space of the intelligent charging station body, so that the temperature and the humidity of the internal space of the intelligent charging station body are kept within a preset range.

According to the embodiment of the present disclosure, wherein the intelligent charging station body can form a closed space.

According to the embodiment of the present disclosure, the intelligent charging station further includes:

the automatic door opening and closing device is arranged on the intelligent charging station body and used for automatically opening or closing the batteries in the process of taking out and putting back the batteries of the AGV.

According to the embodiment of the present disclosure, a plurality of charging units are arranged in the intelligent charging station body in the horizontal direction and/or the vertical direction.

According to the embodiment of the present disclosure, the AGV swap automatic charging device further includes:

at least one reserve AGV battery, reserve AGV battery set up in intelligent charging station is originally internal, can with charging unit electric connection is used for the replacement AGV wait rechargeable battery.

According to an embodiment of the present disclosure, the battery transfer apparatus includes:

the battery tray is used for taking, placing and bearing the battery;

the horizontal transfer device is used for realizing the horizontal movement of the battery transfer device;

and the vertical transferring device is used for realizing the movement of the battery transferring device in the vertical direction.

According to the embodiment of the disclosure, the transmission structures of the horizontal transfer device and the vertical transfer device adopt a gear rack, a chain wheel and a chain, a synchronous toothed belt or a steel wire rope.

According to the embodiment of the present disclosure, the battery tray is mounted on the vertical transfer device, and the vertical transfer device and the battery tray are mounted on the horizontal transfer mechanism.

According to the embodiment of the disclosure, the horizontal transfer device comprises a horizontal guide rail, a first sliding block, a first connecting plate, a first rack, a first gear and a first driving device, wherein the horizontal guide rail and the first rack are mounted on a bottom beam of an intelligent charging station body, the first sliding block is connected with the horizontal guide rail in a sliding mode, the first gear is connected with the first rack in a matching mode, the first driving device drives the first gear to rotate, and the first connecting plate is connected with the first sliding block and the first driving device; and/or

The vertical transfer device comprises a vertical guide rail, a second sliding block, a second connecting plate, a second rack, a second gear and a second driving device, wherein the vertical guide rail and the second rack are installed on a vertical beam of the intelligent charging station body, the second sliding block is connected with the vertical guide rail in a sliding mode, the second gear is connected with the second rack in a matching mode, the second driving device drives the second gear to rotate, and the second connecting plate is connected with the second sliding block and the second driving device.

According to the embodiment of the disclosure, the battery tray comprises a battery taking and placing supporting plate, a tray guide rail, an upper rack, a lower rack, a gear box and a third driving device, wherein the battery taking and placing supporting plate, the tray guide rail and the upper rack are connected, the gear box is connected with the upper rack and the lower rack in a matched mode and guided by the tray guide rail in a matched mode, and the third driving device is used for driving the gear box to rotate to drive the battery taking and placing supporting plate to move horizontally.

According to an embodiment of the present disclosure, the battery tray further includes:

the battery locating rack, the battery locating rack is fixed in on the battery moves the device, is provided with on it:

and the first positioning pin is matched with a positioning pin hole of the battery to be charged carried by the battery transfer device.

According to an embodiment of the present disclosure, the charging unit includes:

the charging frame, the charging frame is fixed in on the layer board of intelligent charging station body, be provided with on it:

the charging plate is electrically connected with a charging interface of the battery to be charged and is connected to a charging power supply through a charging cable;

and the second positioning pin is matched with the positioning pin hole of the battery to be charged.

According to an embodiment of the present disclosure, the charging plate includes:

the guide portion is located at the end portion, far away from the charging frame, of the charging plate, and the end portion is provided with a guide inclined surface.

According to the embodiment of the present disclosure, the AGV swap automatic charging device further includes:

and the detection device is arranged on the intelligent charging station body and used for detecting the charging current and voltage of the current rechargeable battery and judging whether the battery breaks down or not.

According to the embodiment of the present disclosure, the AGV swap automatic charging device further includes:

and the maintenance channel is arranged in the intelligent charging station body, is provided with an outlet communicated with the outside and is used for carrying the fault battery.

Another aspect of the present disclosure provides an AGV battery replacement automatic charging system, including:

the AGV battery replacement automatic charging device is used for charging the battery;

at least an AGV, the AGV includes battery detecting element, battery detecting element is used for detecting the AGV battery under-voltage or the undervoltage condition.

Another aspect of the present disclosure provides an AGV battery replacement automatic charging method, which adopts the AGV battery replacement automatic charging device as described above, including:

when the AGV runs to the potential changing position outside the intelligent charging station body, the battery transferring device takes out the battery in the AGV body;

the battery transfer device operates to an empty charging position distributed by the system for charging, and then the fully charged battery is taken out from the charging position and operates to a battery replacement position;

the battery transfer device installs a fully charged battery for the AGV.

According to an embodiment of the present disclosure, the method further comprises:

the temperature and humidity of the internal space of the intelligent charging station are adjusted through the constant-temperature constant-humidity adjusting device inside the intelligent charging station, so that the temperature and humidity of the internal space of the intelligent charging station are kept within a preset range.

According to an embodiment of the present disclosure, the method further comprises:

the automatic door opening and closing device on the intelligent battery replacement station body is opened when the battery is taken and placed, and is closed immediately after the action of taking and placing the battery is finished.

According to an embodiment of the present disclosure, the method further comprises:

when detecting that the AGV battery is under-voltage/under-current, the AGV automatically runs to the intelligent charging station and changes the potential, and after changing the electricity, the AGV automatically leaves the potential and enters the normal operation area to work.

According to the embodiment of the disclosure, the potential safety hazard problems of low charging efficiency and man-machine hybrid operation of the existing AGV can be at least partially solved, and therefore, the technical effects of improving the charging safety and the charging efficiency of the AGV can be realized.

Drawings

The above and other objects, features and advantages of the present disclosure will become more apparent from the following description of embodiments of the present disclosure with reference to the accompanying drawings, in which:

fig. 1 is a top view of an AGV battery replacement automatic charging device according to an embodiment of the present disclosure;

FIG. 2 is a side view of an AGV power swapping automatic charging device according to an embodiment of the present disclosure;

fig. 3A is a schematic structural view of a horizontal transfer device of a battery transfer device according to an embodiment of the present disclosure;

fig. 3B is a schematic structural diagram of a vertical transfer device of a battery transfer device according to an embodiment of the disclosure;

fig. 3C is a side view of a battery tray of the battery transfer apparatus according to the embodiment of the present disclosure;

fig. 3D is a top view of a battery tray of the battery transfer apparatus according to the embodiment of the disclosure;

fig. 3E is a top view of a battery positioning frame of the battery transfer apparatus according to the embodiment of the disclosure;

FIG. 4 is a side view of a charging unit of an AGV charging automatic charging device according to an embodiment of the disclosure;

fig. 5 is a flowchart of an AGV battery swapping automatic charging method according to the embodiment of the disclosure.

Description of the reference numerals

10-intelligent charging station body; 20-a charging unit; 30-a battery transfer device; 40-a constant temperature and humidity adjusting device; 50-automatic door opening and closing device; 60-backup AGV battery; 70-AGV body; 80-maintenance of the channel; 101-a bottom beam; 102-vertical beam; 103-a pallet; 201-a charging stand; 202-a charging pad; 203-a second locating pin; 204-charging cable; 205-set screws; 2021-a guide; 301-horizontal transfer device; 302-vertical transfer device; 303-a battery tray; 3011-horizontal rail; 3012-a first slide; 3013-a first connection board; 3014-a first rack; 3015-a first gear; 3016-a first drive; 3021-vertical guide; 3022-a second slider; 3023-a second connecting plate; 3024-second rack; 3025-a second gear; 3026-second drive means; 3031-battery picking and placing support plate; 3032-tray guide; 3033-upper rack; 3034-lower rack; 3035-gearbox; 3036-third drive means; 3037 a battery positioning frame; 30371-first locator pin; 701-AGV battery; 702-battery locking means.

Detailed Description

Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings. It should be understood that the description is illustrative only and is not intended to limit the scope of the present disclosure. In the following detailed description, for purposes of explanation, numerous specific details are set forth in order to provide a thorough understanding of the embodiments of the disclosure. It may be evident, however, that one or more embodiments may be practiced without these specific details. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present disclosure.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. The terms "comprises," "comprising," and the like, as used herein, specify the presence of stated features, steps, operations, and/or components, but do not preclude the presence or addition of one or more other features, steps, operations, or components.

All terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art unless otherwise defined. It is noted that the terms used herein should be interpreted as having a meaning that is consistent with the context of this specification and should not be interpreted in an idealized or overly formal sense.

Where a convention analogous to "at least one of A, B and C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B and C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). Where a convention analogous to "A, B or at least one of C, etc." is used, in general such a construction is intended in the sense one having skill in the art would understand the convention (e.g., "a system having at least one of A, B or C" would include but not be limited to systems that have a alone, B alone, C alone, a and B together, a and C together, B and C together, and/or A, B, C together, etc.). The terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features.

The embodiment of the present disclosure provides an automatic charging device for AGV battery replacement, which includes an intelligent charging station body 10, at least one charging unit 20, and at least one battery transfer device 30. The intelligent charging station body 10 is used for forming a space for charging and replacing a battery to be charged of the AGV; the charging unit 20 is arranged in the intelligent charging station, is electrically connected with a charging power supply and a rechargeable battery, and is used for charging the to-be-charged battery of the AGV; the battery transfer device 30 is installed in the intelligent charging station, and is used for taking out the to-be-charged battery of the AGV and carrying the to-be-charged battery to the charging unit 20. The intelligent charging station body 10 further forms an enclosed space, the enclosed space includes a constant temperature and humidity adjusting device 40, and the constant temperature and humidity adjusting device 40 is disposed in the intelligent charging station body 10 and is configured to adjust the temperature and humidity of the internal space of the intelligent charging station body 10, so that the temperature and humidity of the internal space of the intelligent charging station body 10 are kept within a predetermined range.

In an exemplary embodiment of the present disclosure, an automatic charging device for an AGV to replace power is provided. Fig. 1 is a top view of an AGV battery replacement automatic charging device according to an embodiment of the present disclosure; fig. 2 is a side view of an AGV battery replacement automatic charging device according to an embodiment of the present disclosure. It should be noted that fig. 1-2 are only examples of system structures to which the embodiments of the present disclosure may be applied to help those skilled in the art understand the technical content of the present disclosure, and do not mean that the embodiments of the present disclosure may not be applied to other devices, systems, environments or scenarios.

As shown in fig. 1 to 2, the AGV battery replacement automatic charging apparatus according to this embodiment may include an intelligent charging station body 10, a battery transfer device 30, a charging unit 20, a constant temperature and humidity adjustment device 40, a backup AGV battery 60, an automatic door opening and closing device 50, and the like.

Wherein the intelligent charging station body 10 is a sealable station body; charging unit 20 set up in the intelligent charging station, with charging source and rechargeable battery electric connection for wait rechargeable battery to the AGV charges, in this embodiment, set up a plurality of charging units 20 along the horizontal direction in the intelligent charging station body 10, and set up the structure of multilayer holding charging unit in the vertical direction, thereby can satisfy more AGV's the demand of charging. Still include a plurality of reserve AGV batteries 60 in the intelligent charging station body 10, can with charging unit 20 electric connection for the replacement AGV treat rechargeable battery, for the AGV body provides power supply, carry to trading the position by AGV automobile body 70 and charge into reserve AGV battery 60 in the underpower circumstances, directly carry the reserve AGV battery 60 that is full of the electricity for the AGV when having the AGV to need trade the electricity to can reduce AGV charge latency.

The battery transfer device 30 is installed in the intelligent charging station body 10 and can move along the direction X, Y, Z; the battery transfer device 30 is installed in the intelligent charging station, and can automatically take and place the battery on the AGV body 70, take out the to-be-charged battery of the AGV and carry the to-be-charged battery to the charging unit 20, and carry the fully charged battery back to the AGV.

The constant temperature and humidity adjusting device 40 is disposed in the intelligent charging station body 10, and can adjust the temperature and humidity of the internal space of the intelligent charging station body 10 to keep the temperature and humidity within a predetermined range. Therefore, constant temperature and constant humidity can be realized in the battery charging process, and the safety and stability of the charging process are ensured.

Preferably, the intelligent charging station body 10 forms a sealable space, so as to further ensure the temperature and humidity adjusting effect of the constant temperature and humidity adjusting device 40. Further, set up automatic switch door gear 50 on the intelligent charging station body 10, automatic switch door gear 50 outside sets up the automatic position of trading of AGV, traveles to trading the position after AGV automobile body 70, takes out and puts back in-process automatic switch door gear 50 automatic opening or closing with the battery to the stage that intelligent charging station body 10 was not got to the battery and is put keeps airtight.

The AGV trades electric automatic charging device of this embodiment adopts intelligent charging station to change the battery for AGV is automatic to can place the battery and carry out automatic charging on the position of charging, when AGV automobile body 70 changes the battery automatic transportation that gets off and charges to the assigned position, can install again to the AGV dolly with reserve battery full of electricity on, reduce AGV charge latency, improve dolly operating efficiency. In the whole operation process, the charging station basically keeps a closed space, the temperature and humidity adjustment can be realized in the battery charging process, the safety and stability of the charging process are ensured, personnel do not need to participate in the battery replacing process of the charger, and the safety of field operation personnel is improved.

In order to make full use of the internal space of the intelligent charging station, the battery transfer device 30 may move in the direction X, Y, Z inside the intelligent charging station body 10. Specifically, the battery transfer device 30 includes a battery tray 303, a horizontal transfer device 301, and a vertical transfer device 302. The battery tray 303 is used for taking, placing and carrying batteries; the horizontal transfer device 301 is used for realizing the movement of the battery transfer device 30 in the horizontal direction; the vertical transfer device 302 is used to move the battery transfer device 30 in the vertical direction. The transmission structure of the horizontal transfer device 301 and the vertical transfer device 302 is a rack and pinion, a sprocket chain, a synchronous toothed belt, a wire rope, or the like, but not limited thereto.

In this embodiment, the battery tray 303 is attached to the vertical transfer device 302, and the vertical transfer device 302 and the battery tray 303 are attached to the horizontal transfer mechanism, thereby realizing movement of the battery transfer device 30X, Y, Z in three directions. In the present embodiment, the battery transfer device 30 is described as adopting a rack and pinion transmission, wherein the bottom beam 101 and the vertical beam 102 of the intelligent charging station body 10 are load supporting members, the rack and pinion transmits the power source of the motor reducer to the execution end, the guide rail and the slider are both mechanisms for providing guiding function, and the connecting plate connects the components.

Fig. 3A is a schematic structural diagram of a horizontal transfer device of a battery transfer device according to an embodiment of the present disclosure. As shown in fig. 3A, the horizontal transfer device 301 includes a horizontal guide 3011, a first slider 3012, a first connection board 3013, a first rack 3014, a first gear 3015, and a first driving device, where the horizontal guide 3011 and the first rack 3014 are mounted on the bottom beam 101 of the intelligent charging station body 10, the first slider 3012 is connected to the horizontal guide 3011 in a sliding manner, the first gear 3015 is connected to the first rack 3014 in a matching manner, the first driving device drives the first gear 3015 to rotate, and the first connection board 3013 connects the first slider 3012 and the first driving device. Illustratively, the first drive device may be a motor reducer.

Fig. 3B is a schematic structural diagram of a vertical transfer device of a battery transfer device according to an embodiment of the disclosure. As shown in fig. 3B, the vertical transfer device 302 includes a vertical rail 3021, a second slider 3022, a second connecting plate 3023, a second rack 3024, a second gear 3025, and a second driving device, wherein the vertical rail 3021 and the second rack 3024 are mounted on the vertical beam 102 of the intelligent charging station body 10, the second slider 3022 is slidably connected to the vertical rail 3021, the second gear 3025 is engaged with the second rack 3024, the second driving device drives the second gear 3025 to rotate, and the second connecting plate 3023 connects the second slider 3022 and the second driving device. Illustratively, the second drive device may be a motor reducer.

Fig. 3C is a side view of a battery tray of the battery transfer apparatus according to the embodiment of the present disclosure; fig. 3D is a plan view of the battery tray 303 of the battery transfer apparatus 30 according to the embodiment of the present disclosure. As shown in fig. 3C to 3D, the battery tray 303 includes a battery pick-and-place support plate 3031, a tray guide rail 3032, an upper rack 3033, a lower rack 3034, a gear box 3035 and a third driving device 3036, wherein the battery pick-and-place support plate 3031, the tray guide rail 3032 and the upper rack 3033 are connected, a gear is installed in the gear box 3035, the gear is cooperatively connected with the upper rack 3033 and the lower rack 3034 and cooperatively guided by the tray guide rail 3032, and the third driving device 3036 is configured to drive the gear box 3035 to rotate, so as to drive the battery pick-and-place support plate 3031 to horizontally move. Illustratively, the third driving device 3036 may be a motor reducer. Due to the adoption of the structure of upper and lower rack transmission, the tray guide rail can acquire larger displacement through a smaller rotation angle of the motor reducer.

In order to ensure that the battery transfer device 30 can be accurately used for taking and placing the battery, a battery positioning frame 3037 is further arranged on the battery tray 303, and the same structure is designed on the battery packaging part to ensure that the battery can be more stably taken and placed or charged, so that the system reliability is increased, wherein fig. 3E is a top view of the battery positioning frame of the battery transfer device according to the embodiment of the disclosure; the battery positioning bracket 3037 is provided with two first positioning pins 30371 for preventing the battery protection stability from being affected by vibration during the operation of the battery transfer device 30.

Because the battery transfer device 30 is provided with the rack and the guide rail, the battery transfer support plates 3031 on two sides can be driven to move left and right, the battery transfer support plates 3031 are provided with the second positioning pins 203, the corresponding positions of the battery packaging structures are provided with the positioning pin holes, when the rack drives the battery transfer support plates 3031 to move to the bottom of the battery, the vertical transfer device 302 is lifted upwards for a certain distance, so that the first positioning pins 30371 are matched with the positioning pin holes, then the rack drives the battery support plates to retract, the battery taking action is completed, and similarly, the reverse action is executed when the battery is placed, the battery locking device 702 on the AGV body 70 is used for locking and fixing the battery on the AGV body 70, and the similar power taking device is arranged on the.

In this embodiment, the intelligent charging station body 10 is provided with three layers of the charging units 20, a supporting plate is installed on each layer of the charging units 20, and the charging rack 201 is installed on the supporting plate. Fig. 4 is a side view of a charging unit of an AGV charging automatic charging device according to an embodiment of the present disclosure. As shown in fig. 4, the charging unit 20 includes a charging frame 201, a charging plate 202, and a second positioning pin 203. The charging rack 201 is fixed on a support plate of the intelligent charging station body 10, and a charging plate 202 and a second positioning pin 203 are disposed on the charging rack. The charging board 202 is connected to a charging power source through a charging cable 204, and is configured to be electrically connected to a charging interface of the battery to be charged. Preferably, the charging board 202 is fixed on the charging frame 201 by screws, and the upper end and the front and rear ends of the charging board 202 are guided with a certain inclination to form a guide part 2021, so that the battery can be conveniently placed on the charging frame 201; the second positioning pin 203 is matched with the positioning pin hole of the battery to be charged, is used for accurately positioning when the battery is placed for charging, and is not influenced by vibration and the like.

Further, still set up detection device and maintenance passageway 80 in intelligent charging station body 10, can detect battery electric current, voltage, when the battery is full of the back automatic cutout power that charges, the prevention and cure accident takes place, in addition, when detecting certain battery and breaking down and need artificially intervene in the charging station, detection device can send alarm information, and battery transplanting device can carry the trouble battery to maintenance passageway 80 department this moment, takes the battery away by the manual work and detects the maintenance.

In a second exemplary embodiment of the present disclosure, an AGV battery swapping automatic charging system is provided. The system for automatically charging the AGV by replacing the battery comprises the AGV automatic charging device and at least one AGV according to the first embodiment, wherein the AGV comprises a battery detection unit, and the battery detection unit is used for detecting the undervoltage/undervoltage condition of the AGV battery.

For the purpose of brief description, any technical features of the first embodiment that can be applied to the same are described herein, and the same description is not repeated.

In a third exemplary embodiment of the present disclosure, an AGV battery swapping automatic charging method is provided. Fig. 5 is a flowchart of an AGV battery swapping automatic charging method according to the embodiment of the disclosure. As shown in fig. 5, the method includes:

when the AGV runs to an intelligent charging station to change the potential, a battery tray of the battery transfer device stretches out, and a battery in the AGV body is taken out;

the battery transfer device operates to an empty charging position distributed by the system for charging, and then the battery tray takes out the fully charged battery from the charging position and operates to a battery replacement position;

the battery tray is extended to install a fully charged battery for the AGV, and then the battery tray is retracted.

Further, the method further comprises: the temperature and humidity of the internal space of the intelligent charging station are adjusted through the constant-temperature constant-humidity adjusting device inside the intelligent charging station, so that the temperature and humidity of the internal space of the intelligent charging station are kept within a preset range.

Further, the method further comprises:

the automatic door is opened only when the battery is taken and placed, and is closed immediately after the action of taking and placing the battery is finished. Thereby further keeping the temperature and humidity in the charging station constant

Specifically, when the AGV operates to the intelligent charging station to change the potential, the automatic door opening and closing device is opened; after the battery in the AGV body is taken out, the automatic door opening and closing device is closed; and/or when the battery transfer device runs to the battery replacement level, the automatic door opening and closing device is opened; after the transfer tray stretches out to install a fully charged battery for the AGV, the automatic door is closed.

Further, the method further comprises:

when a certain AGV detects that the battery is under-voltage/under-current, the AGV automatically operates to the intelligent charging station to change the potential, and after the electricity is changed, the AGV leaves the potential changing position to enter a normal operation area to work.

In the embodiment, the batteries are automatically replaced for the AGV through the intelligent charging station, and the batteries can be placed on the charging positions for automatic charging, so that the running efficiency of the AGV is improved; meanwhile, in the whole operation process, the charging station basically keeps a closed space, the temperature and humidity can be adjusted in the battery charging process, and the safety and stability of the charging process are ensured.

Any number of modules, sub-modules, units, sub-units, or at least part of the functionality of any number thereof according to embodiments of the present disclosure may be implemented in one module. Any one or more of the modules, sub-modules, units, and sub-units according to the embodiments of the present disclosure may be implemented by being split into a plurality of modules. Any one or more of the modules, sub-modules, units, sub-units according to embodiments of the present disclosure may be implemented at least in part as a hardware circuit, such as a Field Programmable Gate Array (FPGA), a Programmable Logic Array (PLA), a system on a chip, a system on a substrate, a system on a package, an Application Specific Integrated Circuit (ASIC), or may be implemented in any other reasonable manner of hardware or firmware by integrating or packaging a circuit, or in any one of or a suitable combination of software, hardware, and firmware implementations. Alternatively, one or more of the modules, sub-modules, units, sub-units according to embodiments of the disclosure may be at least partially implemented as a computer program module, which when executed may perform the corresponding functions.

Those skilled in the art will appreciate that various combinations and/or combinations of features recited in the various embodiments and/or claims of the present disclosure can be made, even if such combinations or combinations are not expressly recited in the present disclosure. In particular, various combinations and/or combinations of the features recited in the various embodiments and/or claims of the present disclosure may be made without departing from the spirit or teaching of the present disclosure. All such combinations and/or associations are within the scope of the present disclosure.

The embodiments of the present disclosure have been described above. However, these examples are for illustrative purposes only and are not intended to limit the scope of the present disclosure. Although the embodiments are described separately above, this does not mean that the measures in the embodiments cannot be used in advantageous combination. The scope of the disclosure is defined by the appended claims and equivalents thereof. Various alternatives and modifications can be devised by those skilled in the art without departing from the scope of the present disclosure, and such alternatives and modifications are intended to be within the scope of the present disclosure.