An AGV battery-changing vehicle

Abstract

The present invention discloses an AGV battery-changing trolley, comprising an AGV walking mechanism, a main frame locking and unlocking motor, and a lifting arm lifting mechanism; the main frame is arranged on the AGV walking mechanism, a pair of lifting forks are arranged at the front end of the main frame through a sliding assembly, and the lifting forks are driven up and down by the lifting fork lifting mechanism; the locking and unlocking mechanism and the locking and unlocking motor are installed on a pair of lifting arms, and the pair of lifting arms are slidably connected to the fixed frames on the left and right sides of the main frame respectively, and the lifting arms are driven up and down by the lifting arm lifting mechanism. The AGV battery-changing trolley provided by the present invention has a small footprint by replacing the battery pack on the side of the AGV battery-changing trolley, and the AGV battery-changing trolley is used to replace the battery pack, which can meet the battery replacement needs of vehicles of different models and has high flexibility; two lifting forks are used for independent lifting and the lifting forks have an inclination angle to meet the front and rear tilt of the vehicle, and the compatible error is large and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the field of battery replacement for new energy vehicles, and in particular to an AGV battery replacement vehicle. Background Art

[0002] With the rise and development of the new energy vehicle battery swapping field, the demand for new energy vehicle charging and battery swapping is increasing. Existing commercial vehicle battery swapping stations mostly use a crane to lift the battery pack or a RGV vehicle to perform battery swapping.

[0003] For example, patent CN210437163U describes an RGV battery-swapping vehicle. The RGV's tracks are arranged between the battery-swapping platform and the battery compartment. The RGV removes the battery from the platform and transfers it to the battery compartment. It then removes the fully charged battery from the compartment and installs it on the vehicle. This RGV operates on a fixed track. If the vehicle's battery doesn't exactly match the RGV's trajectory, the RGV won't be able to remove the battery, let alone complete the battery swap. This type of battery swap occupies a large area, is inflexible, and has a small tolerance for compatible vehicles.

[0004] In addition, the current battery-swap cart does not have an angle adjustment function. When the front and rear heights or the left and right heights of the commercial vehicle are inconsistent, the bottom surface of the battery pack has a tilt angle, and the lifting fork of the battery-swap cart cannot fully match it, and the disassembly and assembly device cannot match the battery pack locking mechanism, and the battery pack replacement function cannot be realized. Summary of the Invention

[0005] In order to overcome the defects of the prior art, the purpose of the present invention is to provide an AGV battery-exchange cart to solve the problems of large footprint, inflexible battery exchange, and small error in compatible vehicles.

[0006] To this end, the present invention proposes an AGV battery-exchanging trolley, comprising an AGV walking mechanism, a main frame, a lifting fork, a lifting fork lifting mechanism, a locking and unlocking mechanism, a locking and unlocking motor, and a lifting arm lifting mechanism; the main frame is arranged on the AGV walking mechanism, and a pair of the lifting forks are arranged at the front end of the main frame through a sliding assembly, and the lifting forks are driven up and down by the lifting fork lifting mechanism; the locking and unlocking mechanism and the locking and unlocking motor are installed on a pair of lifting arms, and a pair of the lifting arms are slidably connected to the fixed frames on the left and right sides of the main frame respectively, and the lifting arms are driven up and down by the lifting arm lifting mechanism.

[0007] Furthermore, the bottom of the main frame is rotatably connected to the frame of the AGV walking mechanism through a hinge, a rear end of the frame is provided with a rear fixing frame fixedly connected thereto, and a telescopic drive mechanism is provided between the rear fixing frame and the main frame.

[0008] Furthermore, the telescopic driving mechanism is a pair of electric cylinders, one end of the electric cylinder is connected to the rear fixing frame, and the other end of the electric cylinder is connected to the main frame.

[0009] Furthermore, the lifting fork lifting mechanism includes a cam installed on the main frame, a baffle fixed on the upper end of the lifting fork, and a lifting motor; and the front end of the cam has a boss, the boss cooperates with the baffle, and the lifting motor and the cam are connected through a coupling.

[0010] Furthermore, the lifting mechanism of the lifting arm includes a guide rail slider assembly and an electric cylinder 2. The guide rail slider assembly is arranged between the lifting arm and the fixed frame and extends in the vertical direction; similarly, the electric cylinder 2 is arranged between the lifting arm and the fixed frame.

[0011] Furthermore, a floating part is provided between the locking and unlocking mechanism, the locking and unlocking motor and the lifting arm.

[0012] Furthermore, the floating part includes an unlocking gun mounting plate and several steel ropes, the unlocking mechanism and the unlocking motor are fixedly mounted on the unlocking gun mounting plate, and the unlocking gun mounting plate is arranged on the lower side of the lifting arm and is floatingly connected by steel ropes.

[0013] Furthermore, a positioning pin is provided on the unlocking gun mounting plate, and the top of the positioning pin is higher than the top of the unlocking mechanism, and can be matched with the positioning hole on the battery pack in advance.

[0014] Furthermore, the AGV walking mechanism includes a frame, a plurality of walking drive motors, a plurality of Mecanum wheels and a plurality of universal wheels.

[0015] Furthermore, each of the Mecanum wheels is individually driven by the travel drive motor.

[0016] The AGV battery-exchange trolley provided by the present invention has the advantages that 1) the battery pack is replaced on the side of the AGV battery-exchange trolley, which occupies a small area, and the AGV battery-exchange trolley is used to replace the battery pack, which can meet the battery replacement needs of vehicles of different models and has high flexibility; 2) two lifting forks are used for independent lifting and the lifting forks have an inclination angle to meet the front and rear tilt of the vehicle, with a large compatible error and a wide range of applications; 3) the battery-exchange efficiency is improved, and the structure adopts a modular design and is simple in structure.

[0017] In addition to the above-described objects, features and advantages, the present invention has other objects, features and advantages. The present invention will be further described in detail below with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which constitute part of this application, are intended to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are intended to explain the present invention and do not constitute an undue limitation of the present invention. In the accompanying drawings:

[0019] Figure 1 This is a schematic diagram of the appearance and structure of the AGV battery-swapping vehicle of the present invention;

[0020] Figure 2 This is a schematic diagram of the three-dimensional structure of the AGV battery-swapping vehicle of the present invention. Figure 1 ;

[0021] Figure 3 This is a schematic diagram of the three-dimensional structure of the AGV battery-swapping vehicle of the present invention. Figure 2 ;

[0022] Figure 4 This is a partial enlarged view of point A in the AGV battery-swapping vehicle of the present invention;

[0023] Figure 5 This is a front view of the AGV battery-swapping vehicle of the present invention;

[0024] Figure 6 This is a side view of the AGV battery-swapping vehicle of the present invention;

[0025] Figure 7 This is a top view of the AGV battery-swapping vehicle of the present invention;

[0026] Description of Reference Numerals

[0027] 1. Travel drive motor; 2. Mecanum wheel; 3. Rear fixed frame; 4. Housing; 5. Electric cylinder 1; 6. Lifting fork; 7. Lifting motor; 8. Cam; 9. Electric cylinder 2; 10. Locating pin; 11. Locking and unlocking motor; 12. Locking and unlocking mechanism; 13. Fixed frame; 14. Hinged part; 15. Lifting arm; 16. Unlocking gun mounting plate; 17. Guide rail slider assembly; 18. Baffle; 19. Main frame. DETAILED DESCRIPTION

[0028] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments in this application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0029] like Figures 1 to 7As shown, the AGV battery-exchanging cart of the present invention includes an AGV walking mechanism, a main frame 19, a shell 4, a lifting fork 6, a lifting fork lifting mechanism, a locking and unlocking mechanism 12, and a lifting arm lifting mechanism; the main frame 19 is arranged at the upper end of the AGV walking mechanism, and is rotatably connected by a hinge 14, a pair of lifting forks 6 are arranged at the front end of the main frame through a sliding assembly, and are driven up and down by the lifting fork lifting mechanism, the locking and unlocking mechanism 12 is installed on a pair of lifting arms 15, and the lifting arms 15 are slidably connected to the fixed frames 13 on the left and right sides of the main frame, and are driven up and down by the lifting arm lifting mechanism.

[0030] Specifically, if Figure 2 、 5 As shown in Figures 6 and 7, the AGV travel mechanism includes a vehicle frame, several travel drive motors 1, several Mecanum wheels 2, and several universal wheels. The universal wheels and Mecanum wheels 2 are respectively mounted at the bottom of the vehicle frame, and each Mecanum wheel 2 is individually driven by a travel drive motor 1. Specifically, the AGV travel mechanism includes four Mecanum wheels 2 and four universal wheels. The four travel drive motors 1 drive the Mecanum wheels 2 to realize the steering and movement of the AGV.

[0031] like Figure 2 、 3 As shown in Figures 7 and 8, the main frame 19 is mounted in the middle of the upper end of the vehicle frame. The bottom of the main frame 19 is connected to the vehicle frame via a hinge 14. Furthermore, a rear mounting bracket 3 is fixedly attached to the rear end of the vehicle frame. A telescopic drive mechanism is provided between the rear mounting bracket 3 and the main frame 19. This mechanism comprises a pair of electric cylinders 5, one end of which is connected to the rear mounting bracket 3 and the other end to the main frame 19. The telescopic movement of the pair of electric cylinders 5 drives the entire main frame 19, along with the lifting forks 6 and locking / unlocking mechanism 12 mounted thereon, to deflect to a certain angle to accommodate the battery pack. This tilting mechanism is particularly useful when the left and right sides of the vehicle where the battery is being replaced are at different heights.

[0032] A pair of lifting forks 6 are arranged at the front end of the main frame through a sliding assembly, and are driven up and down by a pair of lifting fork lifting mechanisms, wherein each lifting fork lifting mechanism includes a cam 8 installed on the main frame 19, a baffle 18 fixed to the upper end of the lifting fork 6, and a lifting motor 7; the front end of the cam 8 has a boss, the boss cooperates with the baffle 18, and the lifting motor 7 and the cam 8 are connected through a coupling transmission; when the lifting motor 7 works and drives the cam 8 to rotate, the cam 8 drives the lifting fork 6 to rise to the battery pack unlocking position, thereby supporting the bottom of the battery pack.

[0033] Among them, the two lifting forks 6 are independently controlled by two lifting motors 7. By controlling the two lifting motors 7 to rotate at different angles, the two lifting forks 6 can be controlled to be lifted to different heights to adapt to the situation where the height of the battery pack in the front and rear directions is inconsistent.

[0034] like Figure 2 、 3 As shown, a fixed frame 13 is provided on the left and right sides of the main frame 19 respectively, and a pair of lifting arms 15 parallel to the lifting fork 6 are provided on the outside of the fixed frame 13, and the locking and unlocking mechanism 12, the positioning pin 10 and the locking and unlocking motor 11 are arranged on the pair of lifting arms 15; wherein, the lifting arm 15 and the fixed frame 13 are connected by a guide rail slider assembly 17 extending in the vertical direction, and are driven up and down by the electric cylinder 2 9 installed on the main frame 19. The guide rail slider assembly 17 and the electric cylinder 2 9 constitute a lifting arm lifting mechanism.

[0035] The lifting arm 15 is also provided with a positioning pin 10. The positioning pin 10 is higher than the unlocking mechanism 12 and can cooperate with the positioning hole on the battery pack in advance to achieve accurate positioning. Then the unlocking motor 11 drives the unlocking gun of the unlocking mechanism 12 to remove the battery pack from the vehicle.

[0036] like Figure 4 As shown, there is a floating part between the locking and unlocking mechanism 12, the positioning pin 10, the locking and unlocking motor 11 and the lifting arm 15, wherein the floating part is an unlocking gun mounting plate 16 and a plurality of steel ropes. The locking and unlocking mechanism 12, the positioning pin 10, the locking and unlocking motor 11 are all fixedly mounted on the unlocking gun mounting plate 16, and the unlocking gun mounting plate 16 is arranged on the lower side of the lifting arm 15 and is floatingly connected by steel ropes, providing a certain amount of floating, so as to facilitate the quick docking of the locking and unlocking mechanism 12 with the bolts on the battery pack.

[0037] It should be noted that in order to achieve the same functions of the present invention, other structures can also be used as substitutes. For example, the electric cylinder 1 5 and the electric cylinder 2 9 of the present invention can be replaced by linear motors, or even by air cylinders or oil cylinders. In addition, springs can be used instead of wire ropes to achieve a floating function. These alternative solutions all fall within the scope of protection of this application.

[0038] In summary, the present invention discloses a commercial vehicle AGV battery-exchange trolley, which is mainly composed of an AGV lifting fork lifting assembly, an AGV walking mechanism and an inclination assembly. Among them, the AGV walking part is driven by four walking drive motors 1 to drive the Mecanum wheels 2 to realize the steering and movement of the AGV trolley. After moving to the unlocking position, the AGV adjusts its posture to adapt to the vehicle's XY direction through visual recognition of the position of the battery pack relative to the vehicle. The deviation of the vehicle in the Z direction drives the entire main frame 19, the unlocking mechanism 12 and the lifting fork 6 to deflect through the electric cylinder 15, so that it deviates by a certain angle to adapt to the battery pack.

[0039] Lifting motor 7, via a cam, drives lifting fork 6 in the Z direction to the battery pack bolt head. The unlocking gun, mounted on unlocking gun mounting plate 16, is extended by electric cylinder 2 (9) to the battery pack bolt attachment point to unlock the battery. Unlocking gun mounting plate 16 is connected to lifting arm 15 via a wire rope, providing a certain amount of floating capacity. The unlocking gun is driven by unlocking motor 11 to unlock the battery pack from the vehicle beam. The lifting fork descends, removes the battery pack, and moves it to the battery compartment. A new battery pack is removed from the battery compartment and installed on the battery swap vehicle, completing the battery swap process.

[0040] The working principle and working process of the AGV battery-swapping vehicle of the present invention are briefly described below with reference to the accompanying drawings.

[0041] First, the travel drive motor 1 drives the Mecanum wheel 2 to the battery exchange position, and the lifting motor 7 works and drives the cam 8 to rotate, so that the boss cooperates with the baffle 18 at the upper end of the lifting fork 6, driving the lifting fork 6 to rise to the battery pack unlocking position; the angle is adjusted by visual recognition, and the electric cylinder 15 pulls the main frame 19 on which the lifting fork 6 and the unlocking mechanism 12 are installed to rotate the whole around the hinge 14. In addition, by controlling the two lifting motors 7 to rotate at different angles, the two lifting forks 6 can be controlled to be lifted to different heights to meet the Z-direction deviation of the battery pack, thereby supporting the bottom of the battery pack.

[0042] Then, the lifting arm 15 is driven up and down by the electric cylinder 2 9, and the position of the locking and unlocking mechanism 12 and the bolt is adjusted to meet the unlocking requirements by the floating part. The locking and unlocking motor 11 drives the unlocking gun of the locking and unlocking mechanism 12 to remove the battery pack from the vehicle, and the battery pack is lowered to the battery compartment through a pair of lifting forks 6.

[0043] Finally, take the new battery pack from the battery compartment and install it on the battery swap vehicle to complete the entire battery swap process.

[0044] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.

Claims

1. An AGV battery-swapping vehicle, characterized in that: It includes an AGV walking mechanism, a main frame (19), a lifting fork (6), a lifting fork lifting mechanism, a locking and unlocking mechanism (12), a locking and unlocking motor (11), and a lifting arm lifting mechanism; The main frame (19) is arranged on the AGV walking mechanism, a pair of lifting forks (6) are arranged at the front end of the main frame (19) through a sliding assembly, and the lifting forks (6) are driven up and down by the lifting fork lifting mechanism; The locking and unlocking mechanism (12) and the locking and unlocking motor (11) are mounted on a pair of lifting arms (15), and the pair of lifting arms (15) are slidably connected to the fixing frames (13) on the left and right sides of the main frame (19), respectively, and the lifting arms (15) are driven up and down by the lifting arm lifting mechanism; The bottom of the main frame (19) is rotatably connected to the frame of the AGV walking mechanism via a hinge (14); a rear fixing frame (3) fixedly connected to the rear end of the frame is provided, and a telescopic drive mechanism is provided between the rear fixing frame (3) and the main frame (19); the telescopic drive mechanism is a pair of electric cylinders (5), one end of the electric cylinder (5) is connected to the rear fixing frame (3), and the other end of the electric cylinder (5) is connected to the main frame (19); The lifting fork lifting mechanism includes a cam (8) mounted on the main frame (19), a baffle (18) fixed to the upper end of the lifting fork (6), and a lifting motor (7); the front end of the cam (8) has a boss, the boss cooperates with the baffle (18), and the lifting motor (7) is connected to the cam (8) through a coupling transmission; the lifting arm lifting mechanism includes a guide rail slider assembly (17) and an electric cylinder 2 (9), the guide rail slider assembly (17) is arranged between the lifting arm (15) and the fixed frame (13), and extends in the vertical direction; similarly, the electric cylinder 2 (9) is arranged between the lifting arm (15) and the fixed frame (13).

2. The AGV battery-swapping vehicle according to claim 1, characterized in that: A floating member is provided between the locking and unlocking mechanism (12), the locking and unlocking motor (11) and the lifting arm (15).

3. The AGV battery-swapping vehicle according to claim 2, characterized in that: The floating member includes an unlocking gun mounting plate (16) and a plurality of steel wire ropes. The unlocking mechanism (12) and the unlocking motor (11) are fixedly mounted on the unlocking gun mounting plate (16), and the unlocking gun mounting plate (16) is arranged on the lower side of the lifting arm (15) and is floatingly connected via steel wire ropes.

4. The AGV battery-swapping vehicle according to claim 3, characterized in that: A positioning pin (10) is also provided on the unlocking gun mounting plate (16). The top of the positioning pin (10) is higher than the top of the unlocking mechanism (12) and can be matched with the positioning hole on the battery pack in advance.

5. The AGV battery-swapping vehicle according to claim 1, characterized in that: The AGV walking mechanism comprises a vehicle frame, a plurality of walking drive motors (1), a plurality of Mecanum wheels (2) and a plurality of universal wheels.

6. The AGV battery-swapping vehicle according to claim 5, characterized in that: Each of the Mecanum wheels (2) is driven individually by the travel drive motor (1).

Images