AGV (Automatic Guided Vehicle) for replacing battery pack

Abstract

The utility model provides an AGV (Automatic Guided Vehicle) for replacing an automobile battery pack, which comprises a movable vehicle body provided with a differential wheel set and used for driving an omni-directional movable vehicle body through the differential wheel set; the movable trolley further comprises a floating platform and a lifting device, the lifting device is movably connected between the movable trolley body and the floating platform, and the lifting device is used for driving the floating platform to ascend or descend; according to the electric truck, the battery pack can be transported and replaced, so that the battery pack on the electric truck can be taken for charging after being replaced, the electric truck does not need to be charged to provide electric energy after being replaced with a new battery pack, and the electric truck does not need a special bearing platform to carry out battery replacement operation.

Description

Technical Field

[0001] The utility model relates to the technical field of electric vehicles, and in particular to an AGV for replacing a battery pack. Background Art

[0002] With the rapid development of the automobile industry, electric vehicles are being used more and more widely, from household cars to electric trucks. The battery packs of electric trucks are large in size, heavy in weight, and take a long time to charge, so they need to be charged by battery swapping; traditional battery swapping stations are no longer able to achieve battery swapping for electric trucks.

[0003] In view of this, it is necessary to provide a new type of AGV for replacing battery packs to overcome the above-mentioned defects. Utility Model Content

[0004] The purpose of the utility model is to provide an AGV for replacing battery packs, which can transport and replace battery packs so that the battery packs on electric trucks can be charged after being replaced. After the electric trucks are replaced with new battery packs, power can be provided for them without charging, so that the electric trucks no longer need to wait for charging.

[0005] In order to achieve the above-mentioned object, the utility model provides an AGV for replacing a battery pack, comprising: a movable body, the movable body having a differential wheel set, and the movable body is driven to move by the differential wheel set;

[0006] It also includes a floating platform, a lifting device and an auxiliary supporting device. The lifting device is movably connected between the movable body and the floating platform. The lifting device is used to drive the floating platform to rise or fall. The auxiliary supporting device includes a hydraulic station and a hydraulic cylinder. The hydraulic station and the hydraulic cylinder are connected by an oil pipe.

[0007] Preferably, the movable vehicle body comprises a chassis, the differential wheel set is mounted on the chassis, a battery is mounted on the chassis, and the battery provides electrical energy to the motor of the differential wheel set.

[0008] Preferably, a laser radar is installed at the edge of the chassis.

[0009] Preferably, a visual camera is also installed at the edge of the chassis.

[0010] Preferably, a charging port is also installed at the edge of the chassis.

[0011] Preferably, laser rangefinders are installed at the edge of the chassis and on the side walls of the floating platform.

[0012] Preferably, the lifting device includes a scissors-type mechanism, a transmission rod and a driving force member, the scissors-type mechanism is hinged to the floating platform and the chassis of the movable vehicle body, and the scissors-type mechanism is also hinged to the transmission rod, the driving force member is connected to the transmission rod, the driving force member drives the transmission rod to rotate, and the transmission rod drives the scissors-type mechanism to move.

[0013] Preferably, the floating platform comprises a mounting plate and a floating plate, and the mounting plate is connected to the floating plate via a movable part.

[0014] Preferably, a sensor is provided on the floating plate.

[0015] Compared with the prior art, the beneficial effects are: 1) the battery pack can be transported and replaced, so that the battery pack on the electric truck can be charged after being replaced, and the electric truck does not need to be charged to provide electricity after the new battery pack is replaced. In this way, the electric truck no longer needs to wait for charging, the battery pack replacement is efficient, and the problem of difficulty in charging is solved.

[0016] 2) The installed laser radar detects the distance between the chassis and other objects to avoid collision between the chassis and other objects and achieve the purpose of initial positioning.

[0017] 3) The installed visual camera captures the image of the target object to determine the position, posture, shape, size and other information of the target object, so as to achieve the purpose of precise positioning, and cooperate with the laser radar to form a 360° all-round anti-collision effect.

[0018] 4) The laser rangefinder installed on the chassis measures the distance between the movable vehicle body and the electric truck, and the laser rangefinder installed on the floating platform measures the distance from the floating platform to the chassis of the electric truck where the battery pack is installed, so as to achieve the purpose of precise positioning of the floating platform.

[0019] Other features and advantages of the utility model will be stated in the following description, and some will be apparent from the description, or can be understood through the implementation of the utility model. The features and advantages of the utility model can be realized and obtained by the elements and combinations specifically pointed out in the attached application scope. These and other features of the utility model will become more clearly understood according to the following description and the attached claims, or can be understood through the implementation of the embodiments described in the utility model. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions of the embodiments of the utility model, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the utility model and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other relevant drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 A three-dimensional diagram of an AGV for replacing a battery pack provided by the utility model.

[0022] Figure 2 for Figure 1 A partial structural schematic diagram of an AGV for replacing battery packs is shown.

[0023] Figure numerals: 1. movable body; 11. differential wheel set; 12. chassis; 13. battery; 14. laser radar; 15. visual camera; 16. charging port; 17. laser rangefinder; 2. floating platform; 21. mounting plate; 22. floating plate; 23. movable part; 24. sensor; 3. lifting device; 31. scissors mechanism; 311. first scissors piece; 312. second scissors piece; 32. transmission rod; 33. driving force member; 4. auxiliary support device; 41. hydraulic station; 42. hydraulic cylinder; 5. nut support block. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and beneficial technical effect of the utility model clearer, the utility model is further described in detail below in conjunction with the accompanying drawings and specific implementation methods. It should be understood that the specific implementation methods described in this specification are only for explaining the utility model, and are not intended to limit the utility model.

[0025] It should be understood that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc., indicating the orientation or position relationship are based on the orientation or position relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0026] It should also be noted that, unless otherwise clearly specified and limited, the terms "install", "connect", "connect", "fix", "set" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral one; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in this utility model can be determined according to the specific circumstances.

[0027] In addition, the terms "first", "second", and "third" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, a feature defined as "first", "second", and "third" may explicitly or implicitly include one or more of the features. In addition, the meaning of "multiple" and "several" refers to two or more, unless otherwise clearly and specifically defined.

[0028] See also Figure 1 to Figure 2 The utility model provides an AGV (Automated Guided Vehicle) for replacing a battery pack, comprising: a movable vehicle body 1, wherein the movable vehicle body 1 has a differential wheel set 11, and the movable vehicle body 1 is moved by the differential wheel set 11;

[0029] The movable vehicle body 1 further comprises a floating platform 2 and a lifting device 3, wherein the lifting device 3 is movably connected between the movable vehicle body 1 and the floating platform 2, and the lifting device 3 is used to drive the floating platform 2 to rise or fall.

[0030] In this way, when the electric truck needs to replace the battery pack, the AGV used to replace the battery pack moves to the bottom of the battery pack loaded on the electric truck, and the lifting device 3 drives the floating platform 2 to rise. After the floating platform 2 is in full contact with the battery pack loaded on the electric truck, the battery pack loaded on the electric truck is removed and placed on the floating platform 2. The lifting device 3 drives the floating platform 2 to descend and lift the battery pack. The AGV used to replace the battery pack transports the battery pack to the battery swap station, thereby completing the action of removing the battery pack.

[0031] Then, the new battery pack is placed on the floating platform 2, and the AGV used to replace the battery pack transports the battery pack to the bottom of the electric truck. The lifting device 3 drives the floating platform 2 to rise, so that the new battery pack is completely loaded on the electric truck. Then, the lifting device 3 drives the floating platform 2 to descend to its original position, and the AGV used to replace the battery pack moves to the battery swap station again, completing the action of replacing the battery pack.

[0032] In a preferred embodiment, the movable vehicle body 1 includes a chassis 12, and the number of the differential wheel sets 11 is three, one of which is installed at the center of the front end of the chassis 12, and the remaining two differential wheel sets 11 are respectively installed at the two corners of the rear end of the chassis 12. When the movable vehicle body 1 is driven to move, the balance of the movable vehicle body 1 can also be guaranteed.

[0033] In a preferred embodiment, a battery 13 is installed on the chassis 12 , and the battery 13 provides electrical energy to the motor of the differential wheel set 11 .

[0034] In a preferred embodiment, a laser radar 14 is installed at the edge of the chassis 12 to detect the distance between the chassis 12 and other objects (such as electric trucks), avoid collision between the chassis 12 and other objects, and achieve the purpose of initial positioning. It should be noted that in this embodiment, the number of the laser radars 14 is two, and the two laser radars 14 are diagonally distributed on the chassis 12.

[0035] In a preferred embodiment, a visual camera 15 is also installed at the edge of the chassis 12 to capture the image of the target object to determine the position, posture, shape, size and other information of the target object, achieve the purpose of precise positioning, and cooperate with the laser radar 14 to form a 360° all-round anti-collision effect. It should be noted that in this embodiment, the number of the visual cameras 15 is two, and the two visual cameras 15 are diagonally distributed on the chassis 12, and the two visual cameras 15 and the two laser radars 14 are staggered.

[0036] In a preferred embodiment, a charging port 16 is installed at the edge of the chassis 12 , and the battery 13 on the chassis 12 can be charged through the charging port 16 .

[0037] In a preferred embodiment, laser rangefinders 17 are installed at the edge of the chassis 12 and on the side walls of the floating platform 2. The laser rangefinder 17 installed on the chassis 12 is used to measure the distance between the movable vehicle body 1 and the electric truck to achieve the purpose of precise positioning; the laser rangefinder 17 installed on the floating platform 2 is used to measure the distance from the floating platform 2 to the chassis of the electric truck where the battery pack is installed to achieve the purpose of precise positioning of the floating platform 2. It should be noted that in this embodiment, the number of the laser rangefinders 17 is five, of which three laser rangefinders 17 are installed on the chassis 12 and two laser rangefinders 17 are installed on the floating platform 2.

[0038] In a preferred embodiment, the floating platform 2 includes a mounting plate 21 and a floating plate 22, and the mounting plate 21 is connected to the floating plate 22 through a movable member 23 (which may be a connecting member such as a chain buckle, a spring, etc.), so that the distance between the mounting plate 21 and the floating plate 22 is adjustable. In this way, when the floating plate 22 lifts the new battery pack, when the new battery pack on the floating plate 22 is in full contact with the chassis of the battery pack loaded on the electric truck, when the battery pack of the electric truck is placed on the floating plate 22, since the distance between the mounting plate 21 and the floating plate 22 is adjustable, the new battery pack is not easily damaged by excessive force.

[0039] In a preferred embodiment, a sensor 24 is disposed on the floating plate 22 , and the sensor 24 detects whether there is a battery pack above the floating plate 22 .

[0040] In a preferred embodiment, the lifting device 3 includes a scissor mechanism 31, a transmission rod 32 and a driving force member 33. The scissor mechanism 31 is hinged to the floating platform 2 and the chassis 12 of the movable vehicle body 1, and the scissor mechanism 31 is also hinged to the transmission rod 32. The driving force member 33 is connected to the transmission rod 32. The driving force member 33 drives the transmission rod 32 to rotate, and the transmission rod 32 drives the scissor mechanism 31 to move and adjust the height of the scissor mechanism 31, thereby realizing that the scissor mechanism 31 adjusts the height of the floating platform 2. It should be noted that in this embodiment, the driving member 33 is a servo motor.

[0041] To be more specific, the scissors-fork mechanism 31 includes a first scissors-fork piece 311 and a second scissors-fork piece 312, the middle section of the first scissors-fork piece 311 is hinged to the middle section of the second scissors-fork piece 312, the first end of the first scissors-fork piece 311 is hinged to the chassis 12 of the movable vehicle body 1, and the second end of the first scissors-fork piece 311 is hinged to the bottom surface of the floating plate 22 of the floating platform 2; the first end of the second scissors-fork piece 312 is hinged to the nut support block 5 on the transmission rod 32, and the second end of the second scissors-fork piece 312 is hinged to the bottom surface of the floating plate 22 of the floating platform 2, and when the driving force member 33 drives the transmission rod 32 to rotate, the transmission rod 32 drives the scissors-fork mechanism 31 to move to change the crossing angle of the first scissors-fork piece 311 and the second scissors-fork piece 312, thereby adjusting the height of the scissors-fork mechanism 31, thereby achieving the purpose of the scissors-fork mechanism 31 adjusting the height of the floating platform 2.

[0042] It should be noted that, in this embodiment, the transmission rod 32 is a ball screw, the nut support block 5 is sleeved on the nut of the ball screw, the nut rotates on the screw of the ball screw, and the nut support block 5 does not rotate but only moves linearly with the nut.

[0043] It should also be noted that the scissor mechanism 31 is divided into a scissor mechanism 31a and a scissor mechanism 31b, the transmission rod 32 is sleeved with two spaced nuts, the two nuts are respectively sleeved with a nut support block 5a and a nut support block 5b, the first end of the second scissor blade 312 of the scissor mechanism 31a is hinged to the nut support block 5a, and the first end of the second scissor blade 312 of the scissor mechanism 31b is hinged to the nut support block 5b. When the transmission rod 32 rotates, the nut support block 5a and the nut support block 5b on the transmission rod 32 move in a direction approaching each other; when the transmission rod 32 rotates in the opposite direction, the nut support block 5a and the nut support block 5b on the transmission rod 32 move in a direction away from each other.

[0044] In a preferred embodiment, the AGV for replacing the battery pack also includes an auxiliary support device 4, which includes a hydraulic station 41 and a hydraulic cylinder 42 fixedly mounted on the chassis 12. The hydraulic station 41 is connected to the hydraulic cylinder 42 through an oil pipe. The hydraulic station 41 transports hydraulic oil to the hydraulic cylinder 42 through the oil pipe, so that hydraulic pressure is generated inside the hydraulic cylinder 42 to drive the piston rod of the hydraulic cylinder 42 to extend or retract.

[0045] When the piston rod of the hydraulic cylinder 42 is extended, the piston rod supports the ground and holds up the movable body 1. At this time, the differential wheel set 11 is separated from the ground, so that the AGV used to replace the battery pack can bear a larger gravity; conversely, when the piston rod of the hydraulic cylinder 42 is retracted, the piston rod retracts into the chassis 12. At this time, the differential wheel set 11 contacts the ground, and the differential wheel set 11 carries the AGV used to replace the battery pack and provides driving force for the movement of the movable body 1.

[0046] It should be noted that, in the present embodiment, the number of the hydraulic cylinders 42 is four, and the four hydraulic cylinders 42 are respectively installed near the four corners of the chassis 12 (upper left corner, lower left corner, upper right corner, and lower right corner). A through hole is opened at the position where the hydraulic cylinder 42 is installed on the chassis 12 so that the piston rod can pass through the chassis 12 and contact the ground.

[0047] Working principle:

[0048] When the battery pack of the electric truck needs to be replaced, the AGV used to replace the battery pack drives out of the battery swap station, and drives to the bottom of the battery pack loaded on the electric truck according to the cooperation of the laser radar 14 and the visual camera 15. The lifting device 3 drives the floating platform 2 to rise, and at the same time, when the piston rod of the hydraulic cylinder 42 of the auxiliary support device 4 is extended, the piston rod supports the ground to prop up the movable vehicle body 1.

[0049] When the laser rangefinder 17 on the floating platform 2 measures that the distance between the floating platform 2 and the chassis 12 of the electric truck on which the battery pack is installed is within a predetermined value, the floating platform 2 is in full contact with the battery pack loaded on the electric truck, and the lifting device 3 no longer drives the floating platform 2 to rise. At this time, the sensor 24 on the floating plate 22 detects the battery pack placed on the electric truck and opens the fixing lock of the battery pack on the electric truck.

[0050] The battery pack loaded on the electric truck is removed and placed on the floating platform 2. The lifting device 3 drives the floating platform 2 to descend and lift the battery pack. At the same time, the piston rod of the hydraulic cylinder 42 of the auxiliary support device 4 is retracted into the chassis 12. At this time, the differential wheel set 11 carries the AGV for replacing the battery pack and provides driving force for the movement of the movable body 1. The AGV for replacing the battery pack transports the battery pack to the battery swap station based on the positioning cooperation of the laser radar 14 and the visual camera 15, thereby realizing the action of removing the battery pack.

[0051] Then, the new battery pack is placed on the floating plate 22 of the floating platform 2. The AGV used to replace the battery pack again drives according to the positioning of the laser radar 14 and the visual camera 15 to transport the battery pack to the bottom of the electric truck. The lifting device 3 drives the floating platform 2 to rise. After the new battery pack is completely loaded on the electric truck, the lifting device 3 drives the floating platform 2 to descend to its original position. The AGV used to replace the battery pack moves to the battery swap station again to complete the action of replacing the battery pack.

[0052] The present invention is not limited to what is described in the specification and implementation modes, and therefore, additional advantages and modifications can be easily realized by those familiar with the art. Therefore, without departing from the spirit and scope of the general concept defined by the claims and their equivalents, the present invention is not limited to the specific details, representative devices, and illustrative examples shown and described herein.

Claims

1. An AGV for replacing a car battery pack, characterized in that: include: A movable vehicle body (1), wherein the movable vehicle body (1) has a differential wheel set (11), and the omnidirectional movable vehicle body (1) is driven by the differential wheel set (11); The vehicle also comprises a floating platform (2), a lifting device (3) and an auxiliary support device (4); the lifting device (3) is movably connected between the movable vehicle body (1) and the floating platform (2); the lifting device (3) is used to drive the floating platform (2) to rise or fall; the auxiliary support device (4) comprises a hydraulic station (41) and a hydraulic cylinder (42); the hydraulic station (41) and the hydraulic cylinder (42) are connected via an oil pipe.

2. The AGV for replacing a vehicle battery pack according to claim 1, characterized in that: The movable vehicle body (1) comprises a chassis (12), the differential wheel set (11) is mounted on the chassis (12), a battery (13) is mounted on the chassis (12), and the battery (13) provides electrical energy for the motor of the differential wheel set (11).

3. The AGV for replacing a battery pack according to claim 2, characterized in that: A laser radar (14) is installed at the edge of the chassis (12).

4. The AGV for replacing a battery pack according to claim 2, characterized in that: A visual camera (15) is also installed at the edge of the chassis (12).

5. The AGV for replacing a battery pack according to claim 2, characterized in that: A charging port (16) is also installed at the edge of the chassis (12).

6. The AGV for replacing a battery pack according to claim 2, characterized in that: Laser rangefinders (17) are installed at the edge of the chassis (12) and on the side walls of the floating platform (2).

7. The AGV for replacing a battery pack according to claim 2, characterized in that: The lifting device (3) comprises a scissor mechanism (31), a transmission rod (32) and a driving force member (33); the scissor mechanism (31) is hinged to the floating platform (2) and the chassis (12) of the movable vehicle body (1), and the scissor mechanism (31) is also hinged to the transmission rod (32); the driving force member (33) is connected to the transmission rod (32); the driving force member (33) drives the transmission rod (32) to rotate, and the transmission rod (32) drives the scissor mechanism (31) to move.

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