Two-stage lifting battery-changing AGV (Automatic Guided Vehicle) equipment

Abstract

A two-stage lifting battery changing AGV device comprises a vehicle body, supporting frames are installed above the vehicle body, a lifting frame is slidably connected between the supporting frames, a lifting installation base is slidably connected to the middle of the lifting frame, and a conveying assembly is installed above the lifting installation base; a lead screw is rotationally connected into each supporting frame through a bearing seat, a lead screw motor is installed on each supporting frame, an output shaft of each lead screw motor is in transmission connection with the corresponding lead screw, the outer surface of each lead screw is in threaded connection with a lead screw nut, and the lead screw nuts are fixedly installed on the left side and the right side of the lifting frame respectively. Rotating gears are rotationally connected above the left side and the right side of the lifting frame through bearings, chains are meshed with the outer surfaces of the rotating gears, one ends of the chains are connected with the supporting frame, and the other ends of the chains are connected with the lifting mounting seat after bypassing the rotating gears. According to the utility model, the defects in the prior art are overcome, secondary lifting of the lifting mounting seat and the conveying assembly can be realized, and the height coverage range is further expanded, so that the space utilization rate of the battery compartment is effectively improved.

Description

Technical Field

[0001] This utility model relates to the field of automotive battery swapping technology, specifically to a two-stage lifting battery swapping AGV device. Background Technology

[0002] In an era of rapid development of clean energy, new energy trucks and new energy vehicles are becoming more and more popular, and the requirements for vehicle range are getting higher and higher. The widespread use of battery swapping stations is making people's lives more and more convenient.

[0003] However, existing battery swapping devices generally suffer from the following problems:

[0004] High construction costs: Traditional battery swapping stations require fixed large lifting platforms and dedicated tracks, resulting in high equipment investment costs and long construction periods;

[0005] Large footprint: The single-stage lifting mechanism has insufficient lifting stroke, resulting in low utilization of the battery compartment space;

[0006] Low efficiency: The battery replacement process relies on manual intervention, has a low degree of automation, and takes a long time. Utility Model Content

[0007] To address the shortcomings of existing technologies, this utility model provides a two-stage lifting battery swapping AGV device, which overcomes the deficiencies of existing technologies. It is reasonably designed and can realize two-stage lifting of the lifting mounting base and conveying components, further expanding the height coverage range. Thus, under the same equipment height, it achieves double the lifting stroke, thereby effectively improving the space utilization rate of the battery compartment.

[0008] To achieve the above objectives, this utility model provides the following technical solution:

[0009] A two-stage lifting battery swapping AGV device includes a vehicle body, with support frames fixedly installed on both the left and right sides of the vehicle body. A lifting frame is vertically slidably connected between the two support frames, and a lifting mounting seat is vertically slidably connected in the middle of the lifting frame. A conveying component is installed above the lifting mounting seat.

[0010] Each of the support frames is rotatably connected to a lead screw via a bearing seat. The lead screw is vertically arranged, and a lead screw motor is fixedly mounted on the support frame. The output shaft of the lead screw motor is coaxially connected to one end of the lead screw. A lead screw nut is threaded onto the outer surface of the lead screw, and the lead screw nut is fixedly mounted on the left and right sides of the lifting frame, respectively. Rotating gears are rotatably connected to the upper left and right sides of the lifting frame via bearings. A chain is meshed on the outer surface of the rotating gear. One end of the chain is connected to the support frame, and the other end of the chain passes around the rotating gear and is connected to the lifting mounting base.

[0011] Preferably, the support frame has a first slide rail vertically arranged on one opposite side, and the lifting frame has a first slider fixedly installed on both the left and right sides, and the lifting frame is slidably connected to the first slide rail through the first slider.

[0012] Preferably, the lifting frame has a second slide rail vertically arranged on both the left and right sides of its inner cavity, and a second slider is fixedly installed on both the left and right sides of the lifting mounting base. The lifting mounting base is slidably connected to the second slide rail via the second slider.

[0013] Preferably, the conveying assembly includes an X-axis moving plate and a Y-axis moving frame. An X-axis moving guide rail is fixedly installed on the upper surface of the lifting mounting base. The lower surface of the X-axis moving plate is slidably connected to the X-axis moving guide rail via a slider. A Y-axis moving guide rail is fixedly installed on the lower surface of the Y-axis moving frame. The upper surface of the X-axis moving plate is slidably connected to the Y-axis moving guide rail via a slider.

[0014] The upper surface of the lifting mounting base is rotatably connected to an X-axis ball screw via a bearing seat. One end of the X-axis ball screw is driven by an X-axis ball screw motor, which is fixedly mounted on the lifting mounting base. The X-axis ball screw is arranged parallel to the X-axis moving guide rail. The lower surface of the X-axis moving plate is movably connected to the outer surface of the X-axis ball screw via a screw nut. The upper surface of the X-axis moving plate is rotatably connected to a Y-axis ball screw via a bearing seat. One end of the Y-axis ball screw is driven by a Y-axis ball screw motor, which is fixedly mounted on the X-axis moving plate. The Y-axis ball screw is arranged parallel to the Y-axis moving guide rail. The lower surface of the Y-axis moving frame is movably connected to the outer surface of the Y-axis ball screw via a screw nut.

[0015] The front and rear sides of the Y-axis moving frame are rotatably connected to the drive shafts via bearings. Multiple gears are uniformly fixed on the outer surface of the drive shafts. The gears on the two drive shafts are arranged in a one-to-one correspondence, and the corresponding two gears are connected by a transmission chain. One end of one of the drive shafts is connected to the output shaft of the drive motor.

[0016] Preferably, a navigation module is fixedly installed on the lifting frame, an unlocking module is provided on the vehicle body, a visual recognition module is installed on the front side of the conveying component, the signal output terminals of the navigation module and the visual recognition module are connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the control ports of the lead screw motor, the X-axis lead screw motor, the Y-axis lead screw motor, the drive motor and the unlocking module respectively.

[0017] This utility model provides a two-stage lifting battery swapping AGV device with the following advantages: By setting a screw drive structure of a screw motor to realize the lifting and moving of the lifting frame, and combining it with the linkage mechanism of chain and rotating gear, the lifting mounting base and conveying components can be lifted in two stages through the principle of moving pulley, further expanding the height coverage range. Thus, at the same equipment height, the lifting stroke is doubled, thereby effectively improving the space utilization of the battery compartment and significantly reducing the battery compartment floor area. Attached Figure Description

[0018] To more clearly illustrate the technical solutions in this utility model or the prior art, the accompanying drawings used in the description of the prior art will be briefly introduced below.

[0019] Figure 1 A schematic diagram of the structure of this utility model;

[0020] Figure 2 Schematic diagram of the support frame and lifting frame in this utility model;

[0021] Figure 3 Schematic diagram of the cross-sectional structure of the support frame and the lifting frame in this utility model;

[0022] Figure 4 A partial installation structure diagram of the support frame and lifting frame in this utility model;

[0023] Figure 5 A schematic diagram of the support frame and lifting frame in the lifting state in this utility model;

[0024] Figure 6 A schematic diagram of the conveying component in this utility model;

[0025] Explanation of the labels in the diagram:

[0026] 1. Vehicle body; 2. Support frame; 3. Lifting frame; 4. Lifting mounting base; 5. Conveying assembly; 6. Lead screw; 7. Lead screw motor; 8. Lead screw nut; 9. Rotating gear; 10. Chain; 11. First slide rail; 12. First slider; 13. Second slide rail; 14. Second slider; 15. Navigation module; 16. Vision recognition module; 17. Unlocking module; 51. X-axis moving plate; 52. Y-axis moving frame; 53. Drive shaft; 54. Gear; 55. Drive motor. Detailed Implementation

[0027] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be clearly and completely described below with reference to the accompanying drawings.

[0028] Example 1, as Figure 1-6As shown, a two-stage lifting battery swapping AGV device includes a vehicle body 1, with support frames 2 fixedly installed on the left and right sides of the upper part of the vehicle body 1, a lifting frame 3 vertically slidably connected between the two support frames 2, a lifting mounting seat 4 vertically slidably connected in the middle of the lifting frame 3, and a conveying component 5 installed above the lifting mounting seat 4.

[0029] Each support frame 2 is rotatably connected to a lead screw 6 via a bearing seat. The lead screw 6 is vertically arranged. A lead screw motor 7 is fixedly installed on the support frame 2. The output shaft of the lead screw motor 7 is coaxially connected to one end of the lead screw 6. A lead screw nut 8 is threadedly connected to the outer surface of the lead screw 6. The lead screw nut 8 is fixedly installed on the left and right sides of the lifting frame 3 respectively. Rotating gears 9 are rotatably connected to the upper left and right sides of the lifting frame 3 via bearings. A chain 10 is meshed on the outer surface of the rotating gear 9. One end of the chain 10 is connected to the support frame 2, and the other end of the chain 10 passes around the rotating gear 9 and is connected to the lifting mounting base 4.

[0030] Working principle: When the car reaches the designated position and triggers the battery replacement command, the device is first moved to the car's battery position by controlling the vehicle body 1. Then, based on the height of the car's battery, two lead screw motors 7 are synchronously controlled to rotate, which in turn drives the lead screw 6 to rotate. This drives the lead screw nut 8 to move upward along the axial direction of the lead screw 6, which in turn drives the lifting frame 3 to move upward. Since the two ends of the chain 10 are connected to the support frame 2 and the lifting mounting seat 4 respectively, and the middle of the chain 10 passes through the rotating gear 9, when the lifting frame 3 moves upward, it will drive the rotating gear 9 to move upward synchronously. Therefore, through the principle of movable pulleys, the lifting mounting seat 4 and the conveying component 5 can be moved further upward relative to the lifting frame 3, thereby achieving a two-stage lifting effect. This ensures that the conveying component 5 can cover a wider range of heights, and ensures that the conveying component 5 is accurately connected to the car battery.

[0031] After the empty battery from the car is transferred to the conveying assembly 5, the vehicle body 1 is controlled to move the entire device to the battery compartment. Simultaneously, two lead screw motors 7 are operated, driving the lead screw 6 to rotate, which in turn moves the lifting frame 3 up and down, ensuring precise alignment of the conveying assembly 5 with the empty space in the battery compartment. The empty battery is then delivered into the battery compartment via the conveying assembly 5. Next, a full battery is selected, and similarly, the vehicle body 1 is controlled to move the entire device to the corresponding position. Simultaneously, the two lead screw motors 7 are operated, aligning the conveying assembly 5 with the full battery position in the battery compartment, thus transferring the full battery to the conveying assembly 5. The vehicle body 1 is then moved to the car battery position, and the lead screw motors 7 are adjusted to ensure precise alignment of the conveying assembly 5 with the car battery slot, successfully completing the full battery installation. The device then returns to its initial position, awaiting the next battery swap instruction. The entire battery swapping process is efficient and precise, effectively ensuring rapid replacement of car batteries.

[0032] This invention, by setting a lead screw motor 7 to achieve the lifting and moving of the lifting frame 3, and combining the linkage mechanism of chain 10 and rotating gear 9, can achieve two-stage lifting of the lifting mounting base 4 and conveying component 5 through the principle of movable pulley, further expanding the height coverage range. Thus, under the same equipment height, it achieves double the lifting stroke, thereby effectively improving the space utilization of the battery compartment and significantly reducing the battery compartment floor area.

[0033] In Embodiment Two, as a further preferred embodiment of Embodiment One, a first slide rail 11 is vertically arranged on one opposite side of the support frame 2, and a first slider 12 is fixedly installed on both the left and right sides of the lifting frame 3. The lifting frame 3 is slidably connected to the first slide rail 11 through the first slider 12. The sliding cooperation between the first slider 12 and the first slide rail 11 effectively ensures the stability of the lifting frame 3 during movement and prevents shaking from affecting the docking accuracy.

[0034] In Example 3, as a further preferred embodiment of Example 1, second slide rails 13 are vertically arranged on both the left and right sides of the inner cavity of the lifting frame 3, and second sliders 14 are fixedly installed on both the left and right sides of the lifting mounting base 4. The lifting mounting base 4 is slidably connected to the second slide rails 13 through the second sliders 14. Through the sliding cooperation between the second sliders 14 and the second slide rails 13, the stability of the lifting mounting base 4 during movement is effectively ensured, preventing shaking from affecting the docking accuracy.

[0035] Example 4, as Figure 6 As shown, as a further preferred embodiment of the first embodiment, the conveying assembly 5 includes an X-axis moving plate 51 and a Y-axis moving frame 52. An X-axis moving guide rail is fixedly installed on the upper surface of the lifting mounting base 4. The lower surface of the X-axis moving plate 51 is slidably connected to the X-axis moving guide rail via a slider. A Y-axis moving guide rail is fixedly installed on the lower surface of the Y-axis moving frame 52. The upper surface of the X-axis moving plate 51 is slidably connected to the Y-axis moving guide rail via a slider.

[0036] An X-axis ball screw is rotatably connected to the upper surface of the lifting mounting base 4 via a bearing seat. One end of the X-axis ball screw is connected to an X-axis ball screw motor. The X-axis ball screw motor is fixedly mounted on the lifting mounting base 4. The X-axis ball screw is set parallel to the X-axis moving guide rail. The lower surface of the X-axis moving plate 51 is movably connected to the outer surface of the X-axis ball screw via a screw nut. A Y-axis ball screw is rotatably connected to the upper surface of the X-axis moving plate 51 via a bearing seat. One end of the Y-axis ball screw is connected to a Y-axis ball screw motor. The Y-axis ball screw motor is fixedly mounted on the X-axis moving plate 51. The Y-axis ball screw is set parallel to the Y-axis moving guide rail. The lower surface of the Y-axis moving frame 52 is movably connected to the outer surface of the Y-axis ball screw via a screw nut.

[0037] The front and rear sides of the Y-axis moving frame 52 are rotatably connected to the drive shaft 53 via bearings. Multiple gears 54 are evenly fixed on the outer surface of the drive shaft 53. The gears 54 on the two drive shafts 53 are set one-to-one, and the corresponding two gears are connected by a transmission chain. One end of one of the drive shafts 53 is connected to the output shaft of the drive motor 55.

[0038] Therefore, when it is necessary to control the transmission chain on the upper surface of the conveying assembly 5 to align with the battery, firstly, the two lead screw motors 7 are operated synchronously to drive the conveying assembly 5 to align with the battery in the height direction. Then, the X-axis lead screw motor is operated, which in turn moves the entire X-axis moving plate 51 along the X-axis direction to achieve a precise alignment between the conveying assembly 5 and the battery in the X-axis direction, ensuring complete horizontal alignment. Next, the Y-axis lead screw motor is operated, which in turn moves the Y-axis moving frame 52 along the Y-axis direction, thus moving the transmission chain forward and bringing it closer to the battery position for subsequent transfer. Finally, the drive motor 55 is controlled to rotate the drive shaft 53, which in turn moves the transmission chain smoothly to move the battery to the middle position on the upper surface of the conveying assembly 5, facilitating subsequent transfer operations.

[0039] Similarly, after moving to the designated position, the two lead screw motors 7 are first synchronously controlled to align the conveying component 5 with the battery placement position in the height direction. Then, the X-axis lead screw motor is controlled to move the entire X-axis moving plate 51 along the X-axis direction to achieve precise alignment of the conveying component 5 with the battery placement position. Next, the Y-axis lead screw motor is controlled to move the Y-axis moving frame 52 along the Y-axis direction, thus moving the transmission chain forward until it approaches the battery placement position. Then, the drive motor 55 is controlled to rotate the drive shaft 53, which in turn moves the transmission chain smoothly, thus smoothly conveying the battery to the designated position. This series of precise, coordinated operations ensures accurate alignment and smooth transmission of the battery in all directions, greatly improving the efficiency and safety of the equipment operation.

[0040] In Example 5, as a further preferred embodiment of Example 4, a navigation module 15 is fixedly installed on the lifting frame 3, an unlocking module 17 is provided on the vehicle body 1, and a visual recognition module 16 is installed on the front side of the conveying component 5. The signal output terminals of the navigation module 15 and the visual recognition module 16 are connected to the signal input terminal of the controller. The signal output terminal of the controller is connected to the control ports of the lead screw motor 7, the X-axis lead screw motor, the Y-axis lead screw motor, the drive motor 55, and the unlocking module 17, respectively.

[0041] The navigation module 15 enables precise positioning of the entire device and transmits position signals to the controller. The controller then analyzes and processes the signals to effectively control the precise positioning and movement of the entire vehicle body 1, ensuring accurate travel along a predetermined path. Additionally, the vision recognition module 16 monitors the battery position in real time and transmits the data to the controller. The controller precisely adjusts the lead screw motor 7, X-axis lead screw motor, Y-axis lead screw motor, and drive motor 55 based on the data, ensuring precise alignment between the battery and the conveying components, thus improving operational accuracy and efficiency. The unlocking module 17 enables rapid unlocking of the battery locking mechanism. In this embodiment, the unlocking module 17 can employ an electric push rod structure.

[0042] In this utility model, the navigation module 15, the visual recognition module 16, and the unlocking module 17 all adopt well-known technical solutions in the prior art, which are already known to those skilled in the art and will not be described in detail here.

[0043] The above embodiments are only used to illustrate the technical solutions of this utility model, and are not intended to limit it. Although this utility model has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this utility model.

Claims

1. A two-stage lifting and battery-swapping AGV device, characterized in that: Includes a vehicle body (1), on the left and right sides of the vehicle body (1) a support frame (2) is fixedly installed, a lifting frame (3) is vertically slidably connected between the two support frames (2), a lifting mounting seat (4) is vertically slidably connected in the middle of the lifting frame (3), and a conveying component (5) is installed above the lifting mounting seat (4); Each of the support frames (2) is rotatably connected to a lead screw (6) via a bearing seat. The lead screw (6) is vertically arranged. A lead screw motor (7) is fixedly installed on the support frame (2). The output shaft of the lead screw motor (7) is coaxially connected to one end of the lead screw (6). A lead screw nut (8) is threaded onto the outer surface of the lead screw (6). The lead screw nut (8) is fixedly installed on the left and right sides of the lifting frame (3). Rotating gears (9) are rotatably connected to the upper left and right sides of the lifting frame (3) via bearings. A chain (10) meshes with the outer surface of the rotating gear (9). One end of the chain (10) is connected to the support frame (2), and the other end of the chain (10) passes around the rotating gear (9) and is connected to the lifting mounting seat (4).

2. The two-stage lifting and battery-swapping AGV equipment according to claim 1, characterized in that: The support frame (2) has a first slide rail (11) vertically arranged on one side of each side, and the lifting frame (3) has a first slider (12) fixedly installed on both sides. The lifting frame (3) is slidably connected to the first slide rail (11) through the first slider (12).

3. The two-stage lifting and battery-swapping AGV equipment according to claim 1, characterized in that: The lifting frame (3) has a second slide rail (13) vertically installed on both the left and right sides of its inner cavity. The lifting mounting base (4) has a second slider (14) fixedly installed on both the left and right sides. The lifting mounting base (4) is slidably connected to the second slide rail (13) through the second slider (14).

4. A two-stage lifting and battery-swapping AGV device according to claim 1, characterized in that: The conveying assembly (5) includes an X-axis moving plate (51) and a Y-axis moving frame (52). An X-axis moving guide rail is fixedly installed on the upper surface of the lifting mounting base (4). The lower surface of the X-axis moving plate (51) is slidably connected to the X-axis moving guide rail via a slider. A Y-axis moving guide rail is fixedly installed on the lower surface of the Y-axis moving frame (52). The upper surface of the X-axis moving plate (51) is slidably connected to the Y-axis moving guide rail via a slider. The upper surface of the lifting mounting base (4) is rotatably connected to an X-axis ball screw via a bearing seat. One end of the X-axis ball screw is connected to an X-axis ball screw motor. The X-axis ball screw motor is fixedly mounted on the lifting mounting base (4). The X-axis ball screw is set parallel to the X-axis moving guide rail. The lower surface of the X-axis moving plate (51) is movably connected to the outer surface of the X-axis ball screw via a screw nut. The upper surface of the X-axis moving plate (51) is rotatably connected to a Y-axis ball screw via a bearing seat. One end of the Y-axis ball screw is connected to a Y-axis ball screw motor. The Y-axis ball screw motor is fixedly mounted on the X-axis moving plate (51). The Y-axis ball screw is set parallel to the Y-axis moving guide rail. The lower surface of the Y-axis moving frame (52) is movably connected to the outer surface of the Y-axis ball screw via a screw nut. The front and rear sides of the Y-axis moving frame (52) are rotatably connected to drive shafts (53) via bearings. Multiple gears (54) are uniformly fixedly installed on the outer surface of the drive shafts (53). The gears (54) on the two drive shafts (53) are arranged in a one-to-one correspondence, and the corresponding two gears are connected by a transmission chain. One end of one of the drive shafts (53) is connected to the output shaft of the drive motor (55).

5. A two-stage lifting and battery-swapping AGV device according to claim 4, characterized in that: A navigation module (15) is fixedly installed on the lifting frame (3), an unlocking module (17) is provided on the vehicle body (1), a visual recognition module (16) is installed on the front side of the conveying component (5), the signal output terminals of the navigation module (15) and the visual recognition module (16) are connected to the signal input terminal of the controller, and the signal output terminal of the controller is connected to the control ports of the lead screw motor (7), the X-axis lead screw motor, the Y-axis lead screw motor, the drive motor (55) and the unlocking module (17) respectively.

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