CN104714546A - Automatic AGV power supply replacement system and control method thereof - Google Patents
Automatic AGV power supply replacement system and control method thereof Download PDFInfo
- Publication number
- CN104714546A CN104714546A CN201410728621.1A CN201410728621A CN104714546A CN 104714546 A CN104714546 A CN 104714546A CN 201410728621 A CN201410728621 A CN 201410728621A CN 104714546 A CN104714546 A CN 104714546A
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- battery
- power supply
- charging
- rotating band
- roller
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Abstract
The invention relates to an automatic AGV power supply replacement system which comprises a control center, a power supply taking and putting-down mechanism, a roller way delivery mechanism and charging positions. A roller way of the roller way delivery mechanism is of a ring-shaped structure formed by a power supply taking and putting-down area, a transition area, a charging area and a power supply storage area in sequence, one or more power supply taking and putting-down mechanism bodies are arranged at the position of the power supply taking and putting-down area, each power supply taking and putting-down mechanism body is composed of a machine frame, a taking and putting-down drive belt, a lifting supporting plate and an automatic guiding device corresponding to an AGV trolley, one or more charging positions are arranged in the charging area, and charging drive belts are arranged between the charging positions and the charging area. The power supply taking and putting-down mechanism can be used for storing charged batteries for replacement. The whole system is controlled through the control center and performs full-automatic operation without artificial intervention.
Description
Technical field
The present invention relates to a kind of automatical pilot transportation vehicle, the power supply especially relating to a kind of automatical pilot transportation vehicle of battery type changes system.
Background technology
AGV refers to and is equipped with the homing guidance such as electromagnetism or optics device; can travel along the guide path of regulation; having the transport vehicle of safeguard protection and various transfer function, do not need the carrier of driver in commercial Application, is its power resources with chargeable accumulator.Generally control its course and behavior by computer, or utilize electromagnetic path (electromagnetic path-following system) to set up its course, electromagnetic path is pasted on floor, and the message that automatic guided vehicle then relies on electromagnetic path to bring carries out moving and action.
Prior art Problems existing is: battery changed by AGV transport vehicle needs manual operations, reduces its automaticity, needs to spend a large amount of manually to carry out monitoring battery use amount, carries out the replacing of battery.
Summary of the invention
The replacing battery that the present invention mainly solves existing for prior art needs manual operations, reduce its automaticity, need to spend and a large amount of manually carry out monitoring battery use amount, carry out the technical matters of the replacing of battery, there is provided a kind of can automatic monitoring, change the battery of AGV, and AGV power supply automatic-exchanging system easy to use, simple to operate and control method thereof.
Above-mentioned technical matters of the present invention is mainly solved by following technical proposals: a kind of AGV power supply automatic-exchanging system, it is characterized in that it is by control center, power supply fetching device, roller conveyor structure and charge position, the roller-way of described roller conveyor structure picks and places district by power supply, zone of transition, charging zone and power storage district order form ring texture, described power supply picks and places place of district and is provided with power supply fetching device described in one or several, described power supply fetching device is by frame, pick and place rotating band and, lifting supporting plate and the homing guidance device corresponding with AGV dolly are formed, described charging zone is provided with the charge position described in one or several, charging rotating band is provided with between charge position and charging zone.Power supply fetching device can realize changing the battery of AGV, and charging mechanism can charge to the battery changed, and power storage district may be used for depositing to substitute the bad for the good the battery being, in order to changing.Whole system is controlled by control center, automatically carries out, without the need to artificial participation.
As preferably, described each power supply fetching device pick and place two that rotating band is provided with side by side, every bar picks and places rotating band and is located on power supply and picks and places the roller-way in district and the frame of power supply fetching device, the loop configuration picking and placeing rotating band leave in the side that power supply picks and places district one AGV dolly battery compartment can be made to enter enter battery area, pick and place rotating band and roller-way driving direction is perpendicular, described lifting supporting plate enters battery area described in being located at, and can entering in battery area to move up and down, described two appropriate locations picking and placeing rotating band have two battery blend stops, the two ends of each battery blend stop pick and place rotating band with two respectively and are connected.Enter the battery to be replaced that battery area refers on AGV to be brought by AGV, and battery can be driven the position of rising by lifting holder supporting plate, this position is in the inner side picking and placeing rotating band of loop configuration.
As preferably, described lifting supporting plate is the M type structure comprising two breach, two side guard plates of two breach and AGV dolly battery case are suitable, the centre of two breach is battery floor supporting plate, it is battery guided plate between the roller-way that one of them breach and described power supply pick and place district, described lifting supporting plate is in the position that two power supplys pick and place between band and raises up, when being elevated supporting plate and being in the top of stroke, the roller-way top that the upper surface at this position raised up and described power supply pick and place district is in sustained height.
As preferably, the charging rotating band of described charging mechanism is provided with side by side two, every bar charging rotating band is located on the roller-way of charging zone and the frame of charging mechanism, charging rotating band and roller-way driving direction perpendicular, the appropriate location of described two charging rotating bands has two battery blend stops, and the two ends of each battery blend stop rotating band that charges with two is respectively connected.
Present invention also offers the control method of above-mentioned AGV power supply automatic-exchanging system, it comprises the steps:
1, when the battery electric quantity of AGV dolly is put lower than setting, send signal to control center, control center starts homing guidance device, AGV dolly is guided to pour appropriate location into, make battery case be in into battery area, battery is in the top of battery floor supporting plate, carries out replacing battery-operated;
2, be elevated supporting plate to rise, drive battery to depart from battery case and move, until lifting supporting plate rises to the top of stroke;
3, startup picks and places rotating band, drives battery to move pick and place on the roller-way in district along battery guided plate arrival power supply by battery shelves bar;
4, start roller conveyor structure, battery moves on roller-way, by power supply picks and places district, by zone of transition, arrives charging zone, finally arrives the correspondence position of the charging zone in room;
5, start charging rotating band, drive power supply to enter charge position by battery blend stop and charge;
6, after charging complete, start again charging rotating band, drive power supply to get back on the roller-way of charging zone by battery blend stop, it is stand-by that battery drives power storage district to deposit by startup roller-way;
7, while carrying out above-mentioned 4th step, the battery being in power storage district is driven and enters into electron source and pick and place district, when this battery arrives the position stopped having and need the AGV dolly changing battery, roller conveyor structure suspends, back-to-back starting picks and places rotating band, under the drive of battery blend stop, by battery along on battery guided plate mobile battery backing board;
8, be elevated supporting plate and decline its stroke of arrival bottom, battery is placed in battery case, completes the replacing of battery.
The beneficial effect brought of the present invention is, the replacing battery solved existing for prior art needs manual operations, reduce its automaticity, need to spend and a large amount of manually carry out monitoring battery use amount, carry out the technical matters of the replacing of battery, achieve a kind of can automatic monitoring, change the battery of AGV, and AGV power supply automatic-exchanging system easy to use, simple to operate and control method thereof.
Accompanying drawing explanation
Accompanying drawing 1 is a kind of structural representation of the present invention;
Accompanying drawing 2 is a kind of structural representations of power supply fetching device of the present invention;
Accompanying drawing 3 is a kind of structural representations of charge position of the present invention.
Embodiment
Below by embodiment, and by reference to the accompanying drawings, technical scheme of the present invention is described in further detail.
Embodiment:
As Fig. 1, 2, shown in 3, the present invention is a kind of AGV power supply automatic-exchanging system, it is by control center 4, power supply fetching device 2, roller conveyor structure 1 and charge position 3, described roller conveyor structure picks and places district 11 by power supply, zone of transition 12, charging zone 13 and power storage district 14 order form ring texture, described power supply picks and places place of district 11 and is provided with two power supply fetching devices 2, described power supply fetching device is by frame 24, pick and place rotating band 22 He, lifting supporting plate 21 and the homing guidance device corresponding with AGV dolly are formed, each power supply fetching device pick and place two that rotating band 22 is provided with side by side, every bar picks and places rotating band and is located on power supply and picks and places the roller-way in district and the frame of power supply fetching device, the loop configuration picking and placeing rotating band leave in the side that power supply picks and places district one AGV dolly battery compartment can be made to enter enter battery area, pick and place rotating band and roller-way driving direction is perpendicular, described lifting supporting plate 21 enters battery area described in being located at, and can entering in battery area to move up and down, described two appropriate locations picking and placeing rotating band have two battery blend stops 23, the two ends of each battery blend stop 23 pick and place rotating band 22 with two respectively and are connected.Lifting supporting plate 21 is the M type structure comprising two breach, two breach 212 are suitable with two side guard plates 51 of AGV dolly 5 battery case, the centre of two breach 212 is battery floor supporting plate 211, it is battery guided plate 213 between the roller-way that one of them breach and described power supply pick and place district, described lifting supporting plate is in the position that two power supplys pick and place between band and raises up, when being elevated supporting plate and being in the top of stroke, the roller-way top that the upper surface at this position raised up and described power supply pick and place district is in sustained height.Described charging zone 13 is provided with the charge position 3 described in 4, two rotating bands 31 that charge are provided with between charge position 3 and charging zone, every bar charging rotating band 31 is located on the roller-way of charging zone and the frame of charging mechanism, charging rotating band and roller-way driving direction perpendicular, the appropriate location of described two charging rotating bands has two battery blend stops 33, and the two ends of each battery blend stop 33 rotating band that charges with two is respectively connected.
In use, its whole control procedure comprises the steps: in the present invention
1, when the battery electric quantity of AGV dolly is put lower than setting, send signal to control center, control center starts homing guidance device, AGV dolly is guided to pour appropriate location into, make battery case be in into battery area, battery is in the top of battery floor supporting plate, carries out replacing battery-operated;
2, be elevated supporting plate to rise, drive battery to depart from battery case and move, until lifting supporting plate rises to the top of stroke;
3, startup picks and places rotating band, drives battery to move pick and place on the roller-way in district along battery guided plate arrival power supply by battery shelves bar;
4, start roller conveyor structure, battery moves on roller-way, by power supply picks and places district, by zone of transition, arrives charging zone, finally arrives the correspondence position of the charging zone in room;
5, start charging rotating band, drive power supply to enter charge position by battery blend stop and charge;
6, after charging complete, start again charging rotating band, drive power supply to get back on the roller-way of charging zone by battery blend stop, it is stand-by that battery drives power storage district to deposit by startup roller-way;
7, while carrying out above-mentioned 4th step, the battery being in power storage district is driven and enters into electron source and pick and place district, when this battery arrives the position stopped having and need the AGV dolly changing battery, roller conveyor structure suspends, back-to-back starting picks and places rotating band, under the drive of battery blend stop, by battery along on battery guided plate mobile battery backing board;
8, be elevated supporting plate and decline its stroke of arrival bottom, battery is placed in battery case, completes the replacing of battery.
Therefore, the present invention has easy to use, simple to operate, and automaticity is high, effectively raises the service efficiency of AGV system, reduces cost of labor.
Claims (6)
1. an AGV power supply automatic-exchanging system, it is characterized in that it is by control center, power supply fetching device, roller conveyor structure and charge position, described roller conveyor structure picks and places district by power supply, zone of transition, charging zone and power storage district order form ring texture, described power supply picks and places place of district and is provided with power supply fetching device described in one or several, described power supply fetching device is by frame, pick and place rotating band and, lifting supporting plate and the homing guidance device corresponding with AGV dolly are formed, described charging zone is provided with the charge position described in one or several, charging rotating band is provided with between charge position and charging zone.
2. a kind of AGV power supply automatic-exchanging system according to claim 1, what it is characterized in that described each power supply fetching device picks and places two that rotating band is provided with side by side, every bar picks and places rotating band and is located on power supply and picks and places the roller-way in district and the frame of power supply fetching device, the loop configuration picking and placeing rotating band leave in the side that power supply picks and places district one AGV dolly battery compartment can be made to enter enter battery area, pick and place rotating band and roller-way driving direction is perpendicular, described lifting supporting plate enters battery area described in being located at, and can entering in battery area to move up and down, described two appropriate locations picking and placeing rotating band have two battery blend stops, the two ends of each battery blend stop pick and place rotating band with two respectively and are connected.
3. a kind of AGV power supply automatic-exchanging system according to claim 2, it is characterized in that described lifting supporting plate is the M type structure comprising two breach, two side guard plates of two breach and AGV dolly battery case are suitable, the centre of two breach is battery floor supporting plate, it is battery guided plate between the roller-way that one of them breach and described power supply pick and place district, described lifting supporting plate is in the position that two power supplys pick and place between band and raises up, when being elevated supporting plate and being in the top of stroke, the roller-way top that the upper surface at this position raised up and described power supply pick and place district is in sustained height.
4. a kind of AGV power supply automatic-exchanging system according to claim 1 and 2, it is characterized in that the charging rotating band of described charging mechanism is provided with side by side two, every bar charging rotating band is located on the roller-way of charging zone and the frame of charging mechanism, charging rotating band and roller-way driving direction perpendicular, the appropriate location of described two charging rotating bands has two battery blend stops, and the two ends of each battery blend stop rotating band that charges with two is respectively connected.
5. a kind of AGV power supply automatic-exchanging system according to claim 3, it is characterized in that the charging rotating band of described charging mechanism is provided with side by side two, every bar charging rotating band is located on the roller-way of charging zone and the frame of charging mechanism, charging rotating band and roller-way driving direction perpendicular, the appropriate location of described two charging rotating bands has two battery blend stops, and the two ends of each battery blend stop rotating band that charges with two is respectively connected.
6. the control method of a kind of AGV power supply automatic-exchanging system according to claim 1, is characterized in that it comprises the steps:
(1) when the battery electric quantity of AGV dolly is put lower than setting, send signal to control center, control center starts homing guidance device, AGV dolly is guided to pour appropriate location into, make battery case be in into battery area, battery is in the top of battery floor supporting plate, carries out replacing battery-operated;
(2) be elevated supporting plate to rise, drive battery to depart from battery case and move, until lifting supporting plate rises to the top of stroke;
(3) startup picks and places rotating band, drives battery to move pick and place on the roller-way in district along battery guided plate arrival power supply by battery shelves bar;
(4) start roller conveyor structure, battery moves on roller-way, by power supply picks and places district, by zone of transition, arrives charging zone, finally arrives the correspondence position of the charging zone in room;
(5) start charging rotating band, drive power supply to enter charge position by battery blend stop and charge;
(6) after charging complete, start again charging rotating band, drive power supply to get back on the roller-way of charging zone by battery blend stop, it is stand-by that battery drives power storage district to deposit by startup roller-way;
(7) while carrying out above-mentioned 4th step, the battery being in power storage district is driven and enters into electron source and pick and place district, when this battery arrives the position stopped having and need the AGV dolly changing battery, roller conveyor structure suspends, back-to-back starting picks and places rotating band, under the drive of battery blend stop, by battery along on battery guided plate mobile battery backing board;
(8) be elevated supporting plate and decline its stroke of arrival bottom, battery is placed in battery case, completes the replacing of battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728621.1A CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410728621.1A CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
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| Publication Number | Publication Date |
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| CN104714546A true CN104714546A (en) | 2015-06-17 |
| CN104714546B CN104714546B (en) | 2018-08-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410728621.1A Expired - Fee Related CN104714546B (en) | 2014-12-03 | 2014-12-03 | A kind of AGV power supplys automatic-exchanging system and its control method |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105005286A (en) * | 2015-07-28 | 2015-10-28 | 杭州豪盛电动车辆有限公司 | AGV battery replacing control system and control method thereof |
| CN108909514A (en) * | 2018-07-27 | 2018-11-30 | 杭州蓝芯科技有限公司 | More AGV power management systems and method based on automatic battery replacement |
| CN109391023A (en) * | 2017-08-08 | 2019-02-26 | 鼎岳科技股份有限公司 | Battery management method |
| CN109987173A (en) * | 2019-04-08 | 2019-07-09 | 广东嘉腾机器人自动化有限公司 | A kind of power supply automatic-exchanging system and method |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105005286A (en) * | 2015-07-28 | 2015-10-28 | 杭州豪盛电动车辆有限公司 | AGV battery replacing control system and control method thereof |
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| CN109987173A (en) * | 2019-04-08 | 2019-07-09 | 广东嘉腾机器人自动化有限公司 | A kind of power supply automatic-exchanging system and method |
| CN109987173B (en) * | 2019-04-08 | 2021-07-16 | 广东嘉腾机器人自动化有限公司 | Automatic power supply replacement system and method |
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| CN104714546B (en) | 2018-08-24 |
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Inventor after: Weng Weibing Inventor after: Mao Weifeng Inventor after: Zhang Yun Inventor after: Zhao Ze Inventor after: Li Qiang Inventor before: Weng Weibing Inventor before: Zhang Yun Inventor before: Zhao Ze Inventor before: Li Qiang |
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