CN110023156A - Electric control lock catch device, transport vehicle and its move battery system and method certainly - Google Patents

Abstract

A kind of Electric control lock catch device, transport vehicle and its move battery system and method certainly, the transport vehicle includes transport vehicle (110), charging unit (100) and manipulator (120) from battery system is moved, charging unit (120) is used for after transport vehicle (110) is interfaced, is charged to transport vehicle (110)；Transport vehicle (110) includes battery (20) and Electric control lock catch device (10), and Electric control lock catch device (10) is for locking or unclamping battery；Manipulator (120) is used to take out the battery (20) of transport vehicle when charging unit (100) charges to transport vehicle (110) and be put into new battery (20)；Electric control lock catch device (10) is at least for after transport vehicle (110) is docked with charging unit (100), it unclamps battery (20), and after manipulator (120) is put into new battery (20), new battery (20) are locked.By using Electric control lock catch device, charging unit to replace the battery on transport vehicle to transport vehicle power supply and manipulator on transport vehicle, so that transport vehicle replaces battery in the state of not powering off, improves transport vehicle and change the efficiency of battery and avoid the complication of manipulator.

Description

Electronically controlled locking device, transport vehicle and automatic battery replacement system and method thereof

technical field

The present application relates to the field of transportation, and in particular, to an electronically controlled locking device, a transportation vehicle, and an automatic battery replacement system and method thereof.

Background technique

Existing electric devices, such as sweeping robots or automatic transport vehicles, only charge the batteries they carry, or manually replace the batteries in a power-off state, or use very complicated robotic hands to replace the batteries, which greatly occupies the The working time of the electric equipment also complicates the manipulator and increases the cost of automated battery replacement.

SUMMARY OF THE INVENTION

The present application provides an electronically controlled locking device, a transport vehicle, and an automatic battery replacement system and method thereof, which can solve the problems of low efficiency of automatic battery replacement of the transport vehicle and complicated manipulators.

In order to solve the above technical problem, a technical solution adopted in the present application is to provide an automatic battery replacement system for a transport vehicle. The automatic battery replacement system for the transporter includes a transporter, a charging device and a manipulator. The charging device is used to charge the transporter after the transporter is docked with it; the transporter includes a battery and an electronically controlled locking device, which is used for It is used to lock or release the battery; the manipulator is used to take out the battery of the transportation vehicle and put in a new battery when the charging device charges the transportation vehicle; Turn on the battery, and lock the new battery after the manipulator has put it in.

In order to solve the above technical problem, another technical solution adopted in the present application is to provide a method for replacing the battery of a transport vehicle. The method includes: when it is detected that the battery power of the transport vehicle is equal to or lower than a set threshold value, controlling the transport vehicle to move to the charging device and docking with the charging device; detecting that the transport vehicle is docked with the charging device, controlling the electric control lock Release the battery; control the manipulator to remove the battery and insert a new battery.

In order to solve the above technical problems, another technical solution adopted in the present application is to provide an electronically controlled locking device. The electronically controlled locking device includes a slide rail, a slide block, a latch member, a swing guide rod mechanism and a motor. The slide block is slidably supported on the slide rail, the latch member is fixedly connected with the slide block, and the rotating shaft of the motor is connected with a swing guide rod mechanism. The sliding block and the latch member are driven to swing reciprocally along the slide rail by driving the swing guide rod mechanism, so as to realize the locking function of the latch member.

In order to solve the above technical problem, another technical solution adopted in this application is to provide a transport vehicle. The transport vehicle includes the above-mentioned electronically controlled locking device.

The beneficial effects of the present application are: different from the situation in the prior art, the automatic battery replacement system for a transport vehicle disclosed in the present application adopts an electronically controlled locking device to lock or release the battery on the transporting vehicle, and the electronically controlled locking device is at least used for After the transporter is docked with the charging device, release the battery, and after the manipulator puts in a new battery, lock the new battery, so that the transporter can complete the battery replacement under the condition of uninterrupted power supply. Compared with only the transporter Charging or using a manipulator to replace the battery when the transport vehicle is powered off, the application uses the charging device to supply power to the transport vehicle, and the transport vehicle provided by the present application can actively lock or release the battery during battery replacement, saving locking for the manipulator. Or the operation steps of releasing the battery strengthen the interaction between the transporter and the manipulator. Compared with replacing the battery under power failure, the present application at least saves the process of switching the transporter, and reduces the time from changing the battery to the time when the transporter can be switched. The time required for normal work, so the technical solution provided in this application not only improves the efficiency of battery replacement of the transport vehicle, but also avoids the complexity of the manipulator.

Description of drawings

In order to illustrate the technical solutions in the embodiments of the present application more clearly, the following briefly introduces the drawings that are used in the description of the embodiments. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained from these drawings without creative effort, wherein:

1 is a schematic structural diagram of an embodiment of a transport vehicle provided by the application;

Fig. 2 is the structural representation of the electric control locking device in the transport vehicle of Fig. 1;

FIG. 3 is an enlarged schematic view of the structure of the region I of the electronically controlled locking device in FIG. 2;

Fig. 4 is the structural schematic diagram of the latch member in the electric control locking device of Fig. 2;

Fig. 5 is the structural representation of the battery in the transport vehicle of Fig. 1;

Fig. 6 is the exploded structure schematic diagram of the battery case assembly of the battery of Fig. 5;

Fig. 7 is the structural representation of in-wheel motor and damping device in the transport vehicle of Fig. 1;

Fig. 8 is the sectional structure schematic diagram of the transport vehicle of Fig. 1;

9 is a schematic structural diagram of an embodiment of an automatic battery replacement system for a transport vehicle provided by the present application;

Fig. 10 is a state schematic diagram of the docking of the transport vehicle and the charging device in Fig. 9;

FIG. 11 is a schematic diagram of the state in which the manipulator of FIG. 9 loads the battery to the transport vehicle;

FIG. 12 is a schematic flowchart of an embodiment of a method for replacing a battery of a transport vehicle provided by the present application.

Detailed ways

The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

Referring to FIG. 1 , a schematic structural diagram of an embodiment of a transport vehicle provided by the present application.

The transport vehicle includes an electronically controlled locking device 10, which is used to lock or release a battery 20 on the transport vehicle, and the battery 20 is used to provide power to the transport vehicle. Wherein, the electronically controlled locking device 10 automatically locks or releases the battery 20 when the set conditions are met.

Specifically, the transport vehicle further includes a power detection device 31 and a central control device 30 . The power detection device 31 is used to detect the power of the battery 20 .

Wherein, when the power detection device 31 detects that the power of the battery 20 is equal to or lower than a certain set threshold, the central control device 30 controls the transport vehicle to dock with the charging device. For example, when the power detection device 31 detects that the battery power is lower than 10% of its total power, it sends a first signal to the central control device 30 . The central control device 30 sends out a first command according to the first signal, and the first command controls the transport vehicle to automatically cruise to the charging device and dock with the charging device for charging.

When the power detection device 31 detects that the transport vehicle and the charging device are docked, the central control device 30 controls the electronically controlled locking device 10 to release the battery 20 . After the power detection device 31 detects that the charging device starts to supply power to the transport vehicle, it sends a second signal to the central control device 30 . The central control device 30 sends out a second command according to the second signal, and the second command controls the electronically controlled locking device 10 to release the battery 20 so that the battery 20 is in a detachable state.

For example, the battery 20 is unloaded from the transport vehicle by the manipulator, and the manipulator loads a fully charged new battery 20 into the transport vehicle, and the new battery 20 starts to supply power to the transport vehicle. When the power detection device 31 detects that the new battery 20 is loaded into the transport vehicle, the central control device 30 controls the electronically controlled locking device 10 to lock the new battery 20 . That is, when the power detection device 31 detects that the new battery 20 starts to supply power to the transport vehicle, or detects that the new battery 20 is in a state of being able to supply power to the transport vehicle, it sends a third signal to the central control device 30 . The central control device 30 sends a third command according to the third signal, the third command controls the electronically controlled locking device 10 to lock the new battery 20, and then switches the transport vehicle to the working mode, and the transport vehicle starts to perform tasks.

Furthermore, the transport vehicle provided by the present application can complete the replacement of the battery 20 under the condition of uninterrupted power supply, which is beneficial for the transport vehicle to be in the working mode for as long as possible, and the battery can be charged in the idle mode.

Optionally, the power detection device 31 is, for example, a sensor or a collection of sensors that detects voltages, currents, etc. at multiple nodes, and the application does not limit which components or sensors are specifically selected to achieve the above control process. The central control device 30 is, for example, a personal computer (PC), an integrated control circuit, etc., which is not limited herein.

Specifically, referring to FIG. 2 , the electronically controlled locking device 10 includes a slide rail 11 , a slide block 12 , a latch member 13 , a swing guide rod mechanism 14 and a motor 15 . The slider 12 is slidably supported on the slide rail 11 , the latch member 13 is fixedly connected with the slider 12 , and the rotating shaft of the motor 15 is connected with a swing guide rod mechanism 14 . The rail 11 swings back and forth to realize the locking function of the latch member 13 .

The electronically controlled locking device 10 is mounted on the frame 40 of the transport vehicle. In this embodiment, the slide rail 11 is fixedly connected with the frame 40 , and the motor 15 is arranged on the frame 40 through a connecting piece, for example, the motor 15 is arranged on the side of the frame 40 . The motor 15 is, for example, a servo motor, which can be controlled and driven.

2 and 3, the swing guide mechanism 14 includes a swing rod 141 and a guide block 142, the guide block 142 is fixedly connected with the slider 12, the swing rod 141 is slidably connected with the guide block 142, and the motor 15 drives the swing rod 141 to swing, The sliding block 12 is driven to swing back and forth along the slide rail 11 through the guide block 142 .

In this embodiment, the guide block 142 is provided with a guide groove 143 , the first end of the swing rod 141 is connected to the rotating shaft of the motor 15 , the second end of the swing rod 141 is set to move along the guide groove 143 , and the motor 15 drives the swing rod 141 swings, so that the second end moves in the guide groove 143 , and drives the slider 12 to swing back and forth along the slide rail 11 . For example, the guide groove 143 can be a slot-shaped hole, the second end of the swing rod 141 is provided with a roller, and the roller can roll on the inner side wall of the guide groove 143, and when the motor 15 drives the swing rod 141, the first end of the swing rod 141 is The center swings, and the second end produces a pressing force on the guide groove 143 , which drives the slider 12 to move along the slide rail 11 .

In another embodiment, the swing rod 141 may be provided with a slotted hole, and the guide block 142 is provided with a roller, and the roller is connected with the slotted hole in a rolling manner.

A plurality of latch members 13 are provided on the slider 12 at intervals along the length direction of the slide rail 11 , and one of the latch members 13 is integrally provided with the guide block 142 . Optionally, only one latch member 13 may be provided on the slider 12 , and the latch member 13 and the guide block 142 may also be provided on the slider 12 independently of each other. Specifically, the sliding block 12 is provided with two latch members 13, wherein the latch member 13 close to the motor 15 and the guide block are provided in an integrated structure, which is convenient for installation.

Referring to FIG. 4 , the latch member 13 includes a latch plate 131 and a connecting plate 132 of integral structure, the latch plate 131 and the connecting plate 132 are vertically arranged, and the connecting plate 132 is fixedly connected to the slider 12 . Wherein, one end of the latch plate 131 along the axial direction of the slide rail 11 is provided with a guide slope 133 . Driven by the motor 15 , the slider 12 drives the latch member 13 to move, and the latch plate 131 is inserted or separated from the battery 20 to lock or release the battery 20 , thereby realizing the locking function of the latch member 13 . The electronically controlled locking device 10 is not limited to be applied in fields such as transport vehicles.

Referring to FIGS. 5 and 6 , the battery 20 includes a battery case assembly 21 and a power source 22 , the battery case assembly 21 is provided with a power supply connector 211 , and the power source 22 is arranged in the battery case assembly 21 and is electrically connected to the power supply connector 211 , and supply power to the transport vehicle through the power connector 211 .

Specifically, the battery case assembly 21 includes a plug-in board 212 and a pick-up base 213 , the plug-in board 212 is used for mating connection with the plug-in member 13 , and the pick-up base 213 is configured as a hook structure for cooperating with an external manipulator to pick up. For example, the battery case assembly 21 further includes a first case 214 and a second case 215 , and the top and bottom surfaces of the battery case assembly 21 are both composed of the first case 214 and the second case 215 . The first casing 214 and the second casing 215 are provided with first clamping parts, and the first casing 214 and the second casing 215 are connected into one body through the first clamping parts. The front and rear surfaces of the battery case assembly 21 are respectively provided with a pick-up base 213 and a plug-in board 212 , and the pick-up base 213 is fixedly connected with the first casing 214 and the second casing 215 on the top and bottom surfaces. The battery case assembly 21 is provided with two plug-in boards 212, one of the plug-in boards 212 is fixedly connected with the two first shells 214 on the top and bottom surfaces, and the other plug-in board 212 is connected with the two first shells 214 on the top and bottom surfaces. The second shell 215 is fixedly connected, and the plug board 212 and the pick-up base 213 ensure the stability of the overall structure of the battery shell assembly 21 . A third casing 216 is provided on both sides of the battery casing assembly 21 , and a second engaging portion that is aligned with the first casing 214 and the second casing 215 is disposed on the third casing 216 , and passes through the third casing 216 . The connection is fixed by means of glue or screws. One of the third housings 216 is provided with a power connector 211 .

The first casing 214 and the second casing 215 are provided with a blocking plate 217 at the end on the same side as the pickup base 213 . The blocking plate 217 is used to prevent the battery 20 from being too strong when the battery 20 is loaded, so that the transport vehicle is connected to the power supply The connector 211 is mated to is damaged. A buffer pad 218 is also provided on the side of the blocking plate 217 facing the transport vehicle.

In addition, the first shell 214 , the second shell 215 and the third shell 216 all adopt hollow structures, which reduces the weight of the battery shell assembly. An alignment groove 219 is also provided in the middle of the hook structure on the pick-up base 213 for alignment with an external manipulator.

Continuing to refer to FIG. 1 , the transport vehicle is further provided with a charging port 50 , and the charging port 50 and the battery 20 are disposed at opposite ends of the transport vehicle to facilitate the replacement of the battery 20 when the transport vehicle is being charged. Of course, the battery 20 can also be disposed at other positions on the transport vehicle relative to the charging port 50 .

The transport vehicle further includes an anti-collision plate 51. The charging port 50 is disposed on the anti-collision plate 51. Both ends of the anti-collision plate 51 are provided with guide portions 511. The guide portions 511 are used for guiding when the transport vehicle is docked with the charging device. For example, two charging ports 50 are provided on the crash plate 51 , and the charging device can supply power to the transport vehicle or charge the battery 20 through the charging ports 50 . The guide portion 511 is in the shape of a circular arc, and the distance between the outer ends of the two guide portions 511 is larger than the width of the transport vehicle. When the transport vehicle deviates from the alignment with the charging device, the guide portion 511 can assist the transport vehicle and the charging device to align. bit.

The transport vehicle further includes a radar sensor 52 , and the radar sensor 52 is located at the end of the transport vehicle where the anti-collision plate 51 is provided, and is used for detecting spatial information directly in front of the anti-collision plate 51 .

A visual detection device 53 is also provided on the transport vehicle and above the radar sensor 52, and the visual detection device 53 is at least used to detect the position of the charging device when the transport vehicle needs to be docked with the charging device.

The radar sensor 52 and the visual detection device 53 are both signal-connected to the central control device 30 . The central control device 30 plans the travel path of the transport vehicle and avoids obstacles according to the spatial information detected by the radar sensor; the central control device 30 collects data from the visual detection device 53 images, identifying information about objects, such as identifying charging devices, etc.

Referring to FIG. 1 and FIG. 7 , the transport vehicle further includes an in-wheel motor 60 and a shock absorbing device 70 . The in-wheel motor 60 is disposed on the frame 40 of the transport vehicle through the shock absorbing device 70 . The damping device 70 is, for example, a spring damping device, a pneumatic damping device, an oil hydraulic damping device, or the like.

The shock absorber 70 includes an inclined swing arm 71 and a shock absorber 72. Two ends of the inclined swing arm 71 are hinged with the transport vehicle and the hub motor 60 respectively. The shock absorber 72 is fixedly connected with the wheel hub motor 60, and the other end of the shock absorber 72 Connect with the Transporter activity. Specifically, the shock absorber 70 and the in-wheel motor 60 are provided as integral and independent components so as to be assembled with the vehicle frame 40 . For example, the shock absorber 70 further includes a mounting plate 73 , the inclined swing arm 71 is hinged with the mounting plate 73 , the shock mount 72 is movably connected with the mounting plate 73 , and the mounting plate 73 is fixedly connected to the vehicle frame 40 . In other embodiments, the shock mount 72 and the inclined swing arm 71 may also be directly disposed on the vehicle frame 40 .

Specifically, the shock-absorbing frame 72 includes a connecting frame 721, a shock-absorbing spring 723 and a connecting rod 724. The connecting frame 721 is fixedly connected to the in-wheel motor 60, one end of the connecting rod 724 is fixedly connected to the connecting frame 721, and the other end is slidably connected to the transport vehicle. The damping spring 723 is sleeved on the connecting rod 724 and is located between the connecting frame 721 and the transport vehicle. In this embodiment, the other end of the connecting rod 724 is slidably connected to the mounting plate 73 , and the damping spring 723 is sleeved on the connecting rod 724 and is compressed and connected between the connecting frame 721 and the mounting plate 73 .

Furthermore, two in-wheel motors 60 are arranged at intervals along the width direction of the transport vehicle in the middle of the transport vehicle, and multiple sets of driven wheels are arranged along the length direction of the transport vehicle. The intervals are set for smooth operation of the transporter. The central control device 30 adjusts the traveling direction of the transport vehicle by controlling the differential rotation of the two in-wheel motors 60 .

Referring to FIGS. 1 and 8 , the transport vehicle further includes a heat dissipation assembly 80 . The heat dissipation assembly 80 includes a heat dissipation support 81 and a heat dissipation frame 82 . The central control device 30 is disposed on the transport vehicle through the heat dissipation support 81 , and the heat dissipation frame 82 is disposed in the middle One end of the control device 30 facing away from the discrete thermal support 81 .

The heat dissipation support 81 is provided with a hollow channel 811 , and the end of the heat dissipation support 81 connected to the transport vehicle is provided with a vent 812 . The vent 812 may be a through hole, a notch or a combination thereof provided in the heat dissipation support 81 . The heat-dissipating frame 82 is, for example, a heat-conducting aluminum profile, which is not only used as a heat-dissipating auxiliary part, but also can be used as a mounting and fixing part for a printed circuit board (PCB) in the central control device 30 . The printed circuit board is disposed in the central control device 30 and is fixedly connected with the heat dissipation frame 82 , which further enhances the thermal conductivity of the heat dissipation frame 82 to it.

In addition, an emergency stop button 91 is also provided on the transport vehicle, and the emergency stop button 91 is signally connected to the central control device 30 . A tactile sensor 92 is also provided on the top side of the transport vehicle for carrying goods. The tactile sensor 92 is used to identify whether the transport vehicle is carrying goods. The tactile sensor 92 is signally connected to the central control device 30 . For example, when the goods are loaded on the transport vehicle, the tactile sensor 92 senses the goods, for example, the goods have pressure on the tactile sensor 92, the tactile sensor 92 sends a signal to the central control device 30, and the central control device 30 controls the transport vehicle to send the goods to the target. location shipping.

Referring to FIG. 9 , a schematic structural diagram of an embodiment of an automatic battery replacement system for a transport vehicle provided by the present application.

Please also combine the names and labels of the components of the transport vehicle in the above-mentioned embodiment, so as to facilitate the understanding of the names and labels of the components in this embodiment.

The automatic battery replacement system for a transport vehicle includes a charging device 100 , a manipulator 120 and the transport vehicle 110 as described above.

Wherein, the charging device 100 is used to charge the transport vehicle 110 after the transport vehicle 110 is docked with it; the transport vehicle 110 includes a battery 20 and an electronically controlled locking device 10, and the electronically controlled locking device 10 is used for locking or releasing the battery 20 ; the manipulator 120 is used to take out the battery 20 of the transportation vehicle 110 and put in a new battery 20 when the charging device 100 charges the transportation vehicle 110 .

The electronically controlled locking device 10 is at least used to release the battery 20 after the transport vehicle 110 is docked with the charging device 100 , and to lock the new battery 20 after the manipulator 120 puts in the new battery 20 .

In another application scenario, the electronically controlled locking device 10 can also release or lock the battery 20 without this limitation. For example, the electronically controlled locking device 10 executes an instruction to release or lock the battery only according to the signal fed back to the central control device 30 by the power detection device 31 . Further, when the power detection device 31 detects that the power of the battery 20 reaches a certain set release threshold, the power detection device 31 sends a signal to the central control device 30, and the central control device 30 receives the signal and then controls the electric control lock. The device 10 releases the battery 20; when the power detection device 31 detects that the power of the battery 20 reaches a certain set locking threshold, the power detection device 31 sends another signal to the central control device 30, and the central control device 30 receives the signal Then, the electronically controlled locking device 10 is controlled to lock the battery 20 . In another embodiment, the transport vehicle 110 is further provided with a backup battery, so that when the power of the battery 20 is equal to or lower than a certain set threshold, it can control the electronically controlled locking device 10 to release the battery without docking with the charging device 110 20.

Referring to FIG. 10 , FIG. 10 is a situation in which the transport vehicle 110 is docked with the charging device 100 for charging. When the power detection device 31 detects that the power of the battery 20 is equal to or lower than a certain set threshold, it sends a first signal to the central control device 30, and the central control device 30 receives the first signal to control the transport vehicle 110 to travel to the charging device 100, and According to the spatial information collected by the radar sensor 52, the travel path of the transport vehicle 110 is planned to avoid collision with obstacles. The visual detection device 53 detects and identifies the identification code on the charging device 100 to identify the location and information of the charging device 100. The transport vehicle The guide portion 511 on the 110 can assist in adjusting the charging port 50 on the transport vehicle 110 to complete the docking with the charging device for charging.

Referring to FIG. 9 again, FIG. 9 shows the situation when the manipulator 120 is ready to unload the battery when the battery 20 is in a removable state. When the power detection device 31 detects that the transport vehicle and the charging device 110 are docked, that is, after detecting that the charging device 100 starts supplying power to the transport vehicle 110, it sends a second signal to the central control device 30, and the central control device 30 receives the second signal to control the power supply. The locking device 10 releases the battery 20 so that the battery 20 is in a removable state.

Referring to FIG. 11 , after the battery 20 is unloaded from the transporter 110 by the robot 120 , the robot 120 loads a fully charged new battery 20 into the transporter 110 , and the new battery 20 starts to supply power to the transporter 110 . After the power detection device 31 detects that the new battery 20 is loaded into the transport vehicle 110 , that is, after the new battery 20 starts supplying power to the transport vehicle 110 , the central control device 30 controls the electronically controlled locking device 10 to lock the new battery 20 . After that, the central control device 30 controls the transport vehicle 110 to drive away from the charging device 100 and starts to work.

Referring to FIG. 12 , a schematic flowchart of an embodiment of a method for replacing a battery of a transport vehicle provided by the present application.

Step 11: When it is detected that the battery power of the transport vehicle is equal to or lower than a set threshold, the transport vehicle is controlled to move towards the charging device and dock with the charging device.

Specifically, the transport vehicle is provided with a power detection device and a central control device. The power detection device is at least used to detect the power of the battery on the transport vehicle, and when it is detected that the battery power of the transport vehicle is equal to or lower than a set threshold, the The control device sends out a first signal, and the central control device receives the first signal to control the transport vehicle to move to the charging device, and complete the docking with the charging device for charging.

Step 12: It is detected that the connection between the transport vehicle and the charging device is completed, and the electric control locking device is controlled to release the battery.

It is detected that the connection between the transport vehicle and the charging device is completed, that is, after the power detection device detects that the charging device starts charging the transport vehicle, it sends a second signal to the central control device, and the central control device receives the second signal and controls the electronically controlled locking device to release the battery. , making the battery in a removable state.

Step 13: Control the manipulator to take out the battery and put in a new battery.

The battery is unloaded from the transporter by the manipulator, and the manipulator loads a fully charged new battery into the transporter, and the new battery starts to supply power to the transporter.

After that, after the power detection device detects that the new battery is put into the transport vehicle, that is, after detecting that the new battery starts to supply power to the transport vehicle, it sends a third signal to the central control device, and the control device receives the third signal to control the electric control lock. The clasp locks the new battery and drives the transporter away from the charging unit.

Different from the situation in the prior art, the automatic battery replacement system for a transport vehicle disclosed in the present application adopts an electronically controlled locking device to lock or release the battery on the transporting vehicle, and the electronically controlled locking device is at least used for docking the transporting vehicle with the charging device. After that, release the battery, and after the manipulator puts in a new battery, lock the new battery, so that the transporter can complete the battery replacement without power off, compared to only charging the transporter or powering off the transporter. In this case, the manipulator is used to replace the battery. The application uses the charging device to supply power to the transport vehicle, and the transport vehicle provided by the application can actively lock or release the battery during battery replacement, which saves the manipulator. The operation steps of locking or loosening the battery , which strengthens the interaction between the transport vehicle and the manipulator. Compared with replacing the battery under power failure, the present application at least saves the process of switching the transport vehicle and reduces the time required for the transport vehicle to work normally from battery replacement. Therefore, the technical solution provided by the present application not only improves the efficiency of battery replacement of the transport vehicle, but also avoids the complexity of the manipulator.

The above are only the embodiments of the present application, and are not intended to limit the scope of the patent of the present application. Any equivalent structure or equivalent process transformation made by using the contents of the description and drawings of the present application, or directly or indirectly applied to other related technologies Fields are similarly included within the scope of patent protection of this application.

Claims (20)

1. a kind of transport vehicle moves battery system certainly, which is characterized in that the system comprises transport vehicle, charging unit and machinery Hand；

Wherein, the charging unit is used for after the transport vehicle is interfaced, is charged to the transport vehicle；The transport Vehicle includes battery and Electric control lock catch device, and the Electric control lock catch device is for locking or unclamping the battery；The manipulator is used In when the charging unit charges to the transport vehicle, takes out the battery of the transport vehicle and be put into new battery；

The Electric control lock catch device is at least used for after the transport vehicle is docked with the charging unit, unclamps the battery, with And after being put into new battery in the manipulator, the new battery is locked.

2. system according to claim 1, which is characterized in that the Electric control lock catch device includes:

Sliding rail；

Sliding block is slidably supported on the sliding rail；

Pin member is fixedly connected with the sliding block；

The shaft of motor, the motor is connected with oscillating guidebar mechanism, by driving the oscillating guidebar mechanism to drive the cunning Block and the pin member are along the sliding rail reciprocally swinging, to realize the latching function of the pin member.

3. system according to claim 2, which is characterized in that the oscillating guidebar mechanism includes swing rod and guide block, described Guide block is fixedly connected with the sliding block, and the swing rod is slidably connected with the guide block, and swing rod described in the motor driven is swung, with Drive the sliding block along the sliding rail reciprocally swinging by the guide block.

4. system according to claim 3, which is characterized in that the guide block be equipped with guide groove, the first of the swing rod End is connect with the shaft of the motor, and the second end of the swing rod is arranged to move along the guide groove, and the motor drives It moves the swing rod to swing, so that the second end moves in the guide groove, drives the sliding block along the sliding rail toward physical pendulum It is dynamic.

5. system according to claim 4, which is characterized in that the length direction interval on the sliding block along the sliding rail is set Multiple pin members are equipped with, one of them described pin member is wholely set with the guide block.

6. system according to claim 5, which is characterized in that the pin member includes pinboard and the connection of integral structure Plate, the pinboard are vertically arranged with the connecting plate, and the connecting plate is fixedly connected with the sliding block.

7. system according to claim 6, which is characterized in that the one end of the pinboard on the sliding rail axis direction Equipped with guiding surface.

8. system according to claim 1, which is characterized in that the transport vehicle further includes electric quantity detection apparatus and middle control dress It sets, the electric quantity detection apparatus is used to detect the electricity of the battery, and the electric quantity detection apparatus, the Electric control lock catch device are equal It is connect with the control device signal；

Wherein, when the electric quantity detection apparatus detects that the battery capacity is equal to or less than a certain given threshold, the middle control Device controls the transport vehicle and docks with the charging unit；The electric quantity detection apparatus detects that the transport vehicle is filled with described When electric installation completes docking, the control device controls the Electric control lock catch device and unclamps the battery；The electric power detection dress It sets when detecting that new battery is loaded into the transport vehicle, it is described new that the control device controls the Electric control lock catch device locking Battery.

9. a kind of method that transport vehicle changes battery characterized by comprising

When detecting that the battery capacity of transport vehicle is equal to or less than a given threshold, the transport vehicle is controlled to fortune at charging unit It moves and is docked with the charging unit；

Detect that the transport vehicle is docked with charging unit completion, control Electric control lock catch unclamps the battery；

It controls manipulator and takes out the battery, and be put into new battery.

10. according to the method described in claim 9, it is characterized in that, the control manipulator replace the battery the step of it Afterwards, further includes:

After detecting that the new battery is put into the transport vehicle, control Electric control lock catch locks the new battery and drives institute It states transport vehicle and leaves the charging unit.

11. a kind of Electric control lock catch device characterized by comprising

Sliding rail；

Sliding block is slidably supported on the sliding rail；

Pin member is fixedly connected with the sliding block；

The shaft of motor, the motor is connected with oscillating guidebar mechanism, by driving the oscillating guidebar mechanism to drive the cunning Block and the pin member are along the sliding rail reciprocally swinging, to realize the latching function of the pin member.

12. Electric control lock catch device according to claim 11, which is characterized in that the oscillating guidebar mechanism include swing rod and Guide block, the guide block are fixedly connected with the sliding block, and the swing rod is slidably connected with the guide block, are put described in the motor driven Bar is swung, to drive the sliding block along the sliding rail reciprocally swinging by the guide block.

13. Electric control lock catch device according to claim 12, which is characterized in that the guide block is equipped with guide groove, described The first end of swing rod is connect with the shaft of the motor, and the second end of the swing rod is arranged to move along the guide groove, Swing rod described in the motor driven is swung, so that the second end is slided in the guide groove, drives the sliding block described in Sliding rail reciprocally swinging.

14. Electric control lock catch device according to claim 13, which is characterized in that along the length of the sliding rail on the sliding block Direction is arranged at intervals with multiple pin members, one of them described pin member is wholely set with the guide block.

15. Electric control lock catch device according to claim 14, which is characterized in that the pin member includes inserting for integral structure Pin plate and connecting plate, the pinboard are vertically arranged with the connecting plate, and the connecting plate is fixedly connected with the sliding block.

16. Electric control lock catch device according to claim 15, which is characterized in that the pinboard is along the sliding rail axis side Upward one end is equipped with guiding surface.

17. a kind of transport vehicle, which is characterized in that the transport vehicle includes such as the described in any item electric control locks of claim 11-16 Buckle device, the Electric control lock catch device is for locking or unclamping the battery on the transport vehicle.

18. transport vehicle according to claim 17, which is characterized in that the transport vehicle further includes electric quantity detection apparatus in Device is controlled, the electric quantity detection apparatus is used to detect the electricity of the battery, the electric quantity detection apparatus, the electric control lock spiral-lock It sets and equal is connect with the control device signal；

Wherein, when the electric quantity detection apparatus detects that the battery capacity is equal to or less than a certain given threshold, the middle control Device controls the transport vehicle and docks with charging unit；The electric quantity detection apparatus detects that the transport vehicle and charging unit are complete When at docking, the control device controls the Electric control lock catch device and unclamps the battery；The electric quantity detection apparatus detects When new battery is loaded into the transport vehicle, the control device controls the Electric control lock catch device and locks the new battery.

19. transport vehicle according to claim 18, which is characterized in that charge port is additionally provided on the transport vehicle, it is described to fill Power port and the battery are set to both ends relative to each other on the transport vehicle.

20. transport vehicle according to claim 19, which is characterized in that the transport vehicle further includes Crashworthy plate, the charging Mouth is set on Crashworthy plate, and the anticollision board ends are equipped with guide part, and the guide part is used in the transport vehicle and charging dress It is oriented to when setting docking.