CN102152731A - Automatic energy continuation device for vehicle driven by storage battery and control method - Google Patents

Abstract

An automatic energy renewing device and a control method for a battery-driven vehicle. The device consists of a box and a control device, a horizontal motion system, a vertical motion system, a disc rotation system, 4 AC-to-DC power supply chargers and a battery box; the front of the box is open, and a replacement battery is installed on the outside Buttons, while the control device, horizontal motion system, vertical motion system, disc rotation system, 4 AC to DC power chargers and battery box are set inside the box. The automatic energy continuation device and control method of the battery-driven vehicle of the present invention can automatically replace the battery box for the battery-driven vehicle safely, reliably, quickly and efficiently in an environment without manual intervention, and realize its energy-continuation function, and it is very easy to change the structure of the battery-driven vehicle It is small, and only needs to put the onboard battery pack on the vehicle into the battery box, so it has the advantages of high degree of automation, simple structure, reliable operation, low cost, and can save a lot of time and manpower.

Description

Automatic energy renewing device and control method for a battery-driven vehicle

technical field

The invention belongs to the technical field of electric vehicles, and in particular relates to an automatic energy-renewing device and a control method for a battery-driven vehicle.

Background technique

As an environmentally friendly, energy-saving and safe means of transportation, vehicles powered by electric energy are widely used, such as electric sightseeing cars, electric golf carts, special vehicles for airport operations, and mobile robots. However, the problem with these vehicles is that most of them use high-quality on-board rechargeable battery packs to power themselves. Once the power is exhausted, manual intervention must be used to charge or replace the battery. However, due to its charging time It is generally longer than the working time, and the battery capacity is large, and the weight can reach tens of kilograms, so manual replacement is difficult, and there is no relevant report on the use of automatic energy renewal devices for electric vehicles at present.

Contents of the invention

In order to solve the above problems, the purpose of the present invention is to provide an automatic energy renewing device and control method for a battery-driven vehicle that can automatically renew energy safely, reliably, quickly and efficiently without manual intervention.

In order to achieve the above object, the automatic energy-continuing device of the battery-driven vehicle provided by the present invention is composed of a box body, a control device, a horizontal motion system, a vertical motion system, a disk rotation system, 4 AC-to-DC power supply chargers and a battery box; The front end of the box is open, and a battery replacement button is installed on the outside, while the control device, horizontal motion system, vertical motion system, disc rotation system, 4 AC to DC power chargers and battery boxes are set in the box. the interior of the body.

The horizontal motion system includes a horizontal module and a horizontal stepping motor; the horizontal module is composed of a first shaft coupling, a final proximity switch, a middle proximity switch, a horizontal guide rail, a first proximity switch and a horizontal lead screw; wherein the horizontal The guide rail is set horizontally above the inside of the box; the horizontal lead screw is installed on the horizontal guide rail, and one end of it is connected with the horizontal stepping motor through the first coupling; the first position proximity switch, the last position proximity switch and the middle position proximity switch are respectively installed on the The two ends and the middle part of the horizontal guide rail, and the last proximity switch is close to the coupling.

The vertical motion system includes a vertical module, a vertical stepping motor, a bracket and an end shovel; the vertical module is composed of a second coupling, an upper proximity switch, a vertical lead screw, a vertical guide rail and a lower proximity switch; The upper end is connected to the horizontal lead screw through the lead screw nut; the upper end of the vertical guide rail is fixedly connected with the lower end of the bracket; the vertical lead screw is installed on the vertical guide rail, and its upper end is connected to the vertical stepping motor through the second coupling; The upper proximity switch and the lower proximity switch are respectively installed on the upper and lower ends of the vertical guide rail; the rear end of the end shovel is installed on the vertical lead screw between the upper proximity switch and the lower proximity switch through the screw nut.

The disc rotation system includes a rotating disc, a shaft, a thrust ball bearing, a synchronous gear belt and a disc stepping motor; the rotating disc is connected to the shaft, and the shaft is vertically fixed between the bottom surface of the box through the thrust ball bearing and the shaft is equipped with a synchronous gear; the disc stepper motor is installed on the side of the box, which is connected with the synchronous gear on the shaft through the synchronous gear belt, thereby driving the rotating disc to rotate; the rotating disc is equipped with 4 charging positions, 6 battery box card slots, 6 proximity switches, 4 sets of charging contacts, waiting positions and charging completion positions; among them, 4 charging positions, waiting positions and charging completion positions are distributed on the rotating disc The surface of the battery box is provided with a battery box card slot for fixing the battery box; each charging position is equipped with a proximity switch to detect whether there is a battery box at the position; the external opening of each charging position A charging contact is installed, the inner surface of the charging contact is in contact with the contact on the battery box, and the outer surface is connected with the AC to DC power charger; the charging position is used to store the battery box with the battery pack to be charged inside, Or when the position to be charged is free, the end shovel can pass through this position and be inserted into the external battery box; the charging completion position is used to store the battery box with a fully charged battery pack inside, in preparation for the automatic energy renewing device to replace the battery box .

The battery box includes a battery box body, a plurality of beams and contacts; the battery box body is composed of a plurality of flat plates and bottom plates arranged in parallel at a distance, and the space between adjacent flat plates forms a battery position for placing a battery pack; The beam is horizontally installed on the upper end of the plate, and the gap between it and the battery pack is used for inserting the end shovel; the contact is located on one side of the battery box. When the battery case is placed on the charging position, the contacts are abutted against the charging contacts to realize the charging function of the battery case.

The four AC-to-DC power supply chargers are respectively located next to the four charging positions on the rotating disk, one end of which is connected to a 220-volt AC power supply, and the other end is connected to the charging contacts on the rotating disk to realize It has the function of converting AC to DC and provides energy for the DC battery pack, and a voltage detection circuit is installed inside, which is connected with the AD/IO module in the control device for voltage detection of the rechargeable battery pack.

The control device is composed of a host system, an AD/IO module, a single-chip microcomputer, a stepping motor driver, a wireless AP module and a power supply; wherein: the host system is connected with the AD/IO module, the single-chip microcomputer and the wireless AP module respectively; the AD/IO The module is an AD converter and an input/output interface circuit, which is used to collect various input signals. And the voltage detection circuit in the AC-to-DC power supply charger is connected, and the output port is connected with the host system; the single-chip microcomputer is a stepper motor drive controller, its input end is connected with the host system, and the output end is connected with the stepper motor driver; The input end of the motor driver is connected to the single-chip microcomputer, and the output end is respectively connected to the horizontal stepping motor, vertical stepping motor and disc stepping motor; the wireless AP module is a wireless network access point, which is used to communicate with the external environment through the wireless network. The connection; the power supply is used to provide working power for the entire control device.

The host system 201 is composed of an embedded industrial control board, a memory and a CF card or is realized by a programmable controller; the power supply 206 is composed of an AC-to-DC switching power supply and its auxiliary circuit.

In the automatic energy renewing device provided by the present invention, the control method for displacing the battery box from charging to the charging completion position includes the following steps in order:

1) Initialize the S101 stage of the I/O interface;

2) The S102 stage of detecting the initial position of each component;

3) The S103 stage of detecting the voltage of the battery pack in the charging position;

4) The S104 stage of judging whether the charging of the battery pack is completed;

5) The end shovel returns to the S105 stage at the end of the horizontal position;

6) Align the charging position where the fully charged battery box is stored, that is, the target charging position at the S106 stage of the end shovel;

7) Lower the end shovel to the S107 stage of the vertical lower position;

8) Insert the end shovel into the fully charged battery box, which is the S108 stage of the target battery box;

9) Use the end shovel to lift the S109 stage of the fully charged battery box;

10) Exit the fully charged battery box from the S110 stage of the original charging position;

11) Align the charging completion bit with the S111 stage of the end shovel;

12) Send the fully charged battery box to the S112 stage of the charging completion position;

13) The S113 stage of placing the fully charged battery box on the charging completion position;

14) The end shovel is returned to the S114 stage of the horizontal final position.

The control method for replacing the battery box in the automatic energy renewing device provided by the present invention includes the following steps in order:

1) S201 stage of system initialization;

2) The S202 stage of judging whether the charging completion position exists in the battery box;

3) The end shovel is raised to the S203 stage of the vertical upper position;

4) The end shovel retreats to the S204 stage at the end of the level;

5) Align the charging position with the S205 stage of the end shovel;

6) The S206 stage when the end shovel is lowered to the vertical lower position;

7) Insert the end shovel into the S207 stage of the external battery box;

8) Stage S208 of lifting the external battery box with the end shovel;

9) Send the external battery box to the S209 stage of the charging position;

10) The S210 stage of placing the external battery box on the position to be charged;

11) Return the end shovel to the S211 stage at the end of the level;

12) Align the charging completion bit with the S212 stage of the end shovel;

13) Insert the end shovel into the S213 stage of the fully charged battery box;

14) Use the end shovel to lift the S214 stage of the fully charged battery box;

15) The S215 stage of sending the fully charged battery box into the external space;

16) The S216 stage of placing the fully charged battery box on the external space;

17) The end shovel retreats to the S217 stage of the horizontal end position.

In the automatic energy renewing device provided by the present invention, the control method for putting the uncharged battery box in the charging position into the charging position includes the following steps in order:

1) S301 stage of system initialization;

2) S302 stage of detecting the initial position of each component;

3) The S303 stage of judging whether there is a battery box to be charged in the position to be charged;

4) Return the end shovel to the S304 stage at the end of the level;

5) Align the charging position with the S305 stage of the end shovel;

6) Lower the end shovel to the S306 stage of the vertical lower position;

7) Insert the end shovel into the S307 stage of the battery box to be charged;

8) Use the end shovel to lift the S308 stage of the battery box to be charged;

9) Exit the battery box to be charged from the stage S309 of the position to be charged;

10) Align the empty charging station with the S310 stage of the end shovel;

11) The S311 stage of sending the battery box to be charged into the empty charging position;

12) Stage S312 when the battery box to be charged is placed on the empty charging position;

13) Return the end shovel to the S313 stage of the horizontal end position.

The automatic energy continuation device and control method for battery-driven vehicles provided by the present invention can safely, reliably, quickly and efficiently replace battery boxes for battery-driven vehicles in an environment without manual intervention, realize its energy-continuation function, and change the structure of battery-driven vehicles It is very small, and it only needs to put the onboard battery pack on the vehicle into the battery box, so it has the advantages of high degree of automation, simple structure, reliable operation, low cost, and can save a lot of time and manpower.

Description of drawings

Fig. 1 is a schematic structural diagram of an automatic energy renewing device for a battery-driven vehicle provided by the present invention.

Fig. 2 is a schematic structural view of the rotating disc in the automatic energy-continuing device of the battery-driven vehicle provided by the present invention.

Fig. 3 is a schematic structural view of the battery box in the automatic energy renewing device of the battery-driven vehicle provided by the present invention.

Fig. 4 is a block diagram of the composition of the control device in the automatic energy renewing device of the battery-driven vehicle provided by the present invention.

Fig. 5 is a flow chart of a control method for displacing the battery box from charging to the charging completion position in the automatic energy-continuing device of the battery-driven vehicle provided by the present invention.

Fig. 6 is a flow chart of the control method for replacing the battery box in the automatic energy renewing device of the battery-driven vehicle provided by the present invention.

Fig. 7 is a flow chart of the control method for putting the uncharged battery box in the charging position into the charging position in the automatic energy renewing device of the battery-driven vehicle provided by the present invention.

Detailed ways

The automatic energy renewing device and control method for a battery-driven vehicle provided by the present invention will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figures 1-4, the automatic energy-continuing device for a battery-driven vehicle provided by the present invention is charged by a box body 1, a control device 2, a horizontal motion system, a vertical motion system, a disk rotation system, and 4 AC-to-DC power supplies 33 and a battery box 35; wherein the front end of the box 1 is open, and a battery replacement button 22 is installed on the outside, and the control device 2, horizontal motion system, vertical motion system, disc rotation system, 4 AC switches The DC power charger 33 and the battery box 35 are arranged inside the box body 1 .

The horizontal movement system includes a horizontal module and a horizontal stepper motor 3; Lead screw 9 is used to realize the horizontal movement of the vertical module along the horizontal guide rail 7, and feed back the horizontal position of the vertical module through the above three proximity switches; wherein the horizontal guide rail 7 is horizontally arranged above the inside of the box body 1; the horizontal lead screw 9 is installed on the horizontal guide rail 7, and one end thereof is connected with the horizontal stepping motor 3 through the first coupling 4; The end and the middle part, and the end proximity switch 5 is close to the coupling 4.

Described vertical movement system comprises vertical module, vertical stepping motor 10, support 34 and end shovel 11; The proximity switch 16 is used to realize the vertical movement of the terminal shovel 11 along the vertical guide rail 15, and feed back the vertical position of the terminal shovel 11 through the above two proximity switches; wherein the upper end of the bracket 34 is connected to the horizontal lead screw 9 through the screw nut The upper end of the vertical guide rail 15 is fixedly connected with the lower end of the support 34; the vertical lead screw 14 is installed on the vertical guide rail 15, and its upper end is connected with the vertical stepper motor 10 by the second coupling 12; the upper position proximity switch 13 and Lower position proximity switch 16 is installed on the upper end and the lower end of vertical guide rail 15 respectively;

The disc rotation system includes a rotating disc 17, a shaft 18, a thrust ball bearing 19, a synchronous gear belt 20 and a disc stepping motor 21; wherein the rotating disc 17 is connected with the shaft 18, and the shaft 18 passes through the thrust ball bearing 19 is vertically fixed on the bottom surface of the box body 1, and the shaft 18 is provided with a synchronous gear; the disk stepping motor 21 is installed on the side of the box body 1, and it is connected with the synchronous gear on the shaft 18 through the synchronous gear belt 20. connected, thereby driving the rotating disk 17 to rotate; the rotating disk 17 is provided with 4 charging positions 23, 6 battery box slots 24, 6 proximity switches 25, 4 groups of charging contacts 26, charging positions 27 and charging Completion position 28; wherein, four charging positions 23, to-be-charged positions 27 and charging completion positions 28 are distributed on the surface of the rotating disc 17, and a battery box slot 24 for fixing the battery box 35 is respectively provided on it; A proximity switch 25 is installed on each charging position 23 to detect whether there is a battery box 35 in this position; a charging contact 26 is installed at the external opening of each charging position 23, and the inner surface of the charging contact 26 is in contact with the battery. The contacts 32 on the box 35 are in contact, and the outer surface is connected to the AC-to-DC power charger 33. When there is a battery box 35 on a certain charging position 23, the AC-to-DC power charger 33 can charge the battery through the charging contacts 26. The battery pack in the box 35 is charged; the charging position 27 is used to store the battery box 35 with the battery pack to be charged inside, or when the charging position 27 is free, the end shovel 11 can pass through this position and be inserted into the external battery box; The charging completion position 28 is used for depositing the battery case 35 that the fully charged battery pack is housed inside, and prepares for the automatic energy renewing device to replace the battery case.

Described battery box 35 comprises battery box body 31, many beams 30 and contact 32; Battery box body 31 is made of a plurality of flat plates 36 and base plate 37 that are arranged in parallel at a distance, and the space between adjacent flat plates 36 is used for forming The battery position 29 where the battery pack is placed; the beam 30 is horizontally installed on the upper end of the flat plate 36, and the space between it and the battery pack is used to insert the end shovel 11; the contact 32 is located on one side of the battery box 31, when the battery box 35 When located inside the vehicle, the battery pack in the battery box 35 provides energy for the vehicle through the contact 32. When the battery box 35 is located at the charging position 23 on the automatic energy renewing device, the contact 32 contacts the charging contact 26 to realize Charging function of the battery box.

The four AC-to-DC power chargers 33 are respectively located next to the four charging positions 26 on the rotating disk 17, one end of which is connected to a 220-volt AC power supply, and the other end is connected to the charging contact 26 on the rotating disk 17. connected to realize the function of alternating current conversion to direct current, and to provide energy for the DC battery pack, and a voltage detection circuit is installed inside, and the circuit is connected to the AD/IO module 202 in the control device 2 for charging the voltage of the battery pack detection.

The control device 2 is composed of a host system 201, an AD/IO module 202, a single-chip microcomputer 203, a stepper motor driver 204, a wireless AP module 205 and a power supply 206, and is used to realize the automatic replacement of the battery box and the automatic replacement of the battery pack to be charged. Charging and other functions; wherein: the host system 201 is the control core of the control device 2, and is connected to the AD/IO module 202, the single-chip microcomputer 203 and the wireless AP module 205 respectively; the AD/IO module 202 is an AD converter and an input-output interface circuit, It is used to collect various input signals, and its input ports are respectively connected with the last proximity switch 5, the middle proximity switch 6, the first proximity switch 8, the upper proximity switch 13, the lower proximity switch 16, the six proximity switches 25 and the AC to DC power supply The voltage detection circuit in the charger 33 is connected, and the output port is connected with the host system 201; the single-chip microcomputer 203 is a stepping motor drive controller, which can control the operation of the stepping motor according to the instruction of the host system 201, and can accurately control the horizontal step. Enter the rotation angle of motor 3, vertical stepping motor 10 and disc stepping motor 21, its input end is connected with host system 201, and output end is connected with stepping motor driver 204; Stepping motor driver 204 is used for independently promoting The operation of three stepper motors 3,10,21, its input end is connected with single-chip microcomputer 203, and output end is connected with horizontal stepper motor 3, vertical stepper motor 10 and disk stepper motor 21 respectively; Wireless AP module 205 It is a wireless network access point, which is used to realize the connection with the outside through the wireless network. When the service object is an intelligent vehicle such as an autonomous mobile robot, the communication with the other party can be realized through the wireless AP module 205, and its automatic energy renewal function can be realized. Provide protection for its wide-scale promotion; the power supply 206 is used to provide working power for the entire control device.

The host system 201 is composed of an embedded industrial control board, a memory and a CF card or is realized by a programmable controller; the power supply 206 is composed of an AC-to-DC switching power supply and its auxiliary circuit.

Fig. 5 is a flow chart of a control method for displacing the battery box from charging to the charging completion position in the automatic energy-continuing device of the battery-driven vehicle provided by the present invention. In the following description, it is assumed that each component in the control device 2 is already in a standby state, and the main system is working in an idle mode, and at the same time, the battery pack in the battery box 35 in a certain charging position 23 is fully charged. The battery box 35 moves from the charging position 23 to the charging completion position 28 . In addition, the horizontal first position, the horizontal middle position and the horizontal last position respectively refer to the position where the end shovel 11 is in the first position close to the switch 8, the middle position close to the switch 6 and the last position close to the switch 5; The switch 13 and the lower position are close to the position of the switch 16. As shown in Figure 5, the control method for displacing the battery box from charging to the charging completion position in the automatic energy renewing device includes the following steps in order:

1) The S101 stage of initializing the I/O interface; in this stage, the host system 201 will initialize the input and output interfaces of the I/O board;

2) S102 stage of detecting the initial position of each component; in this stage, the host system 201 will loop through the AD/IO module 202 to detect the state of each proximity switch, thereby obtaining the initial position information of each component;

3) The S103 stage of detecting the voltage of the battery pack in the charging position; in this stage, the host system 201 will cycle through the AD/IO module 202 to detect the voltage of the battery pack in the battery box in each charging position 23;

4) The S104 stage of judging whether the charging of the battery pack is over; in this stage, the host system 201 will use the information obtained in the S102 and S103 stages to judge whether there is a fully charged battery box in each charging position 23, that is, a fully charged battery box , if yes, enter the S105 stage, otherwise return to the entrance of the S103 stage;

5) The end shovel returns to the S105 stage of the horizontal end position; in this stage, the host system 201 will judge whether the end shovel 11 is in the horizontal end position through the end position proximity switch 5, and if so, directly enter the S106 stage, otherwise start Horizontal stepping motor 3, so that the end shovel 11 moves to the horizontal final position, and then enters the S106 stage;

6) Align the charging position of the fully charged battery box, that is, the target charging position with the end shovel at the S106 stage; in this stage, the host system 201 will control the rotation of the disc stepper motor 21 to make the distance from the end shovel 11 The charging position 23 that is the nearest and has a fully charged battery box on it is turned to the front of the end shovel 11;

7) The S107 stage of lowering the end shovel to the vertical lower position; in this stage, the host system 201 will judge whether the end shovel 11 is in the vertical lower position through the lower proximity switch 16, and if so, directly enter the S108 stage, otherwise start the vertical Stepper motor 10, so that the end shovel 11 moves to the vertical lower position, and then enters the S108 stage;

8) Insert the end shovel into the fully charged battery box, that is, the S108 stage of the target battery box; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3, so that the end shovel 11 moves to the horizontal neutral position, and The detection is carried out through the neutral position proximity switch 6 to ensure that the terminal shovel 11 runs to the horizontal neutral position. In the gap between the upper crossbeam 30 of the fully charged battery box and the battery pack;

9) Stage S109 of using the end shovel to lift the target battery box; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 to make the end shovel 11 rise, and make a judgment through the upper proximity switch 13 to ensure that the end shovel 11 Run to the vertical upper position, thereby lifting the fully charged battery box;

10) The S110 stage of withdrawing the fully charged battery box from the original charging position; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3, so that the end shovel 11 moves to the horizontal end position, and at the same time passes the end position to approach The switch 5 detects to ensure that the end shovel 11 moves to the horizontal end position, during which the end shovel 11 will drive the fully charged battery box to move horizontally, so that it exits from the original charging position 23;

11) Align the charging completion position with the S111 stage of the end shovel; in this stage, the host system 201 will control the rotation of the disc stepper motor 21, so that the charging completion position 28 is turned to the front of the end shovel 11;

12) Send the fully charged battery box to the S112 stage of the charging completion position; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3, so that the end shovel 11 moves to the horizontal neutral position, and at the same time passes through the neutral position. The proximity switch 6 judges to ensure that the end shovel 11 runs to the horizontal neutral position. During this process, the end shovel 11 will drive the fully charged battery box to move forward horizontally and make it enter the charging completion position 28;

13) The S113 stage of placing the fully charged battery box on the charging completion position; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10, so that the end shovel 11 moves to the vertical lower position, and at the same time, it is approached by the lower position. The switch 16 is detected to ensure that the end shovel 11 runs to the vertical lower position, during which the end shovel 11 will descend, and the fully charged battery box will be placed on the charging completion position 28;

14) Return the end shovel back to the S114 stage of the horizontal final position; in this stage, the host system 201 will control the horizontal stepper motor 3 to rotate so that the end shovel 11 moves to the horizontal final position, and at the same time, the terminal shovel 11 is moved to the horizontal final position, and at the same time, the terminal shovel is moved to the horizontal final position. Judging to ensure that the end shovel 11 moves to the horizontal final position, during which the end shovel 11 will be disengaged from the fully charged battery box, thus completing the whole process of battery box being moved to the charging completion position from charging.

Fig. 6 is a flow chart of the control method for replacing the battery box in the automatic energy renewing device of the battery-driven vehicle provided by the present invention. In the following description, it is assumed that battery-driven vehicles such as electric vehicles or autonomous mobile robots have already achieved berths, and the position of installing the battery box on it is just in line with the automatic energy-renewing device. The driver manually presses the battery replacement button 22 or communicates with The automatic energy renewing device can automatically enter the working process of replacing the battery box through communication. As shown in Fig. 6, the described method for controlling the replacement of the battery box in the automatic energy renewing device includes the following steps in order:

1) S201 stage of system initialization; in this stage, the host system 201 will initialize the relevant components;

2) S202 stage of judging whether there is a battery box in the charging completion bit; in this stage, the host system 201 will judge whether there is a fully charged battery box in the charging completion bit 28, if so, enter the S203 stage, otherwise jump to the S101 stage At the entrance, enter the working process of the fully charged battery box from the charging position to the charging completion position;

3) The end shovel rises to the stage S203 of the vertical upper position; in this stage, the host system 201 will judge whether the end shovel 11 is in the vertical upper position through the upper proximity switch 13, if it is, it will directly enter the S204 stage, otherwise start the vertical step Enter the motor 10, so that the end shovel 11 moves to the vertical upper position, and then enters the S204 stage;

4) The end shovel retreats to the S204 stage of the horizontal end position; in this stage, the host system 201 will control the horizontal stepping motor 3 to rotate, so that the end shovel 11 moves to the horizontal end position, and at the same time, the end shovel 11 is moved to the horizontal end position, and at the same time, the final position is approached by the switch 5. Detect to ensure that the end shovel 11 moves to the horizontal end position;

5) Stage S205 of aligning the position to be charged with the end shovel; in this stage, the host system 201 will control the rotation of the disc stepping motor 21 so that the position to be charged 27 is turned to the front of the end shovel 11;

6) The S206 stage in which the end shovel is lowered to the vertical lower position; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical lower position, and at the same time, it is detected by the lower proximity switch 16 to Ensure that the end shovel 11 runs to the vertical lower position;

7) The stage S207 of inserting the end shovel into the external battery box; in this stage, the host system 201 will control the horizontal stepper motor 3 to rotate, so that the end shovel 11 moves to the horizontal first position, and at the same time, it is detected by the first position proximity switch 8, To ensure that the end shovel 11 moves to the horizontal first position, during this process, the vertical module will drive the end shovel 11 to extend forward horizontally, and make its front end inserted into the crossbeam 30 of the external battery box to be charged on the external vehicle and the battery pack. in the void;

8) Stage S208 of using the end shovel to lift the external battery box; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10, so that the end shovel 11 moves to the vertical upper position, and at the same time, it is detected by the upper proximity switch 13, To ensure that the end shovel 11 moves to the vertical upper position, during this process, the end shovel 11 will drive the external battery box to rise together, thereby lifting it;

9) Send the external battery box to the stage S209 of the charging position; in this stage, the host system 201 will control the rotation of the horizontal stepper motor 3, so that the end shovel 11 moves to the horizontal neutral position, and at the same time, it passes the neutral position proximity switch 6. Perform detection to ensure that the end shovel 11 runs to the horizontal neutral position. During this process, the vertical module will drive the end shovel 11 to move horizontally backward, thereby sending the external battery box into the charging position 27;

10) The stage S210 of placing the external battery box on the position to be charged; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical lower position, and at the same time pass the lower proximity switch 16 Carry out detection to ensure that the end shovel 11 runs to the vertical lower position, during which the end shovel 11 will be lowered, and the external battery box will be placed on the charging position 27;

11) Return the end shovel to the S211 stage of the horizontal end position; in this stage, the host system 201 will control the horizontal stepping motor 3 to rotate, so that the end shovel 11 moves to the horizontal end position, and at the same time pass the end position proximity switch 5 Carry out detection to ensure that the end shovel 11 runs to the horizontal end position, during which the end shovel 11 will come out of the external battery box;

12) Stage S212 of aligning the charging completion position with the end shovel; in this stage, the host system 201 will control the rotation of the disc stepping motor 21, so that the charging completion position 28 is turned to the front of the end shovel 11;

13) Insert the end shovel into the fully charged battery box in stage S213; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3, so that the end shovel 11 moves to the horizontal neutral position, and at the same time passes the neutral proximity switch 6. Perform detection to ensure that the end shovel 11 moves to the horizontal neutral position. During this process, the vertical module will drive the end shovel 11 to extend forward horizontally, and insert the front end of the end shovel 11 into the charging completion position 28. In the gap between the upper beam 30 of the fully charged battery box and the battery pack;

14) Use the end shovel to lift the fully charged battery box in the S214 stage; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical upper position, and the upper position proximity switch 13 is used to carry out Detection to ensure that the end shovel 11 moves to the vertical upper position, during which the end shovel 11 will rise to lift the fully charged battery box;

15) The S215 stage of sending the fully charged battery box into the external vacancy; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3 so that the end shovel 11 moves to the horizontal first position, and at the same time pass the first position proximity switch 8 Carry out detection to ensure that the end shovel 11 moves to the horizontal first position. During this process, the vertical module will drive the end shovel 11 to extend horizontally, so as to send the fully charged battery box into the battery box space of the external electric vehicle;

16) The S216 stage of placing the fully charged battery box on the external space; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical lower position, and at the same time pass the lower proximity switch 16 to detect to ensure that the end shovel 11 moves to the vertical lower position, during which the end shovel 11 will descend and place the fully charged battery box on the battery box vacancy of the external electric vehicle;

17) The end shovel retreats to the S217 stage of the horizontal end position; in this stage, the host system 201 will control the horizontal stepper motor 3 to rotate, so that the end shovel 11 moves to the horizontal end position, and at the same time, the final position is approached by the switch 5. Detect to ensure that the end shovel 11 moves to the horizontal end position, in the process, the end shovel 11 will disengage from the fully charged battery box, thus completing the entire process of replacing the battery box.

Fig. 7 is a flow chart of the control method for putting the uncharged battery box in the charging position into the charging position in the automatic energy renewing device of the battery-driven vehicle provided by the present invention. As shown in Fig. 7, the control method for putting the uncharged battery box in the charging position into the charging position in the automatic energy renewing device includes the following steps in order:

1) S301 stage of system initialization; in this stage, the host system 201 will initialize the relevant components;

2) The S302 stage of detecting the initial position of each component; in this stage, the host system 201 will loop through the AD/IO module 202 to detect the state of each proximity switch, thereby obtaining the initial position information of each component;

3) S303 stage of judging whether there is a battery box to be charged in the location to be charged; in this stage, the host system 201 will judge whether there is a battery box to be charged in the location 27 to be charged through the information obtained in the stage S302, and if so, enter S304 stage, otherwise return to the entrance of S302 stage;

4) Return the end shovel to the S304 stage of the horizontal end position; in this stage, the host system 201 will judge whether the end shovel 11 is in the horizontal end position through the end position proximity switch 5, and if so, directly enter the S305 stage, Otherwise, start the horizontal stepping motor 3, so that the end shovel 11 runs to the horizontal final position, and then enters the S305 stage;

5) Stage S305 of aligning the position to be charged with the end shovel 11; in this stage, the host system 201 will control the rotation of the disc stepping motor 21 so that the position to be charged 27 is turned to the front of the end shovel 11;

6) The S306 stage of lowering the end shovel to the vertical lower position; in this stage, the host system 201 will judge whether the end shovel 11 is in the vertical lower position through the lower proximity switch 16, if so, directly enter the S307 stage, otherwise start the vertical Stepper motor 10, so that the end shovel 11 moves to the vertical lower position, and then enters the S307 stage;

7) The stage S307 of inserting the end shovel into the battery box to be charged; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3 so that the end shovel 11 moves to the horizontal neutral position, and at the same time pass the neutral proximity switch 6 Check to ensure that the end shovel 11 runs to the horizontal neutral position. During this process, the vertical module will drive the end shovel 11 to extend forward horizontally, and insert the front end of the end shovel 11 into the battery to be charged in the charging position 27 In the gap between the beam 30 of the box and the battery pack;

8) Use the end shovel to lift the battery box to be charged in the S308 stage; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical upper position, and at the same time, it is detected by the upper proximity switch 13 , to ensure that the end shovel 11 runs to the vertical upper position, during this process, the end shovel 11 will rise and lift the battery box to be charged;

9) The S309 stage in which the battery box to be charged is withdrawn from the position to be charged; in this stage, the host system 201 will control the rotation of the horizontal stepping motor 3 so that the end shovel 11 moves to the horizontal end position, and at the same time pass the end position proximity switch 5. Check to ensure that the terminal shovel 11 moves to the horizontal final position. During this process, the vertical module will drive the terminal shovel 11 to retreat horizontally, and make the battery box to be charged in the charging position 27 exit the charging position 27 ;

10) Stage S310 of aligning the empty charging position with the end shovel; in this stage, the host system 201 will control the rotation of the disc stepping motor 21 so that the empty charging position 23 is turned to the front of the end shovel 11;

11) The S311 stage of sending the battery box to be charged into the empty charging position; in this stage, the host system 201 controls the rotation of the horizontal stepping motor 3 so that the end shovel 11 moves to the horizontal neutral position, and at the same time passes the neutral proximity switch 6. Perform detection to ensure that the end shovel 11 runs to the horizontal neutral position. During this process, the vertical module will drive the end shovel 11 to extend horizontally, so as to send the battery box to be charged into the empty charging position 23;

12) Stage S312 when the battery box to be charged is placed on the empty charging position; in this stage, the host system 201 will control the rotation of the vertical stepping motor 10 so that the end shovel 11 moves to the vertical lower position, and at the same time pass the lower proximity switch 16 Carry out detection to ensure that the end shovel 11 runs to the vertical lower position, during which the end shovel 11 will descend, thereby placing the battery box to be charged on the empty charging position 23;

13) Return the end shovel to the S313 stage of the horizontal end position; in this stage, the host system 201 will control the horizontal stepping motor 3 to rotate, so that the end shovel 11 moves to the horizontal end position, and at the same time pass the end position proximity switch 5 Detection is carried out to ensure that the end shovel 11 runs to the final position of the horizontal module. During this process, the end shovel 11 will disengage from the battery box to be charged, thus completing the uncharged battery box in the position to be charged. The whole process of charging bit.

The working process of the automatic energy continuation device for the battery-driven vehicle provided by the present invention has been described in detail above using three control methods. In addition, in the specific operation stages of the above-mentioned systems, if any technical failure or system problem occurs in any link, the system will perform a reset operation, perform a self-inspection, and issue an alarm to remind the staff to deal with it in a timely manner .

Claims (10)

1. the continuous automatically energy device of a battery traction vehicle is characterized in that: described continuous automatically can the be made up of casing (1) and control setup (2), horizontal motion system, perpendicular movement system, disk rotary system, 4 AC/DC power chargers (33) and battery box (35) by device; Wherein the front end of casing (1) is opening-like, and the outside is equipped with one and changes battery button (22), and control setup (2), horizontal motion system, perpendicular movement system, disk rotary system, 4 AC/DC power chargers (33) and battery box (35) then are arranged on the inside of casing (1).

2. the automatically continuous of battery traction vehicle according to claim 1 can device, it is characterized in that: described horizontal motion system comprises horizontal module and horizontal stepping motor (3); Horizontal module is made up of near switch (8) and horizontal screw lead (9) near switch (6), horizontal guide rail (7), first place near switch (5), meta first coupler (4), position, end; Wherein horizontal guide rail (7) is horizontally set on casing (1) inner and upper; Horizontal screw lead (9) is installed on the horizontal guide rail (7), and the one end links to each other with horizontal stepping motor (3) by first coupler (4); The first be installed in the two ends and the middle part of horizontal guide rail (7) near switch (5) and meta respectively near switch (6), and the position, end is near the close coupler (4) of switch (5) near switch (8), position, end.

3. the automatically continuous of battery traction vehicle according to claim 1 can device, it is characterized in that: described perpendicular movement system comprises vertical module, vertical stepping motor (10), support (34) and terminal scoop (11); Vertical module is by second coupler (12), upper near switch (13), vertical screw (14), vertical guide rail (15) with the nextly form near switch (16); The upper end of its medium-height trestle (34) is connected on the horizontal screw lead (9) by mother lead screw; The lower end of the upper end of vertical guide rail (15) and support (34) is fixed together; Vertical screw (14) is installed on the vertical guide rail (15), and its upper end links to each other with vertical stepping motor (10) by second coupler (12); Upper near switch (13) and the next top and bottom that are installed in vertical guide rail (15) near switch (16) respectively; The rear end of terminal scoop (11) by mother lead screw be installed in be positioned at upper near switch (13) and the next near on the vertical screw (14) between the switch (16).

4. the continuous automatically energy device of battery traction vehicle according to claim 1 is characterized in that: described disk rotary system comprises rotating circular disk (17), axle (18), thrust ball bearing (19), synchronizer gear band (20) and disk stepping motor (21); Wherein rotating circular disk (17) is connected with axle (18), and axle (18) is vertically fixed on the bottom surface of casing (1) by thrust ball bearing (19), and axle (18) is provided with synchronizer gear; Disk stepping motor (21) is installed on the side of casing (1), and it is connected with the synchronizer gear of axle on (18) by synchronizer gear band (20), thereby driven rotary disk (17) rotates; Rotating circular disk (17) is provided with 4 charge position (23), 6 battery box draw-in grooves (24), 6 near switch (25), 4 groups of charging contacts (26), positions to be charged (27) and the completion bits (28) of charging; Wherein, 4 charge position (23), position to be charged (27) and charging completion bit (28) are distributed in the surface of rotating circular disk (17), and are respectively equipped with a battery box draw-in groove (24) that is used for fixing battery box (35) on it; Be equipped with one on each charge position (23) near switch (25), be used for detecting this position and whether have battery box (35); The outside opening place of each charge position (23) is equipped with charging contact (26), and the medial surface of this charging contact (26) contacts with contact (32) on the battery box (35), and lateral surface links to each other with AC/DC power charger (33); Position to be charged (27) is used to deposit the battery box (35) that battery pack to be charged is housed inside, and perhaps when position to be charged (27) was idle, terminal scoop (11) can pass this position and be inserted on the external cell case; Charging completion bit (28) is used to deposit inside the battery box 35 that is full of electric battery pack is housed, and can prepare by device replacing battery box for continuing automatically.

5. the continuous automatically energy device of battery traction vehicle according to claim 1, it is characterized in that: described battery box (35) comprises Battery case (31), many crossbeams (30) and contact (32); Battery case (31) is made of polylith flat board (36) and the base plate (37) that standoff distance be arranged in parallel, and the space between the adjacent panels (36) is formed for placing the battery position (29) of battery pack; Crossbeam (30) level is installed in the upper end of flat board (36), and the space between itself and the battery pack is used to insert terminal scoop (11); Contact (32) is positioned at a side of Battery case (31).

6. the continuous automatically energy device of battery traction vehicle according to claim 1, it is characterized in that: described 4 AC/DC power chargers (33) lay respectively at the next door of last 4 charge position of rotating circular disk (17) (26), the one end links to each other with 220 volts source of AC, charging contact (26) on the other end and the rotating circular disk (17) joins, change galvanic function to realize alternating current, and provide energy for the dc-battery group, and inside is equipped with voltage detecting circuit, this circuit is connected with AD/IO module 202 in the control setup (2), is used for the voltage detecting of rechargeable battery set.

7. the continuous automatically energy device of battery traction vehicle according to claim 1, it is characterized in that: described control setup 2 is made up of host computer system (201), AD/IO module (202), micro controller system (203), stepper motor driver (204), wireless aps module (205) and power supply (206); Wherein: host computer system (201) is connected with AD/IO module (202), micro controller system (203) and wireless aps module (205) respectively; AD/IO module (202) is AD converter and input/output interface circuit, be used to gather various incoming signals, its input port respectively with end position near switch (5), meta near switch (6), the first near switch (8), upper near switch (13), link to each other near the voltage detecting circuit in switch (25) and the AC/DC power charger (33) near switch (16), 6 down, output port and host computer system (201) are joined; Micro controller system (203) is the step motor drive controller, and its input end links to each other with host computer system (201), and mouth and stepper motor driver (204) join; The input end of stepper motor driver (204) links to each other with micro controller system (203), and mouth joins with horizontal stepping motor (3), vertical stepping motor (10) and disk stepping motor (21) respectively; Wireless aps module (205) is a wireless network access point, is used for realizing and exterior the contact by wireless network; Power supply (206) then is used to the The whole control device that working power is provided.

8. in the described continuous automatically energy device of claim 1 battery box is moved to charging completion bit control method from charge position, it is characterized in that: described control method comprises the following step that carries out in order:

1) the S101 stage of initialization I/O interface;

2) detect S102 stage of each parts initial position;

3) the S103 stage of battery voltage in the detection charge position;

4) judge the S104 stage whether batteries charging finishes;

5) terminal scoop is return the S105 stage of position, level end;

6) will deposit the charge position that has been full of electric battery box, i.e. the S106 stage of target charge position aligned end scoop;

7) terminal scoop is reduced to the vertical the next S107 stage;

8) terminal scoop is inserted electric battery box, i.e. the S108 stage of target battery case of being full of;

9) the S109 stage of utilizing terminal scoop to mention to be full of electric battery box;

10) will be full of the S110 stage that electric battery box withdraws from former charge position;

11) will charge S111 stage of completion bit aligned end scoop;

12) will be full of the S112 stage that electric battery box is sent into charging completion bit;

13) will be full of electric battery box and be placed on the S113 stage of charging on the completion bit;

14) terminal scoop is return S114 stage of level end position.

9. change the battery box control method in the described continuous automatically energy device of claim 1, it is characterized in that: described control method comprises the following step that carries out in order:

1) the S201 stage of system initialization;

2) judge whether charging completion bit exists the S202 stage of battery box;

3) terminal scoop rises to the vertical upper S203 stage;

4) terminal scoop retreats to the S204 stage of position, level end;

5) with S205 stage of the terminal scoop of bit alignment to be charged;

6) terminal scoop is reduced to the vertical the next S206 stage;

7) terminal scoop is inserted S207 stage of external cell case;

8) utilize terminal scoop to mention the S208 stage of external cell case;

9) the external cell case is sent into S209 stage of position to be charged;

10) the external cell case is placed on S210 stage on the position to be charged;

11) terminal scoop is retreated to S211 stage of level end position;

12) will charge S212 stage of completion bit aligned end scoop;

13) terminal scoop is inserted the S213 stage that has been full of electric battery box;

14) the S214 stage of utilizing terminal scoop to mention to be full of electric battery box;

15) will be full of the S215 stage that electric battery box is sent into outside room;

16) will be full of electric battery box and be placed on S216 stage on the outside room;

17) terminal scoop retreats to the S217 stage of position, level end.

10. the described uncharged battery box that will be arranged in position to be charged in the energy device that continues automatically of claim 1 is put into the charge position control method, and it is characterized in that: described control method comprises the following step that carries out in order:

1) the S301 stage of system initialization;

2) detect S302 stage of each parts initial position;

3) judge the S303 stage that whether has battery box to be charged in the position to be charged;

4) terminal scoop is retreated to S304 stage of level end position;

5) with S305 stage of the terminal scoop of bit alignment to be charged;

6) terminal scoop is reduced to the vertical the next S306 stage;

7) terminal scoop is inserted S307 stage of battery box to be charged;

8) utilize terminal scoop to mention the S308 stage of battery box to be charged;

9) battery box to be charged is withdrawed from S309 stage of position to be charged;

10) with S310 stage of empty charge position aligned end scoop;

11) battery box to be charged is sent into S311 stage of sky charge position;

12) battery box to be charged is placed on the S312 stage on the sky charge position;

13) terminal scoop is retreated to S313 stage of level end position.

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