CN102152731B - Automatic energy continuation device for vehicle driven by storage battery and control method - Google Patents

Automatic energy continuation device for vehicle driven by storage battery and control method Download PDF

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Publication number
CN102152731B
CN102152731B CN 201110103027 CN201110103027A CN102152731B CN 102152731 B CN102152731 B CN 102152731B CN 201110103027 CN201110103027 CN 201110103027 CN 201110103027 A CN201110103027 A CN 201110103027A CN 102152731 B CN102152731 B CN 102152731B
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stage
scoop
terminal
battery box
charged
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CN102152731A (en
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胡丹丹
高庆吉
牛国臣
史志波
徐萍
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Civil Aviation University of China
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Civil Aviation University of China
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Abstract

The invention relates to an automatic energy continuation device for a vehicle driven by a storage battery and a control method. The device consists of a box body, a control device, a horizontal movement system, a vertical movement system, a disk rotating system, four AC to DC (alternate current to direct current) power supply chargers and a battery box, wherein the front end of the box body is open; a battery replacing button is arranged outside the box body; the control device, the horizontal movement system, the vertical movement system, the disk rotating system, the four AC to DC power supply chargers and the battery box are arranged inside the box body. For the automatic energy continuation device for the vehicle driven by the storage battery and the control method, the battery box of the vehicle driven by the storage battery can be safely, reliably, rapidly, efficiently and automatically replaced in the environment without manual interference so that the energy continuation function of the automatic energy continuation device is realized; and the structure of the vehicle driven by the storage battery is changed little and a machine-mounted storage pack on the vehicle only needs to be put into the battery box. Therefore, the automatic energy continuation device for the vehicle driven by the storage battery has the advantages that the device has high automation degree, simple structure, low cost and the like, is reliable to operate and saves a great amount of time and labor.

Description

A kind of storage battery drives automatic continuous energy device and the control method of vehicle
Technical field
The invention belongs to the elec. vehicle technical field, particularly relate to automatic continuous energy device and control method that a kind of storage battery drives vehicle.
Background technology
As a kind of environmental protection, energy-conservation, safe walking-replacing tool, the vehicle field of application take electric energy as power is more and more wider, such as electric sightseeing vehicle, electric golf cart, Airport Operation special-use vehicle and mobile robot etc.But, these automobile storage problem be its major part be with the airborne chargeable storage group of special quality come the power supply to self, in case electric energy exhausts, must adopt the mode of manual intervention to charge or change battery, still, because its charging duration generally is longer than work-hours, and capacity of cell is larger, weight can reach tens kilograms, therefore manually changes relatively difficulty, and at present for the elec. vehicle automatic continuous can device use yet there are no relevant report.
Summary of the invention
In order to address the above problem, the object of the present invention is to provide a kind of automatic continuous energy device and the control method that can intervene at prosthetic storage battery driving vehicle safe and reliable under the environment, quickly and efficiently automatic continuous energy.
In order to achieve the above object, storage battery provided by the invention drives the automatic continuous of vehicle and can device be comprised of casing, control setup, horizontal motion system, perpendicular movement system, disc rotary system, 4 AC/DC power chargers and battery box; Wherein the front end of casing is opening-like, and the outside is equipped with one and changes the battery button, and control setup, horizontal motion system, perpendicular movement system, disc rotary system, 4 AC/DC power chargers and battery box then are arranged on the inside of casing.
Described horizontal motion system comprises horizontal module and horizontal stepping motor; Horizontal module is comprised of the first coupler, position, end approach switch, meta approach switch, horizontal guide rail, the first approach switch and horizontal screw lead; Wherein horizontal guide rail is horizontally set on the box house top; Horizontal screw lead is installed on the horizontal guide rail, and the one end links to each other with horizontal stepping motor by the first coupler; The first approach switch, end position approach switch and meta approach switch are installed in respectively two ends and the middle part of horizontal guide rail, and position, end approach switch is near coupler.
Described perpendicular movement system comprises vertical module, vertical stepping motor, support and terminal scoop; Vertical module is comprised of the second coupler, upper approach switch, vertical screw, vertical guide rail and the next approach switch; The upper end of its medium-height trestle is connected on the horizontal screw lead by mother lead screw; The upper end of vertical guide rail and the lower end of support are fixed together; Vertical screw is installed on the vertical guide rail, and its upper end links to each other with vertical stepping motor by the second coupler; Upper approach switch and the next approach switch are installed in respectively the top and bottom of vertical guide rail; The rear end of terminal scoop is installed on the vertical screw between upper approach switch and the next approach switch by mother lead screw.
Described disc rotary system comprises rotating circular disk, axle, thrust ball bearing, synchromesh gear belt and disk stepping motor; Wherein rotating circular disk is connected with axle, and axle is vertically fixed on the bottom surface of casing by thrust ball bearing, and axle is provided with synchronizer gear; The disk stepping motor is installed on the side of casing, and it is connected with synchronizer gear on the axle by synchromesh gear belt, thereby the driven rotary disk rotates; Rotating circular disk is provided with 4 charge position, 6 battery box draw-in grooves, 6 approach switchs, 4 groups of charging contacts, position to be charged and charging completion bits; Wherein, 4 charge position, position to be charged and charging completion bits are distributed in the surface of rotating circular disk, and are respectively equipped with a battery box draw-in groove that is used for fixing battery box on it; An approach switch is installed on each charge position, is used for detecting this position and whether has battery box; The outside opening place of each charge position is equipped with charging contact, and the medial surface of this charging contact contacts with contact on the battery box, and lateral surface links to each other with the AC/DC power charger; Position to be charged is used for depositing the battery box that battery pack to be charged is equipped with in inside, and perhaps when position to be charged was idle, terminal scoop can pass this position and be inserted on the external cell case; Charging completion bit is used for depositing inside the battery box that is full of electric battery pack is housed, for automatic continuous can be prepared by device replacing battery box.
Described battery box comprises Battery case, many crossbeams and contact; Battery case is made of polylith flat board and the base plate that standoff distance be arranged in parallel, and the space between the adjacent panels is formed for the battery position of placing battery group; The cross beam water safety is contained in dull and stereotyped upper end, and the space between itself and the battery pack is used for the insert end scoop; The contact is positioned at a side of Battery case.When Battery case was put on the charge position, contact and charging contact were abutted against, and realized the charge function of battery box.
Described 4 AC/DC power chargers lay respectively at the next door of 4 charge position on the rotating circular disk, the one end links to each other with 220 volts source of AC, charging contact on the other end and the rotating circular disk joins, change galvanic function to realize alternating current, and provide energy for the dc-battery group, and inside is equipped with voltage detecting circuit, and this circuit is connected with AD/IO module in the control setup, is used for the voltage detecting of rechargeable battery set.
Described control setup is comprised of host computer system, AD/IO module, micro controller system, stepper motor driver, wireless aps module and power supply; Wherein: host computer system is connected with AD/IO module, micro controller system and wireless aps module respectively; The AD/IO module is AD converter and input/output interface circuit, be used for gathering various incoming signals, its input port links to each other with voltage detecting circuit in end position approach switch, meta approach switch, the first approach switch, upper approach switch, lower approach switch, 6 approach switchs and the AC/DC power charger respectively, and output port and host computer system are joined; Micro controller system is driving controller of stepping motor, and its input end links to each other with host computer system, and mouth and stepper motor driver join; The input end of stepper motor driver links to each other with micro controller system, and mouth joins with horizontal stepping motor, vertical stepping motor and disk stepping motor respectively; The wireless aps module is wireless network access point, is used for realizing and outside contacting by wireless network; Power supply then is used to whole control setup that working power is provided.
Described host computer system 201 is comprised of embedded industrial control mainboard, memory device and CF card or is realized by Programmable Logic Controller; Power supply 206 is made of Switching Power Supply and the auxiliary circuit thereof that interchange turns direct current.
In the automatic continuous energy device provided by the invention battery box is moved to charging completion bit control method from charge position and 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 down 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.
Change the battery box control method in the automatic continuous energy device provided by the invention and comprise 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 down 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.
The uncharged battery box that automatic continuous provided by the invention will be arranged in position to be charged in can device is put into the charge position control method and is comprised 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 down 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.
Storage battery provided by the invention drive the automatic continuous of vehicle can device and control method can prosthetic intervene safe and reliable under the environment, automatically change battery box for storage battery driving vehicle quickly and efficiently, realize its continuous energy function, and storage battery is driven vehicle structure to be changed very little, only needing that the airborne battery pack on the vehicle is put into battery box gets final product, therefore have the degree of automation height, simple in structure, reliable, cost is low, and can save the advantages such as a large amount of time and manpower.
Description of drawings
Fig. 1 is the automatic continuous energy apparatus structure scheme drawing that storage battery provided by the invention drives vehicle.
Fig. 2 be storage battery provided by the invention drive the automatic continuous of vehicle can device in the rotating circular disk structural representation.
Fig. 3 be storage battery provided by the invention drive the automatic continuous of vehicle can device in the battery box structural representation.
Fig. 4 be storage battery provided by the invention drive the automatic continuous of vehicle can device in the control setup composition frame chart.
Fig. 5 is that the automatic continuous of storage battery driving vehicle provided by the invention can move to charging completion bit control method diagram of circuit with battery box from charge position in the device.
Fig. 6 is that the automatic continuous of storage battery driving vehicle provided by the invention can be changed battery box control method diagram of circuit in the device.
Fig. 7 is that storage battery provided by the invention drives the uncharged battery box that the automatic continuous of vehicle will be arranged in position to be charged in can device and puts into charge position control method diagram of circuit.
The specific embodiment
Below in conjunction with the drawings and specific embodiments automatic continuous energy device and the control method that storage battery provided by the invention drives vehicle is elaborated.
Such as Fig. 1-shown in Figure 4, storage battery provided by the invention drives the automatic continuous of vehicle and can device be comprised of casing 1, control setup 2, horizontal motion system, perpendicular movement system, disc rotary system, 4 AC/DC power chargers 33 and battery box 35; 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, disc rotary system, 4 AC/DC power chargers 33 and battery box 35 then are arranged on the inside of casing 1.
Described horizontal motion system comprises horizontal module and horizontal stepping motor 3; Horizontal module is comprised of the first coupler 4, position, end approach switch 5, meta approach switch 6, horizontal guide rail 7, the first approach switch 8 and horizontal screw lead 9, be used for realizing vertical module along the horizontal motion of horizontal guide rail 7, and feed back the level attitude of vertical module by above-mentioned three approach switchs; 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 the first coupler 4; The first approach switch 8, end position approach switch 5 and meta approach switch 6 are installed in respectively two ends and the middle part of horizontal guide rail 7, and position, end approach switch 5 is near coupler 4.
Described perpendicular movement system comprises vertical module, vertical stepping motor 10, support 34 and terminal scoop 11; Vertical module is comprised of the second coupler 12, upper approach switch 13, vertical screw 14, vertical guide rail 15 and the next approach switch 16, be used for realizing terminal scoop 11 along the perpendicular movement of vertical guide rail 15, and by above-mentioned two upright positions that approach switch feeds back terminal scoop 11; 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 the second coupler 12; Upper approach switch 13 and the next approach switch 16 are installed in respectively the top and bottom of vertical guide rail 15; The rear end of terminal scoop 11 is installed on the vertical screw 14 between upper approach switch 13 and the next approach switch 16 by mother lead screw.
Described disc rotary system comprises rotating circular disk 17, axle 18, thrust ball bearing 19, synchromesh gear belt 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 synchronizer gear on the axle 18 by synchromesh gear belt 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 approach switchs 25,4 groups of charging contacts 26, position 27 to be charged and charging completion bits 28; Wherein, 4 charge position 23, position 27 to be charged and charging completion bits 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; An approach switch 25 is installed on each charge position 23, is used for detecting this position and whether has battery box 35; The outside opening place of each charge position 23 is equipped with charging contact 26, the medial surface of this charging contact 26 contacts with contact 32 on the battery box 35, lateral surface links to each other with AC/DC power charger 33, when having battery box 35 on a certain charge position 23, AC/DC power charger 33 can be the interior batteries charging of battery box 35 by charging contact 26; Position 27 to be charged is used for depositing the battery box 35 that battery pack to be charged is housed inside, and perhaps when to be charged 27 free time, terminal scoop 11 can pass this position and be inserted on the external cell case; Charging completion bit 28 is used for depositing inside the battery box 35 that is full of electric battery pack is housed, for automatic continuous can be prepared by device replacing battery box.
Described battery box 35 comprises Battery case 31, many crossbeams 30 and contact 32; Battery case 31 is made of polylith dull and stereotyped 36 and the base plate 37 that standoff distance be arranged in parallel, and the space between the adjacent panels 36 is formed for the battery position 29 of placing battery group; Crossbeam 30 levels are installed in dull and stereotyped 36 upper end, and the space between itself and the battery pack is used for insert end scoop 11; Contact 32 is positioned at a side of Battery case 31, when battery box 35 is positioned at vehicle interior, battery pack in the battery box 35 provides the energy by contact 32 for vehicle, when battery box 35 is positioned at the charge position 23 of automatic continuous on can device, contact 32 contacts with charging contact 26, to realize the charge function of battery box.
Described 4 AC/DC power chargers 33 lay respectively at the next door of 4 charge position 26 on the rotating circular disk 17, 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, and this circuit is connected with AD/IO module 202 in the control setup 2, is used for the voltage detecting of rechargeable battery set.
Described control setup 2 is comprised 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, is used for realizing the automatic replacing of battery box and the functions such as automatic charging of battery pack to be charged; Wherein: host computer system 201 is the control core of control setup 2, 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 for gathering various incoming signals, its input port links to each other with voltage detecting circuit in end position approach switch 5, meta approach switch 6, the first approach switch 8, upper approach switch 13, lower approach switch 16,6 approach switchs 25 and the AC/DC power charger 33 respectively, and output port and host computer system 201 are joined; Micro controller system 203 is driving controller of stepping motor, it can be according to the operation of the instruction control step motor of host computer system 201, and can accurately control the rotational angle of horizontal stepping motor 3, vertical stepping motor 10 and disk stepping motor 21, its input end links to each other with host computer system 201, and mouth and stepper motor driver 204 join; Stepper motor driver 204 is used for promoting independently the running of three stepping motors 3,10,21, and its input end 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 wireless network access point, be used for realizing and outside contacting by wireless network, when the service object is the intelligent vehicles such as autonomous mobile robot, can be by the communication of wireless aps module 205 realizations with the other side, and realize its automatic continuous energy function, promote on a large scale providing safeguard for it; 206 of power supplys are used to whole control setup that working power is provided.
Described host computer system 201 is comprised of embedded industrial control mainboard, memory device and CF card or is realized by Programmable Logic Controller; Power supply 206 is made of Switching Power Supply and the auxiliary circuit thereof that interchange turns direct current.
Fig. 5 is that the automatic continuous of storage battery driving vehicle provided by the invention can move to charging completion bit control method diagram of circuit with battery box from charge position in the device.In the following description, suppose that each assembly has been in dormant state in the control setup 2, and main system is operated under the idle pulley, and the battery pack in the battery box 35 has been full of electricity in certain charge position 23 simultaneously, and existing the needs moves to charging completion bit 28 with this battery box 35 from this charge position 23.In addition, level first place, horizontal meta and position, level end refer to that respectively terminal scoop 11 is in the position of the first approach switch 8, meta approach switch 6 and position, end approach switch 5; Vertical upper and vertically the nextly refer to that respectively terminal scoop 11 is in the position of upper approach switch 13 and the next approach switch 16.As shown in Figure 5, in the described automatic continuous energy device battery box is moved to charging completion bit control method from charge position and comprises the following step that carries out in order:
1) the S101 stage of initialization I/O interface; In this stage, host computer system 201 will be carried out initialization to I/O plate IO interface;
2) detect S102 stage of each parts initial position; In this stage, host computer system 201 will be by the state of AD/IO module 202 each approach switch of cycle detection, thereby obtains the initial position message of all parts;
3) the S103 stage of battery voltage in the detection charge position; In this stage, host computer system 201 will be by the voltage of battery pack in the battery box in each charge position 23 of AD/IO module 202 cycle detection;
4) judge the S104 stage whether batteries charging finishes; In this stage, host computer system 201 will judge whether exist the battery box that has been full of electricity namely to be full of electric battery box in each charge position 23 by the information that S102, S103 stage obtain, if yes then enter the S105 stage, otherwise turn back to the entrance in S103 stage;
5) terminal scoop is return the S105 stage of position, level end; In this stage, host computer system 201 will judge that whether terminal scoop 11 is in position, position, level end, if it is directly enters the S106 stage, otherwise starts horizontal stepping motor 3 by position, end approach switch 5, so that terminal scoop 11 moves to position, position, level end, and then enter the S106 stage;
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; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that the terminal scoop of distance 11 dead aheads recently and have the dead ahead that the charge position 23 that has been full of electric battery box goes to terminal scoop 11 on it;
7) terminal scoop is down to the vertical the next S107 stage; In this stage, host computer system 201 will judge whether terminal scoop 11 is in vertical the next position by the next approach switch 16, if it is directly enter the S108 stage, otherwise start vertical stepping motor 10, so that terminal scoop 11 moves to vertical the next position, and then enter the S108 stage;
8) terminal scoop is inserted electric battery box, i.e. the S108 stage of target battery case of being full of; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to horizontal meta position, and detect by meta approach switch 6, to guarantee that terminal scoop 11 runs to horizontal meta position, vertical module will drive terminal scoop 11 levels and protract in this process, thereby terminal scoop 11 is inserted in the space that has been full of in charge position 23 between electric battery box entablatrance 30 and the battery pack;
9) utilize terminal scoop to mention the S109 stage of target battery case; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 rises, and judges by upper approach switch 13, run to vertical upper position to guarantee terminal scoop 11, mention thereby will be full of electric battery box;
10) will be full of the S110 stage that electric battery box withdraws from former charge position; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 runs to position, position, level end, terminal scoop 11 will move after will driving and being full of electric battery box level in this process, and it is withdrawed from from original residing charge position 23;
11) will charge S111 stage of completion bit aligned end scoop; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that charging completion bit 28 goes to the dead ahead of terminal scoop 11;
12) will be full of the S112 stage that electric battery box is sent into charging completion bit; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to horizontal meta position, judge by meta approach switch 6 simultaneously, to guarantee that terminal scoop 11 runs to horizontal meta position, terminal scoop 11 will drive and be full of electric battery box level reach in this process, and make it enter into charging completion bit 28;
13) will be full of electric battery box and be placed on the S113 stage of charging on the completion bit; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical the next position, detect by the next approach switch 16 simultaneously, to guarantee that terminal scoop 11 runs to vertical the next position, terminal scoop 11 will descend in this process, and will be full of electric battery box be placed on the charging completion bit 28 on;
14) terminal scoop is return S114 stage of level end position; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, judge by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 runs to position, position, level end, terminal scoop 11 will be deviate from from being full of electric battery box in this process, finish thus the whole process that battery box is moved to charging completion bit from charge position.
Fig. 6 is that the automatic continuous of storage battery driving vehicle provided by the invention can be changed battery box control method diagram of circuit in the device.In the following description, suppose that the storage batterys such as elec. vehicle or autonomous mobile robot drive vehicle and realized the berth, the position that battery box is installed on it just in time aligns automatic continuous energy device, and chaufeur is manually pressed to change battery button 22 or carry out communication by wireless network and automatic continuous energy device and just can automatically be entered replacing battery box working process.As shown in Figure 6, change the battery box control method in the described automatic continuous energy device and comprise the following step that carries out in order:
1) the S201 stage of system initialization; In this stage, host computer system 201 will be carried out initialization operation to associated components;
2) judge whether charging completion bit exists the S202 stage of battery box; In this stage, host computer system 201 will be judged whether charging exists in the completion bit 28 and be full of electric battery box, if yes then enter the S203 stage, otherwise jump to the entrance in S101 stage, enter and be full of electric battery box moves to charging completion bit from charge position working process;
3) terminal scoop rises to the vertical upper S203 stage; In this stage, host computer system 201 will judge whether terminal scoop 11 is in vertical upper position by upper approach switch 13, if it is directly enter the S204 stage, otherwise start vertical stepping motor 10, so that terminal scoop 11 runs to vertical upper position, and then enter the S204 stage;
4) terminal scoop retreats to the S204 stage of position, level end; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, move to position, position, level end to guarantee terminal scoop 11;
5) with S205 stage of the terminal scoop of bit alignment to be charged; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that position 27 to be charged goes to the dead ahead of terminal scoop 11;
6) terminal scoop is down to the vertical the next S206 stage; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical the next position, detect by the next approach switch 16 simultaneously, run to vertical the next position to guarantee terminal scoop 11;
7) terminal scoop is inserted S207 stage of external cell case; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to the first position of level, detect by the first approach switch 8 simultaneously, to guarantee that terminal scoop 11 moves to the first position of level, in this process, vertical module will drive terminal scoop 11 levels and protract, and its front end is inserted in the crossbeam 30 and the space between battery pack of outside battery box to be charged on the exterior vehicle;
8) utilize terminal scoop to mention the S208 stage of external cell case; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical upper position, detect by upper approach switch 13 simultaneously, to guarantee that terminal scoop 11 moves to vertical upper position, in this process, terminal scoop 11 will drive the external cell case and raise together, thereby it is lifted;
9) the external cell case is sent into S209 stage of position to be charged; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to horizontal meta position, detect by meta approach switch 6 simultaneously, to guarantee that terminal scoop 11 runs to horizontal meta position, in this process, move after vertical module will drive terminal scoop 11 levels, thereby the external cell case is sent in the position 27 to be charged;
10) the external cell case is placed on S210 stage on the position to be charged; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical the next position, detect by the next approach switch 16 simultaneously, to guarantee that terminal scoop 11 runs to vertical the next position, terminal scoop 11 will reduce in this process, and the external cell case is placed on the position 27 to be charged;
11) terminal scoop is retreated to S211 stage of level end position; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 runs to position, position, level end, terminal scoop 11 will be deviate from from the external cell case in this process;
12) will charge S212 stage of completion bit aligned end scoop; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that charging completion bit 28 goes to the dead ahead of terminal scoop 11;
13) terminal scoop is inserted the S213 stage that has been full of electric battery box; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to horizontal meta position, detect by meta approach switch 6 simultaneously, to guarantee that terminal scoop 11 moves to horizontal meta position, in this process, vertical module will drive terminal scoop 11 levels and protract, and with the front end of terminal scoop 11 be inserted into be arranged in the completion bit 28 of charging be full of space between electric battery box entablatrance 30 and battery pack;
14) the S214 stage of utilizing terminal scoop to mention to be full of electric battery box; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical upper position, and detect by upper approach switch 13, to guarantee that terminal scoop 11 moves to vertical upper position, terminal scoop 11 will rise in this process, mention thereby will be full of electric battery box;
15) will be full of the S215 stage that electric battery box is sent into outside room; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to the first position of level, detect by the first approach switch 8 simultaneously, to guarantee that terminal scoop 11 runs to the first position of level, in this process, vertical module will drive terminal scoop 11 levels and protract, thereby will be full of in the battery box room that electric battery box is sent to outside elec. vehicle;
16) will be full of electric battery box and be placed on S216 stage on the outside room; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical the next position, detect by the next approach switch 16 simultaneously, to guarantee that terminal scoop 11 moves to vertical the next position, terminal scoop 11 will descend in this process, and will be full of on the battery box room that electric battery box is placed on outside elec. vehicle;
17) terminal scoop retreats to the S217 stage of position, level end; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 runs to position, position, level end, in this process, terminal scoop 11 will be deviate from from being full of electric battery box, finish thus the whole process of changing battery box.
Fig. 7 is that storage battery provided by the invention drives the uncharged battery box that the automatic continuous of vehicle will be arranged in position to be charged in can device and puts into charge position control method diagram of circuit.As shown in Figure 7, the described automatic continuous uncharged battery box that will be arranged in position to be charged in can device is put into the charge position control method and is comprised the following step that carries out in order:
1) the S301 stage of system initialization; In this stage, host computer system 201 will be carried out initialization operation to associated components;
2) detect S302 stage of each parts initial position; In this stage, host computer system 201 will be by the state of AD/IO module 202 each approach switch of cycle detection, thereby obtains the initial position message of all parts;
3) judge the S303 stage that whether has battery box to be charged in the position to be charged; In this stage, host computer system 201 will judge in the position to be charged 27 whether have battery box to be charged by the information that the S302 stage obtains, and if yes then enter the S304 stage, otherwise turn back to the entrance in S302 stage;
4) terminal scoop is retreated to S304 stage of level end position; In this stage, host computer system 201 will judge that whether terminal scoop 11 is in position, position, level end, if it is directly enters the S305 stage, otherwise starts horizontal stepping motor 3 by position, end approach switch 5, so that terminal scoop 11 runs to position, position, level end, and then enter the S305 stage;
5) with S305 stage of the terminal scoop 11 of bit alignment to be charged; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that position 27 to be charged goes to the dead ahead of terminal scoop 11;
6) terminal scoop is down to the vertical the next S306 stage; In this stage, host computer system 201 will judge whether terminal scoop 11 is in vertical the next position by the next approach switch 16, if it is directly enter the S307 stage, otherwise start vertical stepping motor 10, so that terminal scoop 11 runs to vertical the next position, and then enter the S307 stage;
7) terminal scoop is inserted S307 stage of battery box to be charged; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to horizontal meta position, detect by meta approach switch 6 simultaneously, to guarantee that terminal scoop 11 runs to horizontal meta position, in this process, vertical module will drive terminal scoop 11 levels and protract, and the crossbeam 30 that the front end of terminal scoop 11 is inserted into be arranged in to be charged 27 battery boxs to be charged and the space between battery pack;
8) utilize terminal scoop to mention the S308 stage of battery box to be charged; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical upper position, detect by upper approach switch 13 simultaneously, to guarantee that terminal scoop 11 runs to vertical upper position, in this process, terminal scoop 11 will raise, and battery box to be charged is mentioned;
9) battery box to be charged is withdrawed from S309 stage of position to be charged; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 moves to position, position, level end, in this process, vertical module will drive terminal scoop 11 levels and retreat, and make the battery box to be charged that is arranged in position 27 to be charged withdraw from position 27 to be charged;
10) with S310 stage of empty charge position aligned end scoop; In this stage, host computer system 201 will be controlled disk stepping motor 21 and rotate, so that empty charge position 23 goes to the dead ahead of terminal scoop 11;
11) battery box to be charged is sent into S311 stage of sky charge position; In this stage, the horizontal stepping motor 3 of host computer system 201 controls rotates, so that terminal scoop 11 is shifted to horizontal meta position, detect by meta approach switch 6 simultaneously, to guarantee that terminal scoop 11 moves to horizontal meta position, in this process, vertical module will drive terminal scoop 11 levels and protract, thereby battery box to be charged is sent in the sky charge position 23;
12) battery box to be charged is placed on the S312 stage on the sky charge position; In this stage, host computer system 201 will be controlled vertical stepping motor 10 and rotate, so that terminal scoop 11 is shifted to vertical the next position, detect by the next approach switch 16 simultaneously, to guarantee that terminal scoop 11 moves to vertical the next position, terminal scoop 11 will descend in this process, thereby battery box to be charged is placed on the sky charge position 23;
13) terminal scoop is retreated to S313 stage of level end position; In this stage, host computer system 201 will be controlled horizontal stepping motor 3 and rotate, so that terminal scoop 11 is shifted to position, position, level end, detect by position, end approach switch 5 simultaneously, to guarantee that terminal scoop 11 moves to position, position, horizontal module end, in this process, terminal scoop 11 will be deviate from from battery box to be charged, finish thus the whole process of the uncharged battery box that is arranged in position to be charged being put into charge position.
The above utilizes three kinds of control methods that the automatic continuous that storage battery provided by the invention drives vehicle can be had been described in detail by the device working process.In addition, in above-described each system's concrete operations stage, arbitrary link is beset by technical hitches or system problem, then system's operation of can resetting, and carry out self check, and give the alarm, in time make respective handling to remind the staff.

Claims (4)

  1. A storage battery drive the automatic continuous of vehicle can device, it is characterized in that: described automatic continuous can be comprised of casing (1) and control setup (2), horizontal motion system, perpendicular movement system, disc 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, disc rotary system, 4 AC/DC power chargers (33) and battery box (35) then are arranged on the inside of casing (1);
    Described horizontal motion system comprises horizontal module and horizontal stepping motor (3); Horizontal module is comprised of the first coupler (4), position, end approach switch (5), meta approach switch (6), horizontal guide rail (7), the first approach switch (8) and horizontal screw lead (9); 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 the first coupler (4); The first approach switch (8), end position approach switch (5) and meta approach switch (6) are installed in respectively two ends and the middle part of horizontal guide rail (7), and end position approach switch (5) is near the first coupler (4);
    Described perpendicular movement system comprises vertical module, vertical stepping motor (10), support (34) and terminal scoop (11); Vertical module is comprised of the second coupler (12), upper approach switch (13), vertical screw (14), vertical guide rail (15) and the next approach 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 the second coupler (12); Upper approach switch (13) and the next approach switch (16) are installed in respectively the top and bottom of vertical guide rail (15); The rear end of terminal scoop (11) is installed on the vertical screw (14) that is positioned between upper approach switch (13) and the next approach switch (16) by mother lead screw;
    Described disc rotary system comprises rotating circular disk (17), axle (18), thrust ball bearing (19), synchromesh gear belt (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 synchronizer gear on the axle (18) by synchromesh gear belt (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 approach switchs (25), 4 groups of charging contacts (26), position to be charged (27) and charging completion bit (28); 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 the rotating circular disk (17); An approach switch (25) is installed on each charge position (23), and whether the position that is used for detecting this charge position (23) exists battery box (35); The outside opening place of each charge position (23) is equipped with charging contact (26), 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 for depositing the battery box (35) that battery pack to be charged is housed inside, perhaps when position to be charged (27) was idle, the position that terminal scoop (11) can pass this position to be charged (27) was inserted on the external cell case; Charging completion bit (28) is used for depositing inside the battery box (35) that is full of electric battery pack is housed, for automatic continuous can be prepared by device replacing battery box;
    Described battery box (35) comprises Battery case (31), many crossbeams (30) and contact (32); Battery case (31) is made of polylith dull and stereotyped (36) and the base plate (37) that standoff distance be arranged in parallel, and the space between the adjacent panels (36) is formed for the battery position (29) of placing battery group; Crossbeam (30) level is installed in the upper end of flat board (36), and the space between itself and the battery pack is used for insert end scoop (11); Contact (32) is positioned at a side of Battery case (31);
    Described 4 AC/DC power chargers (33) lay respectively at the next door of upper 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;
    Described control setup (2) is comprised 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 for gathering various incoming signals, its input port links to each other with voltage detecting circuit in end position approach switch (5), meta approach switch (6), the first approach switch (8), upper approach switch (13), lower approach switch (16), 6 approach switchs (25) and the AC/DC power charger (33) respectively, and output port and host computer system (201) are joined; Micro controller system (203) is driving controller of stepping motor, 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 wireless network access point, is used for realizing and outside contacting by wireless network; Power supply (206) then is used to whole control setup that working power is provided.
  2. 2. an automatic continuous claimed in claim 1 can move to charging completion bit control method with battery box from charge position in the device, and 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 down 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.
  3. 3. an automatic continuous claimed in claim 1 can be changed the battery box control method in the device, and 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 down 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.
  4. 4. an automatic continuous claimed in claim 1 uncharged battery box that will be arranged in position to be charged in can device 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 down 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 the charge position aligned end scoop of sky;
    11) battery box to be charged is sent into S311 stage of empty charge position;
    12) battery box to be charged is placed on the S312 stage on the empty charge position;
    13) terminal scoop is retreated to S313 stage of level end position.
CN 201110103027 2011-04-22 2011-04-22 Automatic energy continuation device for vehicle driven by storage battery and control method Expired - Fee Related CN102152731B (en)

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CN104259277B (en) * 2014-09-22 2017-06-30 倪慨宇 A kind of plastic constraint component for bending thin-wall section
CN109861313B (en) * 2017-11-30 2022-10-18 上海微电子装备（集团）股份有限公司 Battery replacing device, battery replacing system and scheduling method
CN111983956A (en) * 2020-08-24 2020-11-24 合肥君信电子科技有限公司 Control system of inching tactical platform

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