CN102407832A - Battery replacing platform system for positioning electric passenger vehicle - Google Patents
Battery replacing platform system for positioning electric passenger vehicle Download PDFInfo
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- CN102407832A CN102407832A CN201110289715XA CN201110289715A CN102407832A CN 102407832 A CN102407832 A CN 102407832A CN 201110289715X A CN201110289715X A CN 201110289715XA CN 201110289715 A CN201110289715 A CN 201110289715A CN 102407832 A CN102407832 A CN 102407832A
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Abstract
The invention discloses a battery replacing platform system for positioning an electric passenger vehicle, comprising a battery replacing platform and a battery replacing system matching with the battery replacing platform; the battery replacing platform and the battery replacing system are connected with a control system respectively; the battery replacing platform is a pierced trapezoid platform body; a rotary ring of horizontal deviation rectification is arranged at the horizontal part of the battery replacing platform; a freely elevated disc is embedded on the rotary ring; the horizontal part is further provided with an auxiliary vehicle body positioning device; the rotary ring of horizontal deviation rectification and the freely elevated disc are connected with respective driving devices respectively, and the driving device is connected with the control system. The invention realizes exact positioning of the electric passenger vehicle by receiving the vehicle body real time position transmitted by a sensor via the control system, and driving the rotation of the ring structure of horizontal deviation rectification and the elevation movement of the up and down elevating disc structure. The whole design is more ingenious and the system is operated more reliably and accurately.
Description
Technical field
The present invention relates to a kind of be used for electronic manned vehicle accurately the location change the level platform, relate in particular to the level platform system that changes that electronic manned vehicle is located that is used for of a kind of adjustment that is used for electronic manned vehicle attitude and stationkeeping.
Background technology
Electronlmobil is as a kind of new traffic tool; Have advantages such as " zero-emission ", energy source be wide; Being to alleviate the important means that the China's oil resource is nervous, the urban atmospheric pollution problem is serious, is to advance transport development mode to change, and advances the effective carrier of energy-saving and emission-reduction work.Yet the backwardness of associated batteries technology and charging technique becomes the bottleneck of latent electricity electrical automobile industry development, and national governments and enterprise work hard and improve the supporting infrastructure industry of electronlmobil.At present, the electric automobile energy supply mainly contains car load charging and changes electricity two big classes with machinery.The charging duration that the car load charging needs is longer, and easily grid side is produced harmonic pollution, and therefore, this pattern has very big drawback.In contrast to this; It is simple to operate that machinery changes electricity, can in 5 minutes, accomplish the quick replacing of manned vehicle battery pack, simultaneously; Carry out the concentrated charging of battery pack night capable of using; Realized " peak-clipping and valley-filling " of electric load, improved the comprehensive utilization ratio of electrical equipment, obtained giving more sustained attention of researchist.
In invention disclosed patent CN200910090807.8, introduced a kind of method that is used for electronic manned vehicle chassis battery altering, belong to machinery and change a kind of of electric mode.The mode that its robot changes electricity is: four rigidity lifting fulcrums, the suitable height that the lifting actuating equipment is liftoff with electronic manned vehicle fixed pedestal to tire are arranged at electronic manned vehicle bottom.Can't satisfy in this lifting process before and after the electronic manned vehicle with about the location, the error of both direction is bigger, and does not have cooresponding quasi-complement measure, causes more exchange device to realize that the feasibility of automatically replacing battery is not high.
Summary of the invention
The object of the invention is exactly the above-mentioned defective to prior art, and a kind of level platform system that changes that is used for electronic manned vehicle location is provided, it is easy to use, and the needs that electronlmobil is changed battery have fast been satisfied in accurate positioning.
For realizing above-mentioned purpose, the present invention adopts following technical scheme:
A kind of level platform system that changes that is used for electronic manned vehicle location; It comprises change the level platform and with change the battery change system that the level platform matches; Change the level platform and be connected with control system respectively, it is characterized in that, saidly change the trapezoidal stage body that the level platform is a hollow out with battery change system; Changing the rotating ring that electric flat-bed horizontal position is provided with the level correction, the disk of setting-in free lifting on the rotating ring of level correction; Said battery change system comprise change the electric machine people, the charging robot, battery delivery track and charging rack; Also be provided with auxiliary car body registration device changing electric flat-bed horizontal position; The rotating ring of level correction and the disk of free lifting are connected with separately actuating device respectively, and each actuating device is connected with control system respectively.
Said auxiliary car body registration device is left and right sides guide wire and front and back guide wire and wheel guide groove.
The lower end of the rotating ring of said level correction is furnished with rotating ring servomotor and fan-shaped big gear wheel and linked set; The wherein fan-shaped big gear wheel rotation of rotating ring driven by servomotor, the annulus rotation that said fan-shaped big gear wheel is rectified a deviation through the miniature gears drive level that cooperates with it; Control system is connected with the rotating ring servomotor.
The disk of said free lifting is positioned at the rotating ring inside of level correction, and the lower end is furnished with up-down disk servomotor and worm and gear and linked set; The disk servomotor that wherein goes up and down drives the worm screw rotation, with the dipping and heaving of the disk of realizing free lifting.
The said level platform that changes also is provided with the car body position detecting module, and it comprises being arranged on changes level platform front end and two laser range sensors are set and are arranged on the left and right sides, arranges four laser range sensors relatively, and each laser range sensor is connected with control system.
Said rotating ring servomotor and up-down disk servomotor are AC servo motor, and they are connected with separately coder, and each coder is connected with cooresponding actuator, and each actuator then is connected with control system.
Said control system comprises upper computer and upper computer bonded assembly PLC controller, and it is connected with each laser range sensor through the CAN bus; Each actuator, coder and change the electric machine people and also be connected with the PLC controller.
The manned vehicle of attitude automatic compensation and vehicle location of realizing of the present invention changes the level platform, mainly is made up of machine assembly and two parts of control system.Wherein, but machine assembly comprises the disc structure that can realize that the guiding structural that changes level platform, auxiliary car body location of battery altering, the rotating ring structure that can realize the correction of car body level and easy on and off go up and down.
But change the engraved structure that the level platform adopts lateral opening and centre easy on and off up-down disk, can realize changing the insertion and the vertical lift operation of electric machine people battery tray.Change the guiding structural that auxiliary car body location is arranged on the level platform and the rotating ring structure of car body level correction, cooperate the laser range sensor on the different directions, realize the accurate location of car body.
The guiding structural of auxiliary car body location comprises wheel guide groove, front and back guide wire and left and right sides guide wire.The wheel guide groove can be realized the coarse positioning of car body, and the guide wire accurate location that can realize car body all around.
The rotating ring structure of described realization car body level correction, the lower end is furnished with actuating device and fan-shaped big gear wheel and linked set.Adopt the fan-shaped big gear wheel rotation of driven by servomotor; Theory of machines with the rotation of realization level correction annulus; Can realize the angle correction and fine setting of car body; Each laser range sensor transmits the location information of car body in real time from six direction, and control system drives the AC servo motor action, guarantees car body and changes level platform outside keeping parallelism.
But the disc structure that easy on and off goes up and down, the inside of the rotating ring structure that the level that is positioned at is rectified a deviation, the lower end is furnished with actuating device and worm and gear and linked set.Adopt the rotation of AC servo machinery driving worm screw, to realize the theory of machines of disk free lifting.When electronic manned vehicle sails into when changing the level platform, the disk that easy on and off goes up and down is consistent with the rotating ring structure level height that level is rectified a deviation.After accomplishing the accurate location of car body level and front and back position, the disc structure of free lifting drops to desired location, changes the electric machine people and realizes the fore and aft motion of horizontal direction and the dipping and heaving of vertical direction, and then accomplish the loading or unloading operation of battery pack.
But the disc structure that the rotating ring structure that realizes the correction of car body level and easy on and off go up and down, all with the AC servo motor connection that cooperates with it, AC servo motor then is connected with separately coder, and each coder is connected with cooresponding actuator.
Control system comprises upper computer and upper computer bonded assembly PLC controller, electric system and car body position detecting module.Said PLC controller adopts Siemens S7-300-315PLC controller.The PLC controller is connected with corresponding encoder through actuator; The PLC controller is communicated by letter with upper computer through the CAN bus.
Said electric system comprises expansion module, power module, electric power system.
Said car body position detecting module comprises a plurality of laser range sensors, to confirm the position all around of car body, communicates by letter with upper computer via the CAN bus.Change level platform front end two laser range sensors be set, about arrange four laser range sensors in opposite directions.
But change the disc structure that the guiding structural that comprises auxiliary car body location on the level platform, the rotating ring structure that realizes the correction of car body level and easy on and off go up and down.Electronic manned vehicle reaches with guiding structural and changes the level platform, and two laser range sensors of front end feed back the actual position of car body in real time, and pass to the control system backstage.After vehicle arrives accurately front and back position, still need carry out the correction of car body level angle.The circular ring structure rotation of level correction, and four laser range sensors about cooperating, the accurate location of realizing the car body horizontal direction.The disc structure of free lifting drops to desired location, changes the electric machine people and realizes the fore and aft motion of horizontal direction and the dipping and heaving of vertical direction, and accomplish the loading or unloading operation of battery pack.
The invention has the beneficial effects as follows: the realized attitude automatic compensation that is provided and the manned vehicle platform of vehicle location, under the cooperation of control system and relevant guiding structural, guaranteed the accurate location of electronic manned vehicle.The car body real time position that the control system receiving sensor transmits, and the rotation of driving level correction circular ring structure and the dipping and heaving of oscilaltion disc structure, the accurate location of having realized electronic manned vehicle.Whole design is more ingenious, and reliability of system operation and accuracy are higher.
Description of drawings
Fig. 1 changes the scheme drawing (front view) of level platform system for the electronic manned vehicle of the present invention;
Fig. 2 is battery change system scheme drawing (birds-eye view);
Fig. 3 changes electric flat-bed birds-eye view for the electronic manned vehicle of the present invention;
Fig. 4 changes electric flat-bed normal axomometric drawing for the electronic manned vehicle of the present invention;
Fig. 5 is the rotating ring constructional drawing of the electronic manned vehicle level correction of the present invention;
Fig. 6 is the disc structure figure of the electronic manned vehicle free lifting of the present invention;
Fig. 7 is the control system functional block diagram;
Fig. 8 makes diagram of circuit for changing the electrician.
Among the figure: 1, change the level platform, 2, battery-driven car, 3, charging rack, 4, the disk of free lifting, 5, the rotating ring of level correction; 6, front and back guide wire, 7, left and right sides guide wire, 8, the wheel guide groove, 9, miniature gears, 10, fan-shaped big gear wheel; 11, worm screw, 12, worm gear, 13, upper computer, 14, the PLC controller; 15, rotating ring actuator, 16, the up-down disc drive, 17, laser range sensor, 18, the rotating ring servomotor; 19, up-down disk servomotor, 20, the battery delivery track, 21, change the electric machine people, 22, the charging robot.
The specific embodiment
Below in conjunction with accompanying drawing and embodiment the present invention is further specified.
The manned vehicle that can realize attitude automatic compensation and vehicle location changes level platform 1, is made up of machine assembly and two parts of control system.But described machine assembly comprises battery change system and changes the disk 4 that level platform 1, the guiding structural of auxiliary car body location, the rotating ring 5 that can realize the correction of car body level and easy on and off go up and down.
Battery change system comprises battery altering track 20; Change electric machine people 21, charging robot 22 and charging rack 3; Wherein change electric machine people 21 and be arranged on a side of battery-driven car 2, to realize the changing electricity operation, the battery of replacing is carried through osed top battery altering track; And be provided with the charging robot in the charging rack side, to realize the quick charging operations of battery.
Change level platform 1 and be the trapezoidal high platform structure of hollow out, can car body be risen to certain altitude.But change the disc structure 4 that level platform 1 adopts lateral opening and centre easy on and off to go up and down, can realize changing the insertion and the vertical lift operation of electric machine people 21 battery tray.Change the guiding structural that auxiliary car body location is arranged on the level platform 1 and the rotating ring structure 5 of car body level correction, cooperates six laser range sensors 17, the accurate location of realization car body.
The guiding structural of auxiliary car body location comprises wheel guide groove 8, front and back guide wire 6 and left and right sides guide wire 7.Wheel guide groove 8 on the slope can be realized the coarse positioning of car body, and two guide wires can be realized the direction all around of car body and accurately locate.
Realize the rotating ring structure 5 of car body level correction, the lower end is furnished with rotating ring servomotor 18 and fan-shaped big gear wheel 10 and linked set.Adopt rotating ring servomotor 18 to drive the theory of machines of fan-shaped big gear wheel 10 rotations; Can realize the angle correction and fine setting of car body; Four laser range sensors 17 arranging in opposite directions about changing on the level platform 1 are transfer car body position information in real time, guarantees car body and to change level platform 1 outside parallel.
But the disk 4 that described easy on and off goes up and down, the inside of rotating ring 5 structures that the level that is positioned at is rectified a deviation, lower end are furnished with up-down disk servomotor 19 and worm gear 12, worm screw 11 and linked set.Adopt up-down disk servomotor 19 to drive the theory of machines of worm screw 11 rotations to realize that the disk easy on and off goes up and down.When electronic manned vehicle sails into when changing level platform 1, the disk 4 that easy on and off goes up and down is consistent with rotating ring 5 level heights of level correction.After accomplishing the accurate location of car body level and front and back position, the disk 4 of free lifting drops to desired location, changes electric machine people 21 and realizes the fore and aft motion of horizontal directions and the dipping and heaving of vertical direction, and then accomplish the loading or unloading operation of battery pack.
The rotating ring 5 of level correction and the disk 4 of free lifting connect with the rotating ring servomotor 18 that cooperates with it, up-down disk servomotor 19 respectively, and each servomotor is connected with corresponding encoder, and each coder is connected with cooresponding actuator.
Said control system comprises upper computer 13 and upper computer bonded assembly control module, electric system and car body position detecting module.
Said control module adopts Siemens S7-300-315PLC controller.PLC controller 14 is connected with corresponding encoder through actuator; PLC controller 14 is communicated by letter with upper computer 13 through the CAN bus.
Described actuator can be divided into:
Rotating ring actuator 15, it is connected with rotating ring servomotor 18;
Up-down disc drive 16, it is connected with up-down disk servomotor 19.
Said electric system comprises expansion module, power module, electric power system.
Said car body position detecting module comprises six laser range sensors 17, confirming the position all around of car body, and communicates by letter with upper computer via the CAN bus.Wherein change level platform 1 front end two laser range sensors 17 are set, left and rightly arrange two pairs of laser range sensors 17 in opposite directions.
Method of application of the present invention:
To Fig. 2, the electronic manned vehicle battery pack of the present invention is changed overall procedure with reference to explanation accompanying drawing 1, and mainly comprise and change level platform 1, the chassis battery change system, it comprises battery altering track 20, changes electric machine people 21, charging robot 22, charging rack 3.
Under the cooperation of machine assembly that changes level platform 1 and control system, realized the accurate location of electronic manned vehicle, its location information is delivered to upper computer 13.Operating personal changes electric machine people 21 through the action button startup of touch-screen, and control system drives changes electric machine people 21 arrival battery-driven car chassis batteries position accurately, and then accomplishes unloading of whole battery group.The used batteries of collecting are transported to the charging rack side through battery altering track 20, are put it on the charging rack 3 by charging robot 22, to carry out charging operations.The new battery of substituting the bad for the good is transported to the battery-driven car side through battery altering track 20 equally, changes the electricity operation by changing electric machine people 21 completion.
With reference to explanation accompanying drawing 3-Fig. 8; The electronic manned vehicle of the present invention changes electric flat-bed birds-eye view, normal axomometric drawing, the rotating ring constructional drawing of electronic manned vehicle level correction; The disc structure figure of electronic manned vehicle free lifting, control system functional block diagram and change the electrician and make diagram of circuit.
Workflow of the present invention comprises following key step:
1, electronic manned vehicle reaches along the wheel guide groove 8 of realizing the car body coarse positioning and changes level platform 1.
2, cooperate front and back guide wire 6 and left and right sides guide wire 7, further realize the location positioning all around of car body.Change two laser range sensors of level platform 1 front end 17 and transmit car body front and back position information in real time, cooperate the indication green light signals of changing level platform 1 side, guarantee that car body arrives accurate position to control system.
3, the car body real-time position information of transmitting according to four laser range sensors arranging relatively about changing on the level platform 1 17; Rotating ring servomotor 18 drives fan-shaped big gear wheel 10 rotations; Fan-shaped big gear wheel 10 is through cooperating the annulus rotation of miniature gears 9 drive levels correction, finally realizes car body and to change level platform 1 outer parallel.
4, up-down disk servomotor 19 drives worm screw 11 rotations, and the fixing worm gear 12 of cooperation position descends with the disk 4 of realizing free lifting and arrives desired location.
5, change the car body location information that electric machine people 21 receiving control systems send, accomplish the fore and aft motion of its horizontal direction and the dipping and heaving of vertical direction.When change electric machine people 21 arrive electronic manned vehicle under, the car body mechanical lock is opened, battery pack falls on the battery tray, the process that whole pond to be charged group is taken off finishes.
Adopting this to change 1 of level platform needs the cooperation of machine assembly and control system can accomplish the adjustment of electronic manned vehicle attitude and the accurate location of position.Compare with previous car body artificial lifting way, this design is more ingenious, and reliability of system operation and accuracy are higher.
Above exemplary illustration is not done concrete the qualification to protection scope of the present invention, and the equivalents of its technical characterictic and/or obvious mode of texturing should drop within protection scope of the present invention.
Claims (7)
1. one kind is used for the level platform system that changes that electronic manned vehicle is located; It comprises change the level platform and with change the battery change system that the level platform matches; Change the level platform and be connected with control system respectively, it is characterized in that, saidly change the trapezoidal stage body that the level platform is a hollow out with battery change system; Changing the rotating ring that electric flat-bed horizontal position is provided with the level correction, the disk of setting-in free lifting on the rotating ring of level correction; Said battery change system comprise change the electric machine people, the charging robot, battery delivery track and charging rack; Also be provided with auxiliary car body registration device changing electric flat-bed horizontal position; The rotating ring of level correction and the disk of free lifting are connected with separately actuating device respectively, and each actuating device is connected with control system respectively.
2. the level platform system that changes that is used for electronic manned vehicle location as claimed in claim 1 is characterized in that said auxiliary car body registration device is left and right sides guide wire and front and back guide wire and wheel guide groove.
3. the level platform system that changes that is used for electronic manned vehicle location as claimed in claim 1 is characterized in that the rotating ring lower end of said level correction is furnished with rotating ring servomotor and fan-shaped big gear wheel and linked set; The wherein fan-shaped big gear wheel rotation of rotating ring driven by servomotor, the rotating ring rotation that said fan-shaped big gear wheel is rectified a deviation through the miniature gears drive level that cooperates with it; Control system is connected with the rotating ring servomotor.
4. the level platform system that changes that is used for electronic manned vehicle location as claimed in claim 1; It is characterized in that; The disk of said free lifting is positioned at the inside of the rotating ring of level correction, and the lower end is furnished with up-down disk servomotor and worm gear, worm screw and linked set; The disk servomotor that wherein goes up and down drives the worm screw rotation, with the up-down of the disk of realizing free lifting.
5. the level platform system that changes that is used for electronic manned vehicle location as claimed in claim 1; It is characterized in that; The said level platform that changes also is provided with the car body position detecting module; It comprises being arranged on changes level platform front end two laser range sensors is set, about two pairs of laser range sensors arranging relatively, each laser range sensor is connected with control system.
6. like claim 1 or the 3 or 4 described level platform systems that change that are used for electronic manned vehicle location; It is characterized in that; Said rotating ring servomotor and up-down disk servomotor are AC servo motor; They are connected with separately coder, and each coder is connected with cooresponding actuator, and each actuator is connected with control system.
7. like the described level platform system that changes that is used for electronic manned vehicle location of claim 1-7, it is characterized in that said control system comprises upper computer and upper computer bonded assembly PLC controller, it is connected with each laser range sensor through the CAN bus; Each actuator, coder and change the electric machine people, the charging robot also be connected with the PLC controller.
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| CN201110289715XA CN102407832A (en) | 2011-09-28 | 2011-09-28 | Battery replacing platform system for positioning electric passenger vehicle |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201110289715XA CN102407832A (en) | 2011-09-28 | 2011-09-28 | Battery replacing platform system for positioning electric passenger vehicle |
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| CN102407832A true CN102407832A (en) | 2012-04-11 |
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| CN201110289715XA Pending CN102407832A (en) | 2011-09-28 | 2011-09-28 | Battery replacing platform system for positioning electric passenger vehicle |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
| CN105000001A (en) * | 2015-07-28 | 2015-10-28 | 国网山东省电力公司电力科学研究院 | Battery replacing system for chassis of power-driven passenger car and battery replacing method |
| CN105449733A (en) * | 2015-04-15 | 2016-03-30 | 小米科技有限责任公司 | Cleaning robot charging system and charging method |
| CN105634081A (en) * | 2016-03-30 | 2016-06-01 | 吉林大学 | Laser ranging-based adaptive electric vehicle wireless power supply mobile platform |
| CN105634082A (en) * | 2016-03-30 | 2016-06-01 | 吉林大学 | Laser ranging-based universal leveling electric vehicle wireless power supply mobile platform |
| WO2018210016A1 (en) * | 2017-05-15 | 2018-11-22 | 上海蔚来汽车有限公司 | Automatic guide type battery replacing robot and battery charging and replacing station |
| WO2019085305A1 (en) * | 2017-10-31 | 2019-05-09 | 蔚来汽车有限公司 | Battery swapping platform and battery charging and swapping station having same |
| WO2020052563A1 (en) * | 2018-09-10 | 2020-03-19 | 奥动新能源汽车科技有限公司 | Tray extension positioning method and system |
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| CN103683521A (en) * | 2012-09-21 | 2014-03-26 | 昆山博驭汽车数字化有限公司 | Laser positioning intelligent connection electric vehicle wireless charger and transceiver system |
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| WO2019085305A1 (en) * | 2017-10-31 | 2019-05-09 | 蔚来汽车有限公司 | Battery swapping platform and battery charging and swapping station having same |
| WO2020052563A1 (en) * | 2018-09-10 | 2020-03-19 | 奥动新能源汽车科技有限公司 | Tray extension positioning method and system |
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