CN102602372B - System and method for quickly replacing electric bus batteries - Google Patents

System and method for quickly replacing electric bus batteries Download PDF

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Publication number
CN102602372B
CN102602372B CN201210074512.3A CN201210074512A CN102602372B CN 102602372 B CN102602372 B CN 102602372B CN 201210074512 A CN201210074512 A CN 201210074512A CN 102602372 B CN102602372 B CN 102602372B
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battery
unit
electric machine
machine people
horizontal
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CN102602372A (en
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厉秉强
姜志鹏
王同斌
卢剑峰
赵金龙
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State Grid Intelligent Technology Co Ltd
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Shandong Luneng Intelligence Technology Co Ltd
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Abstract

The invention discloses a system and a method for quickly replacing electric bus batteries. The batteries are arranged above battery replacing robots instead of being arranged at an original position, so that the robots can acquire the charged batteries from above without turning around, and then the batteries can be replaced by the battery replacing robot on the sides as same as those of the battery replacing robot, so that occupied space of the batteries is saved, a turning mechanism of the battery replacing robot is omitted, equipment structure is simplified, and reliability and replacing efficiency of equipment are further improved. The system comprises charging storage rack units with the charged batteries thereon, at least one lifting battery replacing robot on the side as same as that of the corresponding charging storage rack unit is arranged and matched with the corresponding charging storage rack unit, each lifting battery replacing robot moves along the length direction of the corresponding charging storage rack unit, and is used for taking the batteries needing to be replaced down from an electric bus, lifting the batteries needing to be replaced to a battery storage position on the corresponding charging storage rack, taking the charged batteries and descending to a battery replacing position to complete battery replacement of the electric bus.

Description

A kind of battery quick-change system for power-driven bus and change method for electrically
Technical field
The present invention relates to a kind of battery change system, especially a kind of battery quick-change system for power-driven bus and change method for electrically.
Background technology
Along with the lasting increase of resource and environment dual-pressure, for alleviating oil resources shortage situation, reduce the pollution of vehicle fuel to environment, development new-energy automobile has become the direction of future automobile industrial development.Yet in actual applications,, owing to being subject to the restriction of current energy content of battery density, the course continuation mileage of electronlmobil generally, between 100 kilometers to 200 kilometers, can not show a candle to the course continuation mileage of orthodox car.Therefore, can, fast for automobile provides energy supply, directly have influence on applying of electronlmobil.Generally, battery is charged at a slow speed and needs just can complete for several hours, fast charge can exert an influence to the life-span of battery.
With regard to electric bus, on the one hand it needs larger capacity of cell, owing to being subject to the restriction of single case capacity of cell, often adopts many battery boxs to combine supply of electrical energy on the other hand, due to increasing of number of batteries, brought take up room larger; Increase the problem of car deadweight, even make the battery of electric bus can reach the weight of ton.According to current capacity of cell present situation, a Battery pack at most operation will be changed for 4 hours, and six to eight of every less important replacings, as changed with artificial, are at least wanted one to two hour, and Zhe Dui operator, does not allow.
At present, there is certain research in domestic relevant enterprise mechanism to the battery change system of electric bus, Chinese patent 201020561469.X has proposed the mode that electrical mechanisms Rotate 180 ° is changed in a kind of utilization, with solve battery Connector Clip on objective table with the consistency problem of car body direction, but this system exists the degree of freedom needing many, control system is complicated, working space is large, occurs the more weak point of link of error; Chinese patent 200820078476.7 " a kind of registration device for replacement system of vehicle-mounted battery ", Chinese patent 200410090796.0 " a kind of Electric Transit truck system " etc., described application of installation also exists problems, as: changing cell process needs multiple bearing, changes the electrokinetic cell time longer; The extensibility of changing electric equipment is poor, and the battery box of different vehicle can not be applied same and change electric equipment; Be correlated with and change the height-limited of electric equipment, can not meet the demand of extensive centralized electrical changing station; Chinese patent 201110138576.0 changes electric complex steps, changes electrical efficiency lower.
Why there are the problems referred to above in prior art, it is mainly the restriction that is subject to the conventional thinking of battery altering, be that existing battery altering mode is all to adopt " turning round " mode to complete battery altering, they are generally placed on battery the rear of robot, and when changing, robot has moved the replacing of battery by " turning round ".State due to foregoing current battery existence, this substitute mode must will cause whole floor area of changing electric system excessive, the action of whole actuating unit needs complicated respective outer side edges just can complete, thus fault rate and maintenance cost very high, be unfavorable for the popularization of electronlmobil.
Summary of the invention
Object of the present invention is limited to rotary substitute mode for solving current battery replacement of electric automobile system exactly in battery altering mode, make total complicated, the problems such as floor area is large, providing a kind of adopts vertical direction to carry out the battery quick-change system for power-driven bus of battery altering and changes method for electrically, it changes battery after the electric machine person by traditional being placed in and has changed into being placed in and change electric machine people top, thereby make robot no longer need touch turn can obtain from top charged battery, then by changing electric machine people, at the homonymy of robot, can complete battery altering and operate, not only saved the space that battery takies, also reduced the mechanism that turns round that changes electric machine people, simplified device structure, further improved the reliability of equipment and changed efficiency.
For achieving the above object, the present invention adopts following technical scheme:
A kind of battery quick-change system for power-driven bus, it comprises that rechargeable battery is placed in the charging shelf unit on top, at least one lifting mode that is provided with matching with charging shelf unit homonymy changes electric machine people, and while lifting mode changes electric machine people and moves along charging shelf element length direction; Lifting mode changes electric machine people and from electric bus, takes off the battery that needs replacing, what give rise to top, charging shelf unit deposits battery place, to wait need to change battery and change, rechargeable battery is got after upper and dropped to the battery altering that battery altering position completes electric bus.
Described lifting mode changes electric machine people and comprises robot body and main console desk, and wherein robot body comprises mechanics and electric control system:
Described mechanics comprises horizontal movement unit, article carrying platform unit and the bearing unit moving in X, Y, tri-artesian coordinates directions of Z respectively, and described bearing unit is arranged in horizontal movement unit, and described article carrying platform unit is arranged on described bearing unit;
Described electric control system comprises: the data acquisition unit being connected with host computer system, power-driven mechanism, wireless communication module I; Described power-driven mechanism is connected with the driving device in horizontal movement unit, bearing unit and article carrying platform unit in mechanics;
Wireless communication module II and wireless communication module I that described main console desk is provided with by it set up wireless telecommunications, control power-driven mechanism complete required action according to the information of data acquisition unit.
Described bearing unit comprises the door type structure being comprised of entablatrance, cross sill and two root posts, and described entablatrance is provided with two groups of guide rollers, and between described two groups of guide rollers, clamping has the sky rail being arranged on charging shelf unit; On described day rail, be provided with for the wiping wire casing of equipment power-extracting and recognize location sheet for the level of horizontal direction station addressing; Described two root posts are provided with at least one group of motor-driven capstan winch, on described capstan winch, are wound with steel rope, and the lower end of steel rope is connected on article carrying platform unit; What described at least one root post was provided with vertical direction addressing longitudinally recognizes location sheet.
Described horizontal movement unit comprises: both sides all have roller and the follower rollers of wheel rim, the track being connected with the cross sill of bearing unit, and track end is provided with spacing collision block, described roller is connected with motor reducer with follower rollers, and described motor reducer arranges on the cross sill of bearing unit and is connected with horizontal motion servomotor.
Article carrying platform unit comprises objective table and the battery-operated mechanism which is provided with, it is battery delivery device that described battery-operated mechanism is provided with objective table bottom described in battery delivery device, battery delivery device bottom is horizontal rotary mechanism, objective table side is provided with slanted angle regulating mechanism, objective table two ends are provided with support, described support is provided with many group longitudinally guiding wheels, organizes longitudinally guiding wheel more and along bearing unit two root posts, arranges respectively.
Described battery delivery device is provided with supporting traverse, and supporting traverse is connected with battery tray; Battery delivery device also comprises guide track, battery delivery device drive motor and electromagnetism pushing hands;
Battery delivery device drive motor is connected with the pinion and rack being provided with separately respectively with electromagnetism pushing hands, is equipped with two circular electromagnetic chunks on the pushing hands driving surface of electromagnetism pushing hands, is distributed in driving surface two ends, and position is corresponding with two circular iron blocks on case in battery; The pushing hands driving surface of described electromagnetism pushing hands is also provided with the release mechanism matching with latching device on case in battery; Described guide track is arranged on battery delivery device upper surface; In described guide track and battery, case matches, the casing of case for battery is placed in groups in described battery; Described supporting traverse two ends are respectively provided with at least one ultrasonic distance-measuring sensor and at least one pressure sensor, and described pressure sensor is positioned at ultrasonic distance-measuring sensor inner side;
Described slanted angle regulating mechanism comprises the gear arc-shaped rack that is arranged on objective table one end, the tilt drive motor being connected with it, described slanted angle regulating mechanism is also provided with titling axis, titling axis is arranged on the rotating bottom board I of horizontal rotary mechanism, and tilt drive motor driving objective table carries out tilt operation around titling axis;
Described horizontal rotary mechanism comprises: rotating bottom board I, base plate II, rotating bottom board I is connected with feed screw nut by connecting rod, feed screw nut is arranged on leading screw, and leading screw is connected with horizontal drive motor, and horizontal drive motor horizontally rotates around feathering axis by promoting connecting rod driven rotary base plate I.
Described host computer system is industrial computer I and PLC controller, and described PLC controller and industrial computer I communicate to connect by Industrial Ethernet;
Described data acquisition unit comprises ultrasonic transduter, opto-electronic pickup, color mark sensor, DMP position transduser; Described ultrasonic transduter, color mark sensor, DMP position transduser are arranged in electromagnetism pushing hands; Described opto-electronic pickup is arranged on entablatrance and column, for the location to robot X-axis and Z-direction;
Described power-driven mechanism comprises 6 servo-drivers, the servo-driver of described 6 motors respectively with horizontal movement unit, article carrying platform unit and bearing unit, horizontal rotary mechanism, slanted angle regulating mechanism, corresponding servomotor in tripper connects, the axle of each described servomotor is provided with coder, and the signal output part of coder is connected with PLC controller; In horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place is provided with limit switch simultaneously, and limit switch is connected with PLC controller.
Described main console desk comprises cabinet, described cabinet inner bottom part is equipped with industrial computer II, the cabinet front first half is provided with resistive touch screen, the cabinet back side is provided with wireless communication module II, on described cabinet, the below of touch-screen is provided with running LED and scram button, described resistive touch screen is connected by network interface with industrial computer II with wireless communication module II, and described running LED and scram button are connected by level shifting circuit plate and industrial computer II's.
Described host computer system is also communicated by letter with robot wireless remote controller.
Employing battery quick-change system for power-driven bus changes a method for electrically, comprises the following steps:
1) initialization: after system powers on, issue reset instruction by host computer system or main console desk or wireless remote controller, seek zero after each axle that lifting mode changes electric machine people triggers limit switch, get back to origin position;
2) unload battery: vehicle safety is stopped to specify and changed behind electric region, lifting mode changes electric machine people and crosses according to the coordinate points information exchange of storage the setting that host computer system or robot main console desk or wireless remote controller are moved horizontally to appointment, according to DMP position transduser, ultrasonic transduter I signal is adjusted battery tray attitude, accurately battery tray is reached and the concordant position of docking of car body battery compartment, simultaneously, by horizontal rotary mechanism, the rotary angle position signal of slanted angle regulating mechanism is delivered to the storage of PLC controller, according to color mark sensor feedback signal, judge and be confirmed whether that release completes, after release success, utilize the magnetic chuck in electromagnetism pushing hands in article carrying platform unit that battery is taken out from the battery compartment of car body,
3) fetching battery: PLC controller changes electric machine people rising according to the coordinate points of storage and opto-electronic pickup control, adjusts battery tray attitude according to DMP position transduser, ultrasonic transduter I signal, accurately battery is sent into charging cabin; Then PLC controller changes electric machine people according to the coordinate points of storage and opto-electronic pickup control, according to DMP position transduser, ultrasonic transduter I signal, adjusts battery tray attitude, and the battery being full of in another charging cabin is taken off;
4) battery is installed: PLC controller is controlled lifting mode and changed the position that electric machine people drops to car body battery compartment, according to the anglec of rotation of the horizontal rotary mechanism of storage, slanted angle regulating mechanism, adjust the attitude of battery tray, battery is installed in battery compartment, according to color mark sensor detection signal, judge and confirm that locking completes, PLC controller is controlled magnetic chuck dead electricity, magnetic chuck and battery depart from, and electromagnetism pushing hands is retracted fixing along objective table, and single case battery changes electricity and completes;
5) repetitive process 2), 3), 4), until change all weary batteries, lifting mode changes electric machine people and gets back to initial point standby.
The present invention utilizes lifting mode to change electric machine people and electrokinetic cell is exchanged between charging shelf unit and electric bus, make it complete the work of quick-replaceable electrokinetic cell.The present invention is symmetrically distributed in electric bus to be charged both sides, is applicable to electric bus both sides electrokinetic cell and changes simultaneously.
The invention has the beneficial effects as follows: rechargeable battery of the present invention unit and car body are that vertical direction is arranged, have avoided the loaded down with trivial details action of battery rotary, simple for structure; Lifting mode changes electric machine people's application, has reduced the space hold rate of work area, has effectively improved the degree of utilization of land resources; Change electric machine people and can carry out attitude adjustment by power bus battery location, automatically identification and quick, accurate, safe electric bus battery is changed, change that electric process positioning precision is high, relative shift is little, position is accurate, realize the quick-replaceable to variety classes electric bus electrokinetic cell.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is that battery of the present invention changes electric machine people schematic diagram;
Fig. 3 is the electric machine people article carrying platform unit backsight structural representation that changes of the present invention;
Fig. 4 is article carrying platform of the present invention unit slanted angle regulating mechanism front-view schematic diagram;
Fig. 5 A is article carrying platform unit horizontal rotating mechanism schematic diagram of the present invention;
Fig. 5 B is article carrying platform unit horizontal rotating mechanism A-A schematic diagram of the present invention;
Fig. 6 is that the present invention changes electric machine people control system schematic diagram;
Fig. 7 is charging shelf block construction schematic diagram of the present invention.
Wherein 1, lifting mode changes electric machine people, 2, charging shelf unit, 3, control desk, 101. entablatrance, 102. days rails, 103. column, 104. cross sill, 105. track, 106. spacing collision blocks, 107. horizontal movement unit, 108. objective table, 109. battery-operated mechanisms, 110. electromagnetism pushing hands, 111. longitudinally guiding wheels, 112. release mechanism, 113. magnetic chuck, 114. guide roller, case in 201. batteries, 202. pressure sensor, 204. guide track, 205. ultrasonic distance-measuring sensor, 206. slanted angle regulating mechanisms, 207. battery delivery devices, 208. battery delivery devices drive servomotor, 210. horizontal rotary mechanism, 211. supporting traverse, 301 inclination rotating shafts, 302. arc-shaped rack, 303. pitch drives servomotors, 401. rotating bottom board I, 402. base plate II, 403. feathering axis, 404. horizontal drive servomotors, 405. leading screw, 406. feed screw nut, 407. connecting rod, 501. host computer system, 502.PLC controller, 503. limit switch, the linear running unit drives motor of 504.6 degree of freedom, the servo-driver of 505.6 motors, 506. motor encoder, 507. emergency stop switch I, 508. ultrasonic transduter I, 509. color mark sensor, 510. opto-electronic pickup, 511.DMP position transduser, 512. wireless communication module I, 513 wireless communication module II, 514 wireless communication module III, 601, electrokinetic cell 602, charging cabin, 603 charging frameworks,
The specific embodiment
Below in conjunction with accompanying drawing and embodiment, the invention will be further described.
As shown in Figure 1, it comprises that rechargeable battery is placed in the charging shelf unit 2 on top, and at least one lifting mode that is provided with matching with charging shelf unit 2 homonymies changes electric machine people 1, and while lifting mode changes electric machine people 1 and moves along charging shelf unit 2 length directions; Lifting mode changes electric machine people 1 and from electric bus, takes off the battery that needs replacing, what give rise to top, charging shelf unit deposits battery place, to wait need to change battery and change, rechargeable battery is got after upper and dropped to the battery altering that battery altering position completes electric bus.
Fig. 2, in Fig. 3, represent that the present invention changes electric machine people and article carrying platform unit backsight structural representation, the horizontal movement unit 107 that mechanics in figure in this system is provided with, article carrying platform unit and bearing unit, set up like this system three-dimensional agent structure, horizontal movement unit 107 comprises that both sides all have roller and the follower rollers of wheel rim, the track 105 being connected with the cross sill 104 of bearing unit, described track 105 ends are provided with spacing collision block 106, described roller is connected with motor reducer with follower rollers, described motor reducer arranges on the cross sill 104 of bearing unit and is connected with horizontal motion servomotor.
Bearing unit is arranged on horizontal movement unit 107 tops, article carrying platform unit is connected with described bearing unit, on article carrying platform unit, comprise the objective table 108 being provided with and the battery-operated mechanism 109 which is provided with, in battery-operated mechanism 109, be provided with battery delivery device 207;
Electric control system comprises: the data acquisition unit, the power-driven mechanism that are connected with host computer system 501, wireless communication module I 512, power-driven mechanism is connected with the driving device in horizontal movement unit 107, bearing unit and article carrying platform unit in mechanics;
Bearing unit comprises the door type structure being comprised of entablatrance 101, cross sill 104 and two root posts 103, and described entablatrance 101 is provided with two groups of guide rollers 114, accompanies the sky rail 102 being arranged on charging shelf between described two groups of guide rollers 114; On described day rail 102, be provided with for the wiping wire casing of equipment power-extracting and recognize location sheet for the level of horizontal direction station addressing; In described two root posts 103, a heel post 103 is provided with one group of motor-driven capstan winch, and by lay winding wire ropes on capstan winch, the lower end of steel rope is connected on article carrying platform unit; What one root post 103 was provided with vertical direction addressing longitudinally recognizes location sheet for the identification of direction longitudinally.Objective table 108 two ends are provided with support, and described support is provided with many group longitudinally guiding wheels 111, organizes longitudinally guiding wheel 111 more and along bearing unit two root posts 103, arranges respectively;
In Fig. 3, described battery-operated mechanism 109 comprises the horizontal rotary mechanism 210 being connected with objective table 108, objective table 108 sides are provided with slanted angle regulating mechanism 206, are provided with battery delivery device 207 below, and described battery delivery device 207 is provided with supporting traverse 211; Supporting traverse 211 is connected with the battery tray being provided with.
Described battery delivery device 207 comprises that guide track 204, battery delivery device drive servomotor 208 and electromagnetism pushing hands 110; Battery delivery device drives servomotor 208 to be connected with the pinion and rack being provided with separately respectively with electromagnetism pushing hands 110, on the pushing hands driving surface of electromagnetism pushing hands 110, be equipped with two circular electromagnetic chunks 113, be distributed in driving surface two ends, position is corresponding with two circular iron blocks on case in battery; The pushing hands driving surface of described electromagnetism pushing hands 110 is also provided with the release mechanism 112 matching with latching device on case in battery.The casing of case for battery is placed in groups in described battery.Described guide track 204 is arranged on battery delivery device 207 upper surfaces;
Described release mechanism 112 is unlocking motor shift fork shape structure, arranges to be distributed in electromagnetism pushing hands 110 driving surface two ends, uses and opens charging rack or change the latching device on case in the battery on electric car with coordinating;
On battery delivery device 207, plane is provided with the guide track corresponding with case in battery 201 204, and in battery, case 201 is positioned on charging rack or vehicle, and battery is is steadily fetched and delivered;
Supporting traverse 211 two ends are respectively provided with a ultrasonic distance-measuring sensor 205 and a pressure sensor 202, and the pressure sensor 202 that is located at respectively supporting traverse 211 two ends is positioned at the inner side of ultrasonic distance-measuring sensor 205.
In Fig. 4, article carrying platform of the present invention unit slanted angle regulating mechanism front-view schematic diagram, slanted angle regulating mechanism 206 comprises the gear arc-shaped rack 302 that is arranged on left end on objective table 108, the 303 driven gear rotations of pitch drives servomotor, gear arc-shaped rack engaged transmission, arc-shaped rack 302 drives objective table 108 to realize banking motion around inclination rotating shaft 301 rotations; Titling axis 301 is arranged on rotating bottom board I401.
Fig. 5 A, in Fig. 5 B, horizontal rotary mechanism 210 comprises: horizontal drive servomotor 404, it drives leading screw 405 to rotate, leading screw 405 drives feed screw nut 406 horizontal rectilinear motions, feed screw nut 406 is hinged with connecting rod 407, connecting rod 407 is hinged with rotating bottom board I 401, rotating bottom board I401 be arranged on objective table 108 upper plate II402 and stack by feathering axis 403, when connecting rod 407 moves under the drive of feed screw nut 406, connecting rod 407 driven rotary base plate I401 horizontally rotate operation around feathering axis 403;
In Fig. 6, electric system comprises: servo-driver 505, motor encoder 506, emergency stop switch I 507, ultrasonic transduter I508, color mark sensor 509, opto-electronic pickup 510, the DMP position transduser 511 of host computer system 501, PLC controller 502,503,6 motors of limit switch.Wherein:
Host computer system 501 comprises telltale, mouse, keyboard, main frame and software system, main frame adopts X86 industrial computer series, windows XP operating system, main control software system adopts Visual C Plus Plus to write, software is realized multithreading issued transaction, and operating personal can operate main control computer with mouse and keyboard;
Siemens PLC C 300 type logic controllers are core components of whole control system, by Industrial Ethernet and host computer system 501, communicate, by the comprehensive judgement of ultrasonic transduter I508, color mark sensor 509, opto-electronic pickup 510, DMP position transduser 511 signals is controlled respective drive motor.
Data acquisition unit comprises ultrasonic transduter I508, opto-electronic pickup 510, color mark sensor 509, DMP position transduser 511.
Ultrasonic transduter I508, color mark sensor 509, DMP position transduser 511 are arranged in electromagnetism pushing hands, and opto-electronic pickup 510 is arranged on entablatrance 101 and column 103, for the location to robot X-axis and Z-direction.
Limit switch 503 is for the reference mechanical zero of each kinematic axis.When can monitoring running current, the motor rotation blockage of corresponding motor or surpass rated load, nominal load, each servo-driver 505 can report to the police to controller.When system breaks down, kinetic control system can be processed autonomous the carrying out judgement of faulty condition, and fault content is reported to Monitor Computer Control System.Emergency stop switch I 507 carries out urgency to the operating emergency situation of equipment to stop, and priority is first.
Vehicle safety is stopped changing behind electric region of appointment, change electric machine people according to coordinate points and the DMP position transduser 511 of storage, the signal dynamics of ultrasonic transduter I508 is adjusted pitch drives 206, accurately battery tray is reached to the position concordant with the battery compartment of car body, the rotary angle position signal of slanted angle regulating mechanism and horizontal rotary mechanism is delivered to the storage of PLC controller simultaneously, unlocking motor drives release mechanism 112 to carry out battery box release, according to color mark sensor 509 feedback signals, judge and confirm that release completes, afterwards, Y direction powers on the electromagnetism pushing hands 110 of magnetic chuck, magnetic chuck produces electromagnetic attraction, battery is taken out from the battery compartment of car body.PLC controller 502 is according to opto-electronic pickup 510 signals on the coordinate points of storage and X, Z-direction, control lifting mode and change the relevant position that electric machine people 1 rises to charging shelf unit 2, weary battery is aimed to the sky charging cabin 602 in charging shelf unit 2, battery tray is stretched out, the weary battery of the needs charging of taking off is put into charging cabin 602, magnetic chuck power-off, regains battery tray.PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals in Z-direction, control lifting mode changes electric machine people 1 parallel motion and aims at the electric battery that is full of in the charging cabin 602 of charging shelf unit, accurately battery tray is reached and the concordant position, cabin 602 of charging, the rotary angle position signal of slanted angle regulating mechanism 206 and horizontal rotary mechanism 210 is delivered to 502 storages of PLC controller simultaneously, release mechanism 112 carries out battery box release, according to color mark sensor 509 feedback signals, judge and confirm that release completes, afterwards, Y direction powers on the electromagnetism pushing hands 110 of magnetic chuck, magnetic chuck 113 produces electromagnetic attraction, full battery is taken out from the charging cabin 602 of charging shelf unit 2.PLC controller 502 is controlled lifting mode and is changed the position that electric machine people 1 declines and moves to car body battery compartment, according to the slanted angle regulating mechanism 206 of storage and the rotation angle value of horizontal rotary mechanism 210, adjust pitch drives 206 and horizontal rotary mechanism 210, and then the attitude of adjustment battery tray, battery is installed in Vehicular battery storehouse the most at last, release mechanism 112 carries out battery locking, according to color mark sensor 509, judge and confirm whether locking completes, locking success, immediately PLC controller 502 is controlled magnetic chuck 113 dead electricity, magnetic chuck 113 departs from battery box, Y direction is retracted, single case battery changes electricity and completes, repeat first case Renewal process, until replacing all batteries, robot is got back to initial point standby.
The both sides of described roller and follower rollers all have wheel rim, and wheel rim can be embraced track 105 and prevent from, and roller moves in track 105, and follower rollers is along track linear running.
Electromagnetism pushing hands 110 is arranged on battery delivery device 207, battery delivery device 207 drive the electromagnetism pushing hands 110 on it carry out electrokinetic cell stretch out retract.Meanwhile, change battery-operated mechanism on electric machine people 109 while retracting, just allow to change the vertical motion that electric machine people carries out walking in a horizontal state and objective table 108, its object is to prevent because mistake is grasped the collision producing.
Battery delivery device 207 is arranged on slanted angle regulating mechanism 206, it comprises guide track 204, magnetic chuck 113, release mechanism 112, utilizes guide track 204 to hold on battery, simultaneously, utilize magnetic chuck 113 absorption, and utilize battery delivery device 207 that electrokinetic cell is pushed and enters assigned address.
Pressure sensor 202 distributes and is arranged on supporting traverse 211 both sides, and meanwhile, ultrasonic distance-measuring sensor 205 distributes and is arranged on pressure sensor 202 inner sides,
Change in the supporting traverse 211 that comprises in the battery-operated mechanism of electric machine people, tilt drive motor 303, horizontal rotary mechanism 210, battery delivery device 207.Battery delivery device 207 drives by battery delivery device drive motor 208.Electromagnetism pushing hands 110 is corresponding with case 201 in battery.
Diaxon rotating mechanism is installed on objective table 108, is realized attitude adjustment when electric bus is fetched and delivered to battery.Bus direct of travel deviation (horizontal sextant angle) adjustment of entering the station while changing electricity; The automatic adaptation of battery and ground angle (slanted angle) in car.
Described electromagnetism pushing hands 110 is similar with the electromagnetism pushing hand structure on piler; 2 ultrasonic distance-measuring sensors 205 (measurement horizontal sextant angle); 2 pressure sensors 202, opto-electronic pickup 510 coordinates the reflector being attached on the interior battery outer container of bus to measure slanted angle, and can realize in car and fetching and delivering in cell process, follows bodywork height variation and realizes lag function.
Described limit switch is connected with PLC controller 502, is separately positioned on horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place, and connect with each corresponding servomotor contact.
Main console desk comprises cabinet, described cabinet inner bottom part is equipped with industrial computer II, the cabinet front first half is provided with resistive touch screen, the cabinet back side is provided with wireless communication module II513, on described cabinet, the below of touch-screen is provided with running LED and scram button, described resistive touch screen is connected with industrial computer II with wireless communication module II513, and described running LED and scram button are connected by level shifting circuit plate and industrial computer II's;
The cabinet back side is provided with cabinet body door, and cabinet body door is provided with rain-proof lock;
Industrial computer is connected with resistive touch screen by VGA interface;
Wireless communication module II513 communicates by letter with industrial computer II by network interface;
Wireless communication module II513 and wireless communication module I512 adopt wireless network or CDMA module or the EDGE module of IEEE 802.11 standards of WiFi.
Host computer system 501 also comprises wireless remote controller, and described wireless remote controller comprises housing, is provided with eletric button on main supply switch, two two-dimentional rocking bars, start button, stop button, servo-control unit on described housing; In housing, be provided with master control board and wireless communication module III514; On described main supply switch, two two-dimentional rocking bars, start button, stop button, servo-control unit, eletric button, wireless communication module III514 are connected with master control board; Described master control board converts the direction information of two-dimentional rocking bar to electric signal, by wireless communication module III514 transmitting-receiving instruction, controls the motion of changing electric machine people; Described housing is provided with status indicator lamp, and described status indicator lamp is connected with master control board; Described housing is provided with scram button III, and described scram button III is connected with master control board; Described housing is provided with emergency button; Described upper computer is provided with wireless communication module I, described wireless communication module I and control backstage wireless communication module II and remote control equipment (RCE) wireless communication module III514 wireless telecommunications.
Electric bus changes the method for electrically that changes of electric machine robot system, and the described method for electrically that changes comprises the following steps:
1) initialization: after system powers on, issue reset instruction by host computer system 501 or main console desk or wireless remote controller, each axle of robot seeks zero after triggering limit switch 503, and each axle is got back to origin position;
2) unload battery: vehicle safety is stopped to specify and changed behind electric region, lifting mode changes electric machine people 1 and crosses according to the coordinate points information exchange of storage the setting that host computer system 501 or robot main console desk or wireless remote controller move to appointment, according to DMP position transduser 511, ultrasonic transduter I508 signal is adjusted battery tray attitude, accurately battery tray is reached and the concordant position of docking of battery compartment on car body, simultaneously, by horizontal rotary mechanism 210, the rotary angle position signal of slanted angle regulating mechanism 206 is delivered to 502 storages of PLC controller, release mechanism release, according to color mark sensor 509 feedback signals, judge and be confirmed whether that release completes, after release success, utilize the magnetic chuck 113 in article carrying platform unit that battery is taken out from the battery compartment of car body,
3) fetching battery: PLC controller 502 is according to opto-electronic pickup 510 signals on the coordinate points of storage and X, Z-direction, control lifting mode and change the relevant position that electric machine people 1 rises to charging shelf unit 2, weary battery is aimed to the sky charging cabin 602 in charging shelf unit 2, battery tray is stretched out, the weary battery of the needs charging of taking off is put into charging cabin 602, PLC controller 502 is controlled magnetic chuck 113 dead electricity, magnetic chuck 113 departs from battery, and electromagnetism pushing hands 110 is retracted fixing along objective table, PLC controller 502 is according to coordinate points and the X of storage, opto-electronic pickup 510 signals in Z-direction, control lifting mode and change the electric battery that is full of in the charging cabin 602 that electric machine people 1 aims at charging shelf unit 2, accurately battery tray is reached and the concordant position, cabin 602 of charging, the rotary angle position signal of slanted angle regulating mechanism 206 and horizontal rotary mechanism 210 is delivered to 502 storages of PLC controller simultaneously, release mechanism 112 carries out battery box release, according to color mark sensor 509 feedback signals, judge and confirm that release completes, afterwards, Y direction powers on the electromagnetism pushing hands 110 of magnetic chuck 113, magnetic chuck 113 produces electromagnetic attraction, full battery is taken out from the charging cabin 602 of charging shelf unit 2.
4) battery is installed: PLC controller 502 is controlled lifting mode and changed the position that electric machine people 1 drops to car body battery compartment, according to the anglec of rotation of the horizontal rotary mechanism 210 of storage, slanted angle regulating mechanism 206, adjust the attitude of battery tray, battery is installed in battery compartment, release mechanism carries out battery locking, according to color mark sensor 509 detection signals, judge and confirm that locking completes, PLC controller 502 is controlled magnetic chuck 113 dead electricity, magnetic chuck 113 departs from battery, electromagnetism pushing hands 110 is retracted fixing along objective table 108, single case battery changes electricity and completes;
5) repetitive process 2), 3), 4), until change all weary batteries, robot is got back to initial point standby.
Although above-mentioned, by reference to the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.

Claims (6)

1. a battery quick-change system for power-driven bus, it is characterized in that, it comprises that rechargeable battery is placed in the charging shelf unit (2) on top, at least one lifting mode that is provided with matching with charging shelf unit (2) homonymy changes electric machine people (1), and while lifting mode changes electric machine people (1) and moves along charging shelf unit (2) length direction; Lifting mode changes electric machine people (1) and from electric bus, takes off the battery that needs replacing, what give rise to top, charging shelf unit deposits battery place, to wait need to change battery and change, rechargeable battery is got after upper and dropped to the battery altering that battery altering position completes electric bus;
Described lifting mode changes electric machine people (1) and comprises robot body and main console desk (3), and wherein robot body comprises mechanics and electric control system:
Described mechanics comprises horizontal movement unit (107), article carrying platform unit and the bearing unit moving in X, Y, tri-artesian coordinates directions of Z respectively, it is upper that described bearing unit is arranged on horizontal movement unit (107), and described article carrying platform unit is arranged on described bearing unit;
Described electric control system comprises: with data acquisition unit, the power-driven mechanism that host computer system (501) is connected, wireless communication module I; Described power-driven mechanism is connected with the driving device in horizontal movement unit (107), bearing unit and article carrying platform unit in mechanics;
The wireless communication module II(513 that described main console desk (3) is provided with by it) with wireless communication module I(512) set up wireless telecommunications, according to the information of data acquisition unit, control power-driven mechanism and complete required action;
The battery-operated mechanism (109) that article carrying platform unit comprises objective table (108) and which is provided with, it is battery delivery device (207) that described battery-operated mechanism (109) is provided with the described objective table of battery delivery device (207) (108) bottom, battery delivery device (207) bottom is horizontal rotary mechanism (210), objective table (108) side is provided with slanted angle regulating mechanism (206), objective table (108) two ends are provided with support, described support is provided with many group longitudinally guiding wheels (111), many group longitudinally guiding wheels (111) are arranged along bearing unit two root posts (103) respectively,
Described battery delivery device (207) is provided with supporting traverse (211), and supporting traverse (211) is connected with battery tray; Battery delivery device (207) also comprises guide track (204), battery delivery device drive motor (208) and electromagnetism pushing hands (110);
Battery delivery device drive motor (208) is connected with the pinion and rack being provided with separately respectively with electromagnetism pushing hands (110), on the pushing hands driving surface of electromagnetism pushing hands, be equipped with two circular electromagnetic chunks, be distributed in driving surface two ends, position is corresponding with two circular iron blocks on case in battery; The pushing hands driving surface of described electromagnetism pushing hands (110) is also provided with the release mechanism matching with latching device on case in battery; Described guide track setting (204) is at battery delivery device (207) upper surface; Described guide track (204) matches with the interior case of battery, the casing of case for battery is placed in groups in described battery; Described supporting traverse (211) two ends are respectively provided with at least one ultrasonic distance-measuring sensor (205) and at least one pressure sensor (202), and described pressure sensor (202) is positioned at ultrasonic distance-measuring sensor (205) inner side;
Described slanted angle regulating mechanism comprises the gear arc-shaped rack (302) that is arranged on objective table (108) one end, the tilt drive motor being connected with it (303), described slanted angle regulating mechanism is also provided with titling axis (301), titling axis (301) is arranged on the rotating bottom board I(401 of horizontal rotary mechanism) upper, tilt drive motor (303) driving objective table (108) carries out tilt operation around titling axis (301);
Described horizontal rotary mechanism comprises: rotating bottom board I(401), base plate II(402), rotating bottom board I(401) by connecting rod (405), be connected with feed screw nut (406), feed screw nut (406) is arranged on leading screw (405), leading screw (405) is connected with horizontal drive motor (404), and horizontal drive motor (404) is by promoting connecting rod (405) driven rotary base plate I(401) around feathering axis (403), horizontally rotate;
Described host computer system (501) is also communicated by letter with robot wireless remote controller.
2. battery quick-change system for power-driven bus as claimed in claim 1, it is characterized in that, described bearing unit comprises the door type structure being comprised of entablatrance (101), cross sill (104) and two root posts (103), described entablatrance (101) is provided with two groups of guide rollers (114), and between described two groups of guide rollers (114), clamping has the sky rail (102) being arranged on charging shelf unit (2); On described sky rail (102), be provided with for the wiping wire casing of equipment power-extracting and recognize location sheet for the level of horizontal direction station addressing; Described two root posts (103) are provided with at least one group of motor-driven capstan winch, on described capstan winch, are wound with steel rope, and the lower end of steel rope is connected on article carrying platform unit; What described at least one root post (103) was provided with vertical direction addressing longitudinally recognizes location sheet.
3. battery quick-change system for power-driven bus as claimed in claim 1, it is characterized in that, described horizontal movement unit (107) comprising: both sides all have roller and the follower rollers of wheel rim, the track (105) being connected with the cross sill (104) of bearing unit, and track (105) end is provided with spacing collision block (106), described roller is connected with motor reducer with follower rollers, and described motor reducer arranges the cross sill (104) of bearing unit and goes up and be connected with horizontal motion servomotor.
4. battery quick-change system for power-driven bus as claimed in claim 1, is characterized in that, described host computer system (501) is industrial computer I and PLC controller (502), and described PLC controller (502) communicates to connect by Industrial Ethernet with industrial computer I;
Described data acquisition unit comprises ultrasonic transduter (508), opto-electronic pickup (510), color mark sensor (509), DMP position transduser (511); Described ultrasonic transduter (508), color mark sensor (510), DMP position transduser (511) are arranged in electromagnetism pushing hands (110); Described opto-electronic pickup (510) is arranged on entablatrance (101) and column (103) is upper, for the location to robot X-axis and Z-direction;
Described power-driven mechanism comprises 6 servo-drivers (505), the servo-driver of described 6 motors (505) respectively with horizontal movement unit (107), article carrying platform unit and bearing unit, horizontal rotary mechanism (210), slanted angle regulating mechanism (206), corresponding servomotor in tripper (112) connects, the axle of each described servomotor is provided with coder, and the signal output part of coder is connected with PLC controller; In horizontal movement unit, the zero-point positioning of working in article carrying platform unit and bearing unit place is provided with limit switch simultaneously, and limit switch is connected with PLC controller.
5. battery quick-change system for power-driven bus as claimed in claim 1, it is characterized in that, described main console desk (3) comprises cabinet, described cabinet inner bottom part is equipped with industrial computer II, the cabinet front first half is provided with resistive touch screen, the cabinet back side is provided with wireless communication module II(513), on described cabinet, the below of touch-screen is provided with running LED and scram button, described resistive touch screen and wireless communication module II(513) be connected by network interface with industrial computer II, described running LED and scram button are connected by level shifting circuit plate and industrial computer II's.
6. adopt battery quick-change system for power-driven bus claimed in claim 1 to change a method for electrically, it is characterized in that, comprise the following steps:
1) initialization: after system powers on, issue reset instruction by host computer system (501) or main console desk (503) or wireless remote controller, seek zero after each axle that lifting mode changes electric machine people (1) triggers limit switch, get back to origin position;
2) unload battery: vehicle safety is stopped to specify and changed behind electric region, lifting mode changes electric machine people (1) and crosses according to the coordinate points information exchange of storage the setting that host computer system (501) or robot main console desk (503) or wireless remote controller are moved horizontally to appointment, according to DMP position transduser (511), ultrasonic transduter I(508) signal is adjusted battery tray attitude, accurately battery tray is reached and the concordant position of docking of car body battery compartment, simultaneously, by horizontal rotary mechanism (210), the rotary angle position signal of slanted angle regulating mechanism (206) is delivered to PLC controller (502) storage, according to color mark sensor (509) feedback signal, judge and be confirmed whether that release completes, after release success, utilize the magnetic chuck (113) in electromagnetism pushing hands (110) in article carrying platform unit that battery is taken out from the battery compartment of car body,
3) fetching battery: PLC controller (502) changes electric machine people (1) rising according to the coordinate points of storage and opto-electronic pickup (510) control, according to DMP position transduser (511), ultrasonic transduter I(508) signal adjustment battery tray attitude, accurately battery is sent into charging cabin (602); Then PLC controller (502) changes electric machine people (1) according to the coordinate points of storage and opto-electronic pickup (510) control, according to DMP position transduser (511), ultrasonic transduter I(508) signal adjustment battery tray attitude, the battery being full of in another charging cabin is taken off;
4) battery is installed: PLC controller (502) is controlled lifting mode and changed the position that electric machine people (1) drops to car body battery compartment, according to the anglec of rotation of the horizontal rotary mechanism (210) of storage, slanted angle regulating mechanism (206), adjust the attitude of battery tray, battery is installed in battery compartment, according to color mark sensor detection signal, judge and confirm that locking completes, PLC controller (502) is controlled magnetic chuck (113) dead electricity, magnetic chuck (113) departs from battery, electromagnetism pushing hands (110) is retracted fixing along objective table, single case battery changes electricity and completes;
5) repetitive process 2), 3), 4), until change all weary batteries, lifting mode changes electric machine people (1) and gets back to initial point standby.
CN201210074512.3A 2012-03-20 2012-03-20 System and method for quickly replacing electric bus batteries Active CN102602372B (en)

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Inventor after: Fu Mengchao

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