CN102717778B - Chassis battery change system for electric passenger cars and method of the system - Google Patents

Chassis battery change system for electric passenger cars and method of the system Download PDF

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Publication number
CN102717778B
CN102717778B CN201210222438.5A CN201210222438A CN102717778B CN 102717778 B CN102717778 B CN 102717778B CN 201210222438 A CN201210222438 A CN 201210222438A CN 102717778 B CN102717778 B CN 102717778B
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China
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battery
robot
platform
gear
quick change
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CN201210222438.5A
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Chinese (zh)
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CN102717778A (en
Inventor
赵金龙
王鑫
戚晖
王同斌
黄德旭
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山东电力集团公司电力科学研究院
国家电网公司
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Priority to CN201210222438.5A priority Critical patent/CN102717778B/en
Publication of CN102717778A publication Critical patent/CN102717778A/en
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Abstract

The invention discloses a chassis battery change system for electric passenger cars. The chassis battery change system comprises a rapid change robot, a battery change platform, a transfer platform, a background monitoring system, a stacking machine and a charging frame, wherein the transfer platform, the stacking machine and the charging frame are arranged on one side of the battery change platform; the rapid change robot is arranged between the battery change platform and the transfer platform; an electric passenger car is capable of passing through the battery change platform; a locking mechanism which corresponds to a battery box supported by the rapid change robot is arranged on the electric passenger car; and the background monitoring system is connected with the rapid change robot and the stacking machine respectively through an industrial Ethernet. At the same time, the invention also discloses a using method of the system. A mechanical positioning mechanism of the battery change platform is simple, correct in positioning and low in manufacturing cost; a hydraulic lifting mechanism is used in the rapid change robot, so that the whole change process is reliable and stable, the size of the change equipment is decreased effectively and the actual occupied area of the change system is saved; and the transfer platform is used as a battery change interaction link between the rapid change robot and the stacking machine, so that the time spent by the battery change is further shortened.

Description

A kind of chassis of electric passenger vehicle battery change system and method
Technical field
Patent of the present invention relates to a kind of electric automobile chassis battery replacing robot, particularly a kind of chassis of electric passenger vehicle battery change system and the method for electric passenger vehicle battery automatic clamping and placing.
Background technology
Electronlmobil is as a kind of new traffic tool, there is the advantages such as " zero-emission ", energy source be wide, being to alleviate China's oil resource anxiety, important means that urban atmospheric pollution problem is serious, is to advance transport development mode to change, the effective carrier of propulsion energy-saving emission reduction work.But the hysteresis of battery technology and charging technique becomes the bottleneck of latent electricity electrical automobile industry development, national governments and enterprise work hard and improve the supporting infrastructure service industry of electronlmobil.At present, electric automobile energy supply mainly contains charging and changes two kinds of patterns of electricity.The charging duration that charging needs is longer, and large current charge is larger on battery impact, and easily distributing net is produced to harmonic pollution, and this pattern has larger drawback.In contrast to this, change electricity simple to operate, by specialized industrial robot can realize electric energy fast, efficiently supplement, can utilize the concentrated charging of carrying out battery night simultaneously, realize " peak-clipping and valley-filling " of electric load, improve the comprehensive utilization ratio of electrical equipment, obtained the generally accreditation of electronlmobil producer, battery enterprise and Chong Huan electricity operator.
The patent of invention that China national Department of Intellectual Property number of patent application is CN201110042565.2 discloses a kind of electric passenger vehicle dynamic battery fast-replacing system, the horizontal and vertical detent mechanism of this system adopts the positioning towed mode of motor, cause system equipment high expensive, use conveyer to carry out the transmission dispensing of electrokinetic cell simultaneously, battery transmission & distribution can expend the plenty of time on the one hand, on the other hand due to battery volume and quality larger, in transmitting procedure, easily occur to break away dangerous.Number of patent application is that the patent of invention of CN201010297770.9 discloses electric passenger vehicle battery replacement device and changed electric system, this system battery more changing device is multi-shaft rotary industrial robot, its occupation area of equipment is larger, secondly, because battery quality is larger, cause mechanical arm output to support moment of torsion larger.More in changing device, do not design battery lock mechanism, equipment is in integral-rotation process simultaneously, and landing phenomenon easily appears in battery, and then affects the normal service life of battery.
State Intellectual Property Office's number of patent application is the battery change method that 201110091321.3 patent of invention discloses a kind of battery-driven car, battery change system and battery carrier thereof, this battery change system comprises fixing battery carrier, ferry bus, piler and manipulator, system conversion method is that piler taking-up has battery to move to ferry bus place, to there is battery to be put on ferry bus, manipulator takes out putting on ferry bus without battery on battery-driven car, ferry bus is carrying battery and is moving a station without battery, and with manipulator contraposition, and manipulator will have electric cell apparatus in car body on ferry bus.Patent of the present invention is using ferry bus as the platform that has or not battery transfer, control system logic is more complicated on the one hand, increased system cost input, ferry bus must repeatedly be located and coordinate with piler and manipulator in course of action on the other hand, has strengthened the difficulty of battery altering location.
Therefore, a whole set of economy, stable electric passenger vehicle battery change system and replacing method need be provided, realize electric passenger vehicle fast, safety, energy recharge accurately, meet the daily demand of travelling of electric passenger vehicle, promote electronlmobil commercialization and industrialized development.
Summary of the invention
Object of the present invention is exactly the above-mentioned defect in order to overcome prior art, and a kind of quick, safe and reliable chassis of electric passenger vehicle battery change system and method are provided.Can realize the accurate location of electric manned vehicle to be changed by changing the mechanical guide mechanism of level platform, can realize Quick change robot and the electric electric passenger vehicle to be changed real-time Communication for Power about battery locking data message by wireless transport module, facilitate Quick change robot to electric passenger vehicle battery accurately, dismounting and installation, design by two-stage type hydraulic telescopic machanism, effectively reduce body height and the volume of Quick change robot, save the floor area of the system of changing, battery transmission by battery transfer platform is mutual, realize the linking of Quick change robot and piler battery altering, greatly shorten the time of changing system battery Renewal process, meet electric passenger vehicle quick, the energy supplements timely, can realize the real-time monitoring of background monitoring system to Quick change robot and piler running state by Industrial Ethernet, guarantee that electronlmobil fills the accurate of electrical changing station battery altering process, safety and stable.
In order to realize foregoing, the technical scheme that patent of the present invention adopts is:
A kind of chassis of electric passenger vehicle battery change system, it comprises Quick change robot, changes level platform, transfer platform, background monitoring system, piler and charging rack, described transfer platform, piler and charging rack are all arranged at and change level platform one side; Described Quick change robot is in changing between level platform and transfer platform, described in change on level platform and can pass through electric passenger vehicle, described electric passenger vehicle is provided with the lockable mechanism corresponding with battery box that Quick change robot holds in the palm; Described background monitoring system is connected with piler with Quick change robot respectively by Industrial Ethernet.
Described Quick change robot comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are connected setting from down to up successively; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are all connected with control system.
Described straight walking mechanism is positioned at the bottom of Quick change robot, comprises pulley, universal coupling, belt, the first servomotor, the first reductor and base; Pulley is arranged at base bottom, and the first servomotor and the first reductor are arranged at base top; Wherein, two pulleys of front end are robot engine installation, and two pulleys connect by one group of universal coupling; Two of rear ends pulley is hunting gear, and these two pulleys connect by another group universal coupling; The first servomotor is connected with the first supporting reductor expansion set, and the first reductor is connected with the pulley as engine installation by belt, realizes the power transmission of reductor and pulley by belt, and drive pulley is straight line moving on slide rail.
The first photoelectric switch is arranged in described straight walking mechanism lower end, described three the first photoelectric switchs coordinate with initial point catch and former and later two limit catch successively, offer PLC control system location switch signal, realize the former point search of robot and reset, and stop its operation of crossing the border; Described front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail of laying, and initial point catch is positioned in the middle of the limit catch of front and back.
Described hydraulic lifting lifting mechanism is positioned at the top of straight walking mechanism base, comprises two hydraulically extensible cylinders; One-level hydraulic actuating cylinder is positioned at the bottom of two-stage hydraulic cylinder, and after one-level hydraulic actuating cylinder stretches out completely, two-stage hydraulic cylinder is carried out fore and aft motion; I and II hydraulic actuating cylinder one side welding beam be furnished with anti-rotation beam respectively, anti-rotation beam coordinates with two anti-rotating holes that are positioned on one-level hydraulic actuating cylinder welding beam and base welding beam, prevents that battery is with the rotation in hydraulic gear lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar, coder, catch and the first approach switch; Described catch matches with the first approach switch, and the first approach switch is arranged at the bottom of one-level hydraulic actuating cylinder welding beam, and when one-level hydraulic actuating cylinder stretches out completely, catch triggers the first approach switch, and two-stage hydraulic cylinder starts fore and aft motion; The tooth bar being positioned on two-stage hydraulic cylinder side engages with coder by gear, obtains two-stage hydraulic cylinder rise height by calculation code device revolution, and coder is connected with PLC control system, and PLC control system starts high-speed counting.
Described angle deviation correction mechanism is positioned at the upper end of hydraulic lifting mechanism, comprise mounting flange, large and small gear, the second servomotor and the second reductor, mounting flange is installed on the two-stage hydraulic cylinder of described hydraulic lifting mechanism, the second servomotor, the second reductor, large and small gear is arranged on mounting flange successively, and miniature gears is installed in the second servomotor upper end, and big gear wheel is installed on two-stage hydraulic cylinder, the engagement of size gear mechanism, coordinates rotation with the second driven by servomotor.
Described big gear wheel lower end is furnished with catch, arranges three the second approach switchs on mounting flange; Big gear wheel triggers successively rotation Derivative limit on the left or on the right, former reset on-off signal in rotary course.
Described angle deviation correction mechanism upper end is provided with battery tray, and big gear wheel rotation center is concentric with battery tray center of gravity.Four limiting stoppers are installed in battery tray, with electric electric passenger vehicle battery outer container to be changed four of bottoms projection coupling, can realize battery outer container fine position and reliable fixing.
Ultrasonic range finder sensor and DMP sensor are installed in described battery tray; Ultrasonic range finder sensor is for measuring the distance of battery tray to electric manned vehicle to be changed chassis; DMP sensor coordinates with the reflector being installed on electric manned vehicle to be changed chassis, searches and calculates reflector target position, obtains the level angle deviation of changing electric machine people and electric manned vehicle to be changed.
Described straight walking mechanism, hydraulic lifting mechanism interlock, while only having Quick change robot straightaway and vertical lifting to arrive desired location, angle deviation correction mechanism just starts action, only has the battery tray on angle deviation correction mechanism to produce a desired effect, and hydraulic lifting mechanism is just restarted.
Described straight walking mechanism, angle deviation correction mechanism adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and actuator is returned in the motor rotation information transmission of collection by coder, forms the control of mode position closed-loop.
Described control system is the core of Quick change robot action control, comprises touch-screen, wireless communication module, Omron PLC controller, A/D module, D/A module; Wireless communication module is by serial ports RS485 and touch panel communication, and Omron PLC controller is by serial ports RS232 and touch panel communication, and touch-screen is communicated by letter with background monitoring system by Industrial Ethernet; Ultrasonic range finder sensor, DMP sensor, hydraulic proportional flow valve, each coder, approach switch, photoelectric switch all with PLC controller real-time data transport communication.
Described ultrasonic range finder sensor is connected with the A/D module in control system with DMP sensor, the analog signal of sensor collection is converted into digital signal, and sends control system to.
Described hydraulic proportional flow valve is connected with the D/A module in PLC control system, and the digital controlled signal of control system is converted into analogue flow rate control information, realizes the speed control to hydraulic lifting mechanism.
Described each coder is connected with the A/D module of PLC control system, coder gathers the rise height of two-stage hydraulic cylinder single rack, obtain two-stage hydraulic cylinder lifting distance through calculating, this data feedback, to control system, is formed to the closed-loop control in lifting process.
Described approach switch is connected with the Omron PLC controller in PLC control system with photoelectric switch, the end position information of the each degree of freedom of real-time Transmission Quick change robot, the interrupt mode of Triggering Control System and high-speed counting pattern, realize accurate, the quick action of Quick change robot in specialized range.
The described level platform that changes, for the replacing of chassis of electric passenger vehicle battery provides workplatform, can carry 2.5 tons of load weights.Changing level platform is the trapezoidal high platform structure of a hollow out, and centre is left oblong electric passenger vehicle and changed electric operation hole, and entirety adopts metal solder to form, and changes between level platform and ground and has leveling device.
The described level platform that changes comprises mechanical detent mechanism, comprises outer coarse positioning mechanism, precision positioning mechanism and V-type groove detent mechanism; Outer coarse positioning mechanism is arranged on the dual-side that changes level platform upper surface, and outer coarse positioning mechanism is that a plastic roller embeds rigid track configuration, and its upper end is connected with precision positioning mechanism contact; Precision positioning mechanism also adopts same mechanical structure, can realize electric electric passenger vehicle grade longitudinal register to be changed; V-type groove detent mechanism is a low early and high after location structure, can realize tram body grade located lateral to be changed; V-type groove detent mechanism is arranged at the precision positioning mechanism inner side of the trapezoidal upper platform that changes level platform; This machinery detent mechanism can be realized tram body prosthetic to be changed and guide accurate positioning requirements, meets chassis of electric passenger vehicle battery change system and changes electric demand.
Described lockable mechanism is quadruplet, comprises frame, motor, motor reducer, control desk, gear system; Motor is installed in frame, and motor is connected with gear system by motor reducer; Gear system comprises gear mesh and rotating shaft, gear mesh is the gear that is connected to the motor gear of motor reducer mouth and is connected with rotating shaft, rotating shaft is connected with gear and hook respectively, be provided with at least one axial limiter at the axle head of rotating shaft, rotating shaft is arranged on rotating shaft mount pad, and rotating shaft mount pad is in frame; On mount pad, be provided with two group of the 3rd approach switch, the 3rd approach switch is connected with lockable mechanism control desk.
On described lockable mechanism control desk, embed wireless communication module, its wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in Quick change robot, can issue the release of lockable mechanism automatic or manual and locking order by background monitoring system.
Described battery box comprises armor plate, battery and battery connector; On armor plate, four U-shaped grooves of both sides welding, install on groove and hang pin, hang the upper installing sleeve of pin, are convenient to the rotation of lockable mechanism latch hook and articulate; Armor plate is welded with guide finger on three angles, can play the effect of the spacing correction of battery box, realizes accurately putting in place of battery box.
Described transfer platform Turnoverplatform, it is welded as portal frame construction, meets the load-bearing requirement of battery weight; The inner both sides of described portal frame have been bolted respectively L-type bearing beam, and cell support plate is bolted on L-type bearing beam; Four limiting stoppers are housed on stay bearing plate, can realize battery box positional deviation correction and fixing.
Described background monitoring system is the core of whole battery change system, real time data by Industrial Ethernet and Quick change robot and piler is mutual, has coordination and changes the functions such as the step action of electric machine people and piler, abnormal condition processing and man-machine interaction.
The using method of chassis of electric passenger vehicle battery change system, comprises the following steps:
1, power on, the former point search of chassis of electric passenger vehicle battery change system Quick change robot and piler resets;
2, vehicle reaches and changes level platform, in conjunction with the traction of changing electric Platform Machinery detent mechanism, realizes cross-car and longitudinal accurate location;
3, piler takes off new battery from battery charging rack, moves to battery transfer platform one side and waits for; Detect in conjunction with DMP sensor region, Quick change robot completes behind X/Y direction location, the process that robot rises is utilized after the output of ultrasonic range finder sensor and the output difference computing of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stops rising when hydraulic gear is lifted to desired location;
4, the control desk of lockable mechanism judges the state of 4 locks, and after release completes, transmission release settling signal is to background monitoring system;
5, Quick change robot takes off used batteries, adjusts different degree of freedom direction attitudes according to fixed position, runs to transfer platform bottom, and weary battery is put on transfer platform top layer along X-axis guide rail;
6, Robot Z axis drops to transfer platform bottom, and background monitoring system drives the piler action in wait state, will expire battery and be put in Quick change robot battery tray;
7, piler takes off weary battery from transfer platform top, and is put in stationary battery charging rack unit, and then completes exiting with initial point of piler and reset; , according to the car body position of background control system storage, detect in conjunction with DMP sensor and ultrasonic range finder sensor car body real-time position information, Quick change robot carries out three degree of freedom mechanical servo, realizes fixed position and accurately puts in place meanwhile;
8, Quick change robot triggers locking signal, and after locking, Quick change robot exits, and completes initial point and resets;
9, battery altering process finishes, and vehicle sails out of Huan electricity district.
The invention has the beneficial effects as follows: change electric Platform Machinery detent mechanism simple, accurate positioning, and cheap; Hydraulic lifting mechanism applies in Quick change robot, and whole Renewal process is reliable and stable, effectively reduces the more size of exchange device simultaneously, saves the actual floor area of replacing system; Transfer platform, as the mutual tie of Quick change robot and piler battery altering, has further shortened the spent time of battery altering.
Can realize the accurate location of electric manned vehicle to be changed by changing the mechanical guide mechanism of level platform, can realize Quick change robot and the electric electric passenger vehicle to be changed real-time Communication for Power about battery locking data message by wireless transport module, facilitate Quick change robot to electric passenger vehicle battery accurately, dismounting and installation, design by hydraulic telescopic machanism, effectively reduce body height and the volume of Quick change robot, save the floor area of the system of changing, battery transmission by battery transfer platform is mutual, realize the linking of Quick change robot and piler battery altering, greatly shorten the time of changing system battery Renewal process, meet electric passenger vehicle quick, the energy supplements timely, can realize the real-time monitoring of background monitoring system to Quick change robot and piler running state by Industrial Ethernet, guarantee that electronlmobil fills the accurate of electrical changing station battery altering process, safety and stable.
Brief description of the drawings
Fig. 1 is the structural representation of electric passenger vehicle battery change system in inventive embodiments;
Fig. 2 is the system authority left view of Quick change robot;
Fig. 3 is the system authority front view of Quick change robot;
Fig. 4 is Quick change robot control system block diagram;
Fig. 5 is the structural representation that changes level platform;
Fig. 6 is the structural representation of electric passenger vehicle lockable mechanism;
Fig. 7 is the structural representation of electric passenger vehicle battery box;
Fig. 8 is the structural representation of transfer platform.
In figure: 101, Quick change robot, 102, change level platform, 103, electric passenger vehicle, 104, transfer platform, 105, piler, 106, charging rack, 201, straight walking mechanism, 202, hydraulic lifting mechanism, 203, angle deviation correction mechanism, 204, universal coupling, 205, tooth bar, 206, coder, 301, pulley, 302, belt, 303, the first servomotor, 304, the first reductor, 305, base, 306, one-level hydraulic actuating cylinder, 307, two-stage hydraulic cylinder, 308, mounting flange, 309, large miniature gears, 310, the second servomotor, 311, the second reductor, 312, battery tray, 313, limiting stopper, 401, control system, 402, touch-screen, 403, wireless communication module, 404, Omron PLC controller, 405, A/D module, 406, D/A module, 407, background monitoring system, 408, ultrasonic range finder sensor, 409, DMP sensor, 410, hydraulic proportional flow valve, 411, coder, 412, approach switch, 413, photoelectric switch, 501, outer coarse positioning mechanism, 502, precision positioning mechanism, 503, V-type groove detent mechanism, 504, roller, 601, support, 602, motor, 603, gear system, 604, gear mesh, 605, rotating shaft, 606, hook, 701, armor plate, 702, battery, 703, battery connector, 704, U-shaped groove, 705, guide finger, 801, bolt, 802, cell support plate, 803, L-type bearing beam.
Detailed description of the invention
Below in conjunction with accompanying drawing and embodiment, the present invention will be further described.
With reference to explanation accompanying drawing 1, the structural representation of electric passenger vehicle battery change system in the embodiment of the present invention, chassis of electric passenger vehicle battery change system and method, comprise Quick change robot 101, change level platform 102, electric passenger vehicle 103, transfer platform 104, background monitoring system 407, piler 105 and the several component parts of charging rack 106.
With reference to explanation accompanying drawing 2 and 3, system authority left view and the front view of Quick change robot, described Quick change robot 101 comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism 201, hydraulic lifting mechanism 202 and angle deviation correction mechanism 203.
Described straight walking mechanism 201 is positioned at the bottom of Quick change robot 101, comprises several parts such as pulley 301, universal coupling 204, belt 302, the first servomotor 303, the first reductor 304 and base 305; Two pulleys of front end are robot engine installation, are connected with one group of universal coupling, and two of rear ends pulley is hunting gear; The first servomotor 303 is connected with the first supporting reductor 304 expansion sets, realizes the power transmission of the first reductor 304 and pulley 301, drive pulley 301 straight line moving on slide rail by belt.
Described straight walking mechanism 301 lower ends are furnished with three photoelectric switchs, coordinate successively with initial point catch and former and later two limit catch, offer PLC control system 401 location switch signals, realize the former point search of robot and reset, and stop its operation of crossing the border; Described front limit catch, initial point catch and rear limit catch are arranged in order along the line slide rail of laying, and initial point catch is positioned in the middle of the limit catch of front and back.
Described hydraulic lifting lifting mechanism 202 is positioned at the top of straight walking mechanism 201 bases, comprises two hydraulically extensible cylinders; One-level hydraulic actuating cylinder 306 is positioned at the bottom of two-stage hydraulic cylinder 307, and after one-level hydraulic actuating cylinder 306 stretches out completely, two-stage hydraulic cylinder 307 is carried out fore and aft motion; I and II hydraulic actuating cylinder one side welding beam be furnished with anti-rotation beam respectively, anti-rotation beam coordinates with two anti-rotating holes that are positioned on one-level hydraulic actuating cylinder welding beam and base welding beam, prevents that battery is with the rotation in hydraulic gear 202 lifting process; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar 205, coder 206, catch and the first approach switch; Catch matches with approach switch, and the first approach switch is arranged at the bottom of one-level hydraulic actuating cylinder welding beam, and when one-level hydraulic actuating cylinder 306 stretches out completely, catch triggers the on-off signal of approach switch, and two-stage hydraulic cylinder 307 starts fore and aft motion; The tooth bar 205 being positioned on two-stage hydraulic cylinder 307 sides engages with coder 206 by gear, obtains two-stage hydraulic cylinder 307 rise heights by calculation code device 206 revolutions; Coder 206 is connected with PLC control system 401, and PLC control system 401 starts high-speed counting.
Described angle deviation correction mechanism 203 is positioned at the upper end of hydraulic lifting mechanism 202, comprises several parts such as mounting flange 308, large miniature gears 309, the second servomotor 310 and the second reductor 311.Mounting flange 308 is installed on two-stage hydraulic cylinder 307, the second servomotor 310, the second reductor 311, large miniature gears 309 are arranged on mounting flange 308 successively, miniature gears is installed in the second servomotor 310 upper ends, on two-stage hydraulic cylinder 307, big gear wheel is installed, the engagement of size gear mechanism, drives and coordinates rotation with the second servomotor 310.
Described big gear wheel lower end is furnished with catch, arranges three the second approach switchs on mounting flange 308; Big gear wheel triggers successively rotation Derivative limit on the left or on the right, former reset on-off signal in rotary course, guarantees big gear wheel spinning movement within the limits prescribed.
Described angle deviation correction mechanism 203 upper ends are provided with battery tray 312, and big gear wheel rotation center is concentric with battery tray 312 centers of gravity.In battery tray, 312 are provided with four limiting stoppers 313, with electric electric passenger vehicle four of 103 battery outer container bottoms projection coupling to be changed, can realize battery outer container fine position and reliable fixing.
Ultrasonic range finder sensor 408 and DMP sensor 409 are installed in described battery tray 312; Ultrasonic range finder sensor 408 is for measuring the distance of battery tray 312 to electric manned vehicle to be changed chassis; DMP sensor 409 coordinates with the reflector being installed on electric manned vehicle to be changed chassis, searches and calculates reflector target position, obtains the level angle deviation of changing electric machine people 101 and electric manned vehicle to be changed.
Described straight walking mechanism 201, hydraulic lifting mechanism 202 link, while only having Quick change robot 101 straightawaies and vertical lifting to arrive desired location, angle deviation correction mechanism 203 just starts action, only have the battery tray 312 on angle deviation correction mechanism 203 to produce a desired effect, hydraulic lifting mechanism 202 is just restarted.
Described straight walking mechanism 201, angle deviation correction mechanism 203 adopt driven by servomotor, and drive motor is connected with corresponding coder, and each coder is connected with corresponding actuator; Actuator sends position pulse signal to servomotor, and actuator is returned in the motor rotation information transmission of collection by coder, forms the control of mode position closed-loop.
With reference to explanation accompanying drawing 4, Quick change robot control system block diagram, described PLC control system 401 is the core of Quick change robot 101 action controls, comprises touch-screen 402, wireless communication module 403, Omron PLC controller 404, A/D module 405, D/A module 406 etc.; Wireless communication module 403 is communicated by letter with touch-screen 402 by serial ports RS485, and Omron PLC controller 404 is communicated by letter with touch-screen 402 by serial ports RS232, and touch-screen 402 is communicated by letter with background monitoring system 407 by Industrial Ethernet; Ultrasonic range finder sensor 408, DMP sensor 409, hydraulic proportional flow valve 410, each coder 411, approach switch 412, photoelectric switch 413 etc. are communicated by letter with PLC control system 401 real-time Data Transmission.
Described ultrasonic range finder sensor 408 is connected with the A/D module 405 in PLC control system 401 with DMP sensor 409, the analog signal of sensor collection is converted into digital signal, and sends PLC control system 401 to.
Described hydraulic proportional flow valve 410 is connected with the D/A module 406 in PLC control system 401, and the digital controlled signal of PLC control system 401 is converted into analogue flow rate control information, realizes the speed control to hydraulic lifting mechanism 202.
Described coder is connected with the A/D module 405 of PLC control system 401, coder 411 gathers the rise height of two-stage hydraulic cylinder 307 single racks, obtain two-stage hydraulic cylinder 307 lifting distances through calculating, this data feedback, to PLC control system 401, is formed to the closed-loop control in lifting process.
Described approach switch 412 is connected with the Omron PLC controller 404 in PLC control system 401 with photoelectric switch 413, the end position information of real-time Transmission Quick change robot 101 each degree of freedom, trigger interrupt mode and the high-speed counting pattern of PLC control system 401, realize accurate, the quick action of Quick change robot 101 in specialized range.
The described level platform 102 that changes, for the replacing of electric passenger vehicle 103 chassis batteries provides workplatform, can carry 2.5 tons of load weights.Changing level platform 102 is the trapezoidal high platform structure of a hollow out, and centre is left oblong electric passenger vehicle 103 and changed electric operation hole, adopts metal welding techniques, between platform and ground, has leveling device.
With reference to explanation accompanying drawing 5, change the structural representation of level platform, described in change level platform 102 and comprise mechanical detent mechanism, comprise outer coarse positioning mechanism 501, precision positioning mechanism 502 and V-type groove detent mechanism 503; Outer coarse positioning mechanism 501 is connected with precision positioning mechanism 502 contacts, is that a plastic roller 504 embeds rigid track configuration, can realize electric electric passenger vehicle 103 grade longitudinal registers to be changed; V-type groove detent mechanism 503 is a low early and high after location structure, can realize tram body grade located lateral to be changed; This machinery detent mechanism can be realized tram body prosthetic to be changed and guide accurate positioning requirements, meets electric passenger vehicle 103 chassis battery change systems and changes electric demand.
With reference to explanation accompanying drawing 6 and 7, the structural representation of the structural representation of electric passenger vehicle lockable mechanism and electric passenger vehicle battery box, described electric passenger vehicle 103 comprises lockable mechanism, battery box etc.
Described lockable mechanism is quadruplet, comprises frame 601, motor 602, motor reducer, control desk, gear system 603 and other mechanical connection mechanism; Motor 602 is installed in frame 601, and motor 602 is connected with gear system 603 by motor reducer; Gear system 603 comprises gear mesh 604 and rotating shaft 605, the gear of gear mesh 604 for being connected to the motor gear of motor reducer mouth and being connected with rotating shaft 605, rotating shaft 605 is connected with gear and hook 606 respectively, be provided with at least one axial limiter at the axle head of rotating shaft 605, rotating shaft 605 is arranged on rotating shaft mount pad, and rotating shaft mount pad is in frame 601; On mount pad, be provided with two groups of approach switchs, approach switch is connected with lockable mechanism control desk.
On described lockable mechanism control desk, embed wireless communication module, its wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in Quick change robot, can issue the release of lockable mechanism automatic or manual and locking order by background monitoring system.
Described battery box comprises armor plate 701, battery 702 and battery connector 703; On armor plate 701, four U-shaped grooves 704 of both sides welding, install on groove and hang pin, hang the upper installing sleeve of pin, are convenient to the rotation of lockable mechanism latch hook and articulate; Armor plate is welded with guide finger 705 on three angles, can play the effect of the spacing correction of battery box, realizes accurately putting in place of battery box.
With reference to explanation accompanying drawing 8, the structural representation of transfer platform, described transfer platform 104 adopts lead frame structure, meets the load-bearing requirement of battery weight; L-type structure is fixed on framework both sides by bolt 801, and cell support plate 802 is fixed on L-type bearing beam 803 by bolt 801; Four limiting stoppers are housed on stay bearing plate, can realize battery box positional deviation correction and fixing.
Described background monitoring system 407 is cores of whole battery change system, real time data by Industrial Ethernet and Quick change robot 101 and piler 105 is mutual, has coordination and changes the functions such as the step action of electric machine people 101 and piler 105, abnormal condition processing and man-machine interaction.
The invention has the beneficial effects as follows: change electric Platform Machinery detent mechanism simple, accurate positioning, and cheap; Hydraulic lifting mechanism applies in Quick change robot, and whole Renewal process is reliable and stable, effectively reduces the more size of exchange device simultaneously, saves the actual floor area of replacing system; Transfer platform, as the mutual tie of Quick change robot and piler battery altering, has further shortened the spent time of battery altering.
Above exemplary illustration, does not do concrete restriction to protection scope of the present invention, within the equivalents of its technical characterictic and/or obvious mode of texturing should drop on protection scope of the present invention.

Claims (5)

1. a chassis of electric passenger vehicle battery change system, is characterized in that, it comprises Quick change robot, changes level platform, transfer platform, background monitoring system, piler and charging rack, and described transfer platform, piler and charging rack are all arranged at and change level platform one side; Described Quick change robot is in changing between level platform and transfer platform, described in change on level platform and can pass through electric passenger vehicle, described electric passenger vehicle is provided with the lockable mechanism corresponding with battery box that Quick change robot holds in the palm; Described background monitoring system is connected with piler with Quick change robot respectively by Industrial Ethernet;
Described Quick change robot comprises the degree of freedom of X-axis, Z axis, three directions of R axle, is followed successively by straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are connected setting from down to up successively; Described straight walking mechanism, hydraulic lifting mechanism and angle deviation correction mechanism are all connected with control system;
Described straight walking mechanism comprises pulley, universal coupling, belt, the first servomotor, the first reductor and base; Pulley is arranged at base bottom, and the first servomotor and the first reductor are arranged at base top; Wherein, two pulleys of front end are robot engine installation, and two pulleys connect by one group of universal coupling; Two of rear ends pulley is hunting gear, and these two pulleys connect by another group universal coupling; The first servomotor is connected with the first supporting reductor expansion set, and the first reductor is connected with the pulley as engine installation by belt;
Described hydraulic lifting mechanism is positioned at the top of straight walking mechanism base, comprises two-stage hydraulic cylinder setting up and down and one-level hydraulic actuating cylinder; I and II hydraulic actuating cylinder one side welding beam be furnished with anti-rotation beam respectively, coordinates with two anti-rotating holes that are positioned on one-level hydraulic actuating cylinder welding beam and base welding beam; I and II hydraulic actuating cylinder opposite side is respectively arranged with tooth bar, coder, catch and the first approach switch, described catch matches with the first approach switch, the first approach switch is arranged at the bottom of one-level hydraulic actuating cylinder welding beam, and the tooth bar being positioned on two-stage hydraulic cylinder side engages with coder by gear;
Described angle deviation correction mechanism is positioned at the upper end of hydraulic lifting mechanism, angle deviation correction mechanism comprises mounting flange, large and small gear, the second servomotor and the second reductor, mounting flange is installed on the two-stage hydraulic cylinder of described hydraulic lifting mechanism, the second servomotor, the second reductor, large and small gear is arranged on mounting flange successively, miniature gears is installed in the second servomotor upper end, big gear wheel is installed on two-stage hydraulic cylinder, and big or small gear mechanism engagement, coordinates rotation with the second driven by servomotor; Angle deviation correction mechanism upper end is provided with battery tray, and big gear wheel rotation center is concentric with battery tray center of gravity; In battery tray, be provided with four with four limiting stoppers that projection is coupled in electric electric passenger vehicle battery outer container to be changed bottom; Ultrasonic range finder sensor and DMP sensor are installed in described battery tray;
Described Quick change robot also comprises control system, and described control system comprises touch-screen, wireless communication module, PLC controller, A/D module, D/A module; Wireless communication module and touch panel communication, PLC controller and touch panel communication, touch-screen is communicated by letter with background monitoring system by Industrial Ethernet; PLC controller is communicated by letter with ultrasonic range finder sensor, DMP sensor, hydraulic proportional flow valve, each coder, approach switch, photoelectric switch real-time Data Transmission respectively; The other coder of described two-stage hydraulic cylinder is connected with A/D module, and coder gathers the rise height of two-stage hydraulic cylinder single rack, obtains two-stage hydraulic cylinder lifting distance through calculating, and this data feedback, to control system, is formed to the closed-loop control in lifting process; Described approach switch is connected with PLC controller with photoelectric switch, the end position information of the each degree of freedom of real-time Transmission Quick change robot, the interrupt mode of Triggering Control System and high-speed counting pattern, realize accurate, the quick action of Quick change robot in specialized range;
Described lockable mechanism is quadruplet, comprises frame, motor, motor reducer, control desk, gear system, and motor is installed in frame, and motor is connected with gear system by motor reducer; Gear system comprises gear mesh and rotating shaft, gear mesh is the gear that is connected to the motor gear of motor reducer mouth and is connected with rotating shaft, rotating shaft is connected with gear and hook respectively, be provided with at least one axial limiter at the axle head of rotating shaft, rotating shaft is arranged on rotating shaft mount pad, and rotating shaft mount pad is in frame; On mount pad, be provided with two group of the 3rd approach switch, the 3rd approach switch is connected with lockable mechanism control desk;
On described lockable mechanism control desk, embed wireless communication module, described wireless communication module can carry out quadruplet lockable mechanism lockup state data information transfer with wireless communication module in Quick change robot, and issues the release of lockable mechanism automatic or manual and locking order by background monitoring system.
2. chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that, described in change level platform and be provided with mechanical detent mechanism, described mechanical detent mechanism comprises outer coarse positioning mechanism, precision positioning mechanism and V-type groove detent mechanism; Outer coarse positioning mechanism is arranged on the dual-side that changes level platform upper surface, and outer coarse positioning mechanism is that a plastic roller embeds rigid track configuration, and its inner side is connected with precision positioning mechanism contact; V-type groove detent mechanism is a low early and high after location structure, and V-type groove detent mechanism is arranged at the precision positioning mechanism inner side of the trapezoidal upper platform that changes level platform.
3. chassis of electric passenger vehicle battery change system as claimed in claim 1, is characterized in that, described battery box comprises armor plate, battery and battery connector; On armor plate, four U-shaped grooves of both sides welding, install on groove and hang pin, hang the upper installing sleeve of pin; On three angles of armor plate, be welded with the guide finger of the effect of playing the spacing correction of battery box.
4. chassis of electric passenger vehicle battery change system as claimed in claim 1, it is characterized in that, described transfer platform is Turnoverplatform, its welding is portal frame construction, the inner both sides of described portal frame have been bolted respectively L-type bearing beam, have been bolted cell support plate on L-type bearing beam; Four limiting stoppers are housed on cell support plate.
5. a using method of utilizing the chassis of electric passenger vehicle battery change system described in any one in claim 1-4, is characterized in that, comprises the following steps:
1), power on, the former point search of chassis of electric passenger vehicle battery change system Quick change robot and piler resets;
2), vehicle reaches and changes level platform, in conjunction with the traction of changing electric Platform Machinery detent mechanism, realizes cross-car and longitudinal accurate location;
3), piler takes off new battery from battery charging rack, move to battery transfer platform one side and wait for; Detect in conjunction with DMP sensor region, Quick change robot completes behind X/Y direction location, the process that robot rises is utilized after the output of ultrasonic range finder sensor and the output difference computing of hydraulic gear coder, input comparative example flow valve as PID controller carries out PID control, stops rising when hydraulic gear is lifted to desired location;
4), the control desk of lockable mechanism judges the state of 4 locks, after release completes, transmission release settling signal is to background monitoring system;
5), Quick change robot takes off used batteries, adjusts different degree of freedom direction attitudes according to fixed position, run to transfer platform bottom along X-axis guide rail, and weary battery be put on transfer platform top layer;
6), Robot Z axis drops to transfer platform bottom, background monitoring system drives the piler action in wait state, will expire battery and be put in Quick change robot battery tray;
7), piler takes off weary battery from transfer platform top, and be put in stationary battery charging rack unit, and then complete exiting with initial point of piler and reset; , according to the car body position of background control system storage, detect in conjunction with DMP sensor and ultrasonic range finder sensor car body real-time position information, Quick change robot carries out three degree of freedom mechanical servo, realizes fixed position and accurately puts in place meanwhile;
8), Quick change robot triggers locking signal, after locking, Quick change robot exits, and completes initial point and resets;
9), battery altering process finishes, vehicle sails out of Huan electricity district.
CN201210222438.5A 2012-06-29 2012-06-29 Chassis battery change system for electric passenger cars and method of the system CN102717778B (en)

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