CN103140392B - Battery altering robot and battery change system - Google Patents

Battery altering robot and battery change system Download PDF

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Publication number
CN103140392B
CN103140392B CN201280003162.XA CN201280003162A CN103140392B CN 103140392 B CN103140392 B CN 103140392B CN 201280003162 A CN201280003162 A CN 201280003162A CN 103140392 B CN103140392 B CN 103140392B
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CN
China
Prior art keywords
battery
testing agency
component
vehicle
mounting table
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CN201280003162.XA
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Chinese (zh)
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CN103140392A (en
Inventor
矢泽隆之
增泽佳久
赤羽贤俊
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Nidec Sankyo Corp
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Nidec Sankyo Corp
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Publication date
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Publication of CN103140392A publication Critical patent/CN103140392A/en
Application granted granted Critical
Publication of CN103140392B publication Critical patent/CN103140392B/en
Expired - Fee Related legal-status Critical Current
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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L53/00—Methods of charging batteries, specially adapted for electric vehicles; Charging stations or on-board charging equipment therefor; Exchange of energy storage elements in electric vehicles
    • B60L53/80—Exchanging energy storage elements, e.g. removable batteries
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/60—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells using power supplied by batteries
    • B60L50/64—Constructional details of batteries specially adapted for electric vehicles
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/244—Secondary casings; Racks; Suspension devices; Carrying devices; Holders characterised by their mounting method
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/249—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders specially adapted for aircraft or vehicles, e.g. cars or trains
    • H—ELECTRICITY
    • H01—ELECTRIC ELEMENTS
    • H01M—PROCESSES OR MEANS, e.g. BATTERIES, FOR THE DIRECT CONVERSION OF CHEMICAL ENERGY INTO ELECTRICAL ENERGY
    • H01M50/00—Constructional details or processes of manufacture of the non-active parts of electrochemical cells other than fuel cells, e.g. hybrid cells
    • H01M50/20—Mountings; Secondary casings or frames; Racks, modules or packs; Suspension devices; Shock absorbers; Transport or carrying devices; Holders
    • H01M50/204—Racks, modules or packs for multiple batteries or multiple cells
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
    • Y02E60/00—Enabling technologies; Technologies with a potential or indirect contribution to GHG emissions mitigation
    • Y02E60/10—Energy storage using batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/7072—Electromobility specific charging systems or methods for batteries, ultracapacitors, supercapacitors or double-layer capacitors

Abstract

A kind of battery altering robot, even if the stopping accuracy of vehicle is relatively low, also can change the battery being installed in vehicle rightly.Battery altering robot (5) for being replaced the battery (3) being installed in vehicle (2) including: battery plug mechanism (17), this battery plug mechanism (17) carry out battery (3) from vehicle (2) extract and/or battery (3) is towards the insertion of vehicle (2)；And testing agency (21), this testing agency (21) is for detecting the detection labelling (8) of the battery mounting table (6) being formed at the vehicle (2) installed for battery (3).Battery plug mechanism (17) includes movable part (22), this movable part (22) moves towards the direction near vehicle (2) when extracting and/or insert battery (3) to carry out extracting and/or inserting of battery (3), and testing agency (21) is installed on movable part (22).

Description

Battery altering robot and battery change system
Technical field
The present invention relates to a kind of battery altering robot for the battery being installed in vehicle is replaced and battery change system.
Background technology
In the past, it is proposed that a kind of battery replacement device (referring for example to patent documentation 1) for the battery being installed in electronic bus is replaced.Battery replacement device described in patent documentation 1 includes: for the battery tray of mounting batteries；Make the vertical movement device that battery tray lifts；Install and revolvable rotation platform for battery tray and vertical movement device；And for rotation platform installing and can move in the horizontal direction move in parallel platform.The installing department of the battery of electronic bus is formed butt hole (Japanese: De ッ キ Application グ hole), battery tray is provided with the docking arm that can engage with this butt hole.When changing battery, engaged with butt hole by docking arm, carry out the installing department of the battery of electronic bus and the para-position of battery tray.
Prior art literature
Patent documentation
Patent documentation 1: Japan Patent spy's table 2008-520173 publication
Summary of the invention
Invent technical problem to be solved
In the battery replacement device described in patent documentation 1, when changing battery, the docking arm engaged with the butt hole in the mounting batteries portion being formed at electronic bus is located at battery tray, therefore, as it has been described above, the mounting batteries portion of electronic bus and the para-position of battery tray can be carried out.
But, in the case of this battery replacement device, if making electronic bus stop at the position of regulation the most accurately, then it is difficult to make docking arm engage with butt hole.That is, in the case of this battery replacement device, if the stopping accuracy of electronic bus is relatively low, then it is difficult to the mounting batteries portion of electronic bus and the para-position of battery tray, thus is difficult to from the mounting batteries portion of electronic bus, battery is transferred load to battery tray.Therefore, in the case of this battery replacement device, if the stopping accuracy of electronic bus is relatively low, then it is likely difficult to rightly the battery being installed in electronic bus is replaced.
Therefore, even if the technical problem of the present invention is the stopping accuracy providing a kind of vehicle battery altering robot relatively low, that also can be replaced the battery being installed in vehicle rightly and battery change system.
Solve the technical scheme that technical problem is used
For solving above-mentioned technical problem, the battery altering robot of the present invention for being replaced the battery being installed in vehicle, is characterized in that, including battery plug mechanism, this battery plug mechanism carry out battery from vehicle extract and/or battery is towards the insertion of vehicle；And testing agency, this testing agency is for detecting the detection labelling being formed at battery mounting table or battery, this battery mounting table is installed on vehicle and for mounting batteries, battery plug mechanism includes movable part, this movable part can move towards near the direction of vehicle and the direction away from vehicle, and move towards the direction near vehicle when extracting and/or insert battery to carry out extracting and/or inserting of battery, testing agency is installed on movable part.
It addition, for solving above-mentioned technical problem, the battery change system of the present invention for being replaced the battery being installed in vehicle, is characterized in that, including battery plug mechanism, this battery plug mechanism carry out battery from vehicle extract and/or battery is towards the insertion of vehicle；Battery mounting table, this battery mounting table is installed on vehicle and for mounting batteries；Detection labelling, this detection labelling is formed at battery mounting table or battery；And testing agency, this testing agency is for detecting detection labelling, battery plug mechanism includes movable part, this movable part can move towards near the direction of vehicle and the direction away from vehicle, and move towards the direction near vehicle when extracting and/or insert battery to carry out extracting and/or inserting of battery, testing agency is installed on movable part.
The battery altering robot of the present invention and battery change system include testing agency, and this testing agency is for detecting the detection labelling being formed at battery mounting table or battery, and this battery mounting table is installed on vehicle and for mounting batteries.Therefore, in the present invention, by utilizing testing agency that detection labelling is detected, the position of the battery being installed in vehicle can be detected directly or indirectly.Therefore, in the present invention, even if the stopping accuracy of vehicle is relatively low, also battery plug mechanism and the para-position of battery can be carried out according to the testing result of testing agency, this battery plug mechanism carry out battery from vehicle extract and/or battery is towards the insertion of vehicle, as a result of which it is, can rightly the battery being installed in vehicle be replaced.
It addition, in the present invention, battery plug mechanism includes movable part, and this movable part moves towards the direction near vehicle when extracting and/or insert battery to carry out extracting and/or inserting of battery, and testing agency is installed on this movable part.I.e., in the present invention, the movable part constituting battery plug mechanism is provided with testing agency.Therefore, after utilizing testing agency to detect battery location, the amount of movement of battery plug mechanism when can reduce the para-position carrying out battery plug mechanism and battery.Therefore, in the present invention, it is not likely to produce error when the testing result according to testing agency carries out the para-position of battery pull-plug device and battery, it is thus possible to carry out battery plug mechanism and the para-position of battery accurately.Additionally, after utilizing testing agency to detect battery location, the amount of movement of battery plug mechanism when can reduce the para-position carrying out battery plug mechanism and battery, therefore, after detecting battery location, battery plug mechanism and the para-position of battery can be carried out at short notice.
In the present invention, it may be desirable to, battery altering robot and battery change system include making the elevating mechanism of battery plug mechanism lifting, and testing agency is by detection detection labelling the most highly detecting battery mounting table or battery.According to said structure, then according to the testing result of testing agency, by driving elevating mechanism, battery plug mechanism and the para-position of battery can be carried out in the vertical direction.Therefore, even if in the case of the heavier-weight of battery, extracting or inserting of battery also can be carried out safely and rightly.
In the present invention, it is preferable that, when vehicle and battery altering robot direction in opposite directions are set to fore-and-aft direction, and when the direction being substantially orthogonal with fore-and-aft direction and above-below direction is set to left and right directions, battery altering robot and battery change system include: rotating mechanism, and this rotating mechanism is with above-below direction for axially making battery plug mechanism rotate；And horizontal mobile mechanism, this horizontal mobile mechanism makes battery plug mechanism move in the lateral direction, elevating mechanism includes the first elevating mechanism and the second elevating mechanism that can drive individually to make battery plug mechanism tilt when fore-and-aft direction is observed relative to left and right directions, battery mounting table or battery are formed with at least two detection labelling with state across predetermined distance in left-right direction, testing agency is by detecting detection labelling, detect the height of battery mounting table or battery, the position of left and right directions, the position of fore-and-aft direction, when fore-and-aft direction is observed relative to the inclination of left and right directions and when above-below direction is observed relative to the inclination of left and right directions.
According to said structure, then according to the testing result of testing agency, by driving elevating mechanism, horizontal mobile mechanism, battery plug mechanism and the para-position of battery can be carried out on above-below direction and left and right directions.It addition, according to the testing result of testing agency, movable part amount of movement in the longitudinal direction when extracting or insert battery can be set in rightly.In addition, testing result according to testing agency, by driving rotating mechanism, when above-below direction is observed battery can be made consistent with the inclination of battery plug mechanism relative to the inclination of left and right directions, additionally, according to the testing result of testing agency, by driving the first elevating mechanism and the second elevating mechanism, when fore-and-aft direction is observed battery can be made consistent with the inclination of battery plug mechanism relative to the inclination of left and right directions.Accordingly, it is capable to further safety and carry out extracting or inserting of battery rightly.
In the present invention, it may be desirable to, battery mounting table or battery are formed with two detection labellings with state across predetermined distance in left-right direction, movable part is provided with Liang Ge testing agency in the way of corresponding with two detection labellings.According to said structure, Liang Ge testing agency then can be utilized two detection labellings to be detected the most simultaneously, accordingly, it is capable to detect at short notice battery mounting table or battery when fore-and-aft direction is observed relative to the inclination of left and right directions and when above-below direction is observed relative to the inclination of left and right directions.
In the present invention, it may be desirable to, in battery plug mechanism, as movable part, including mounting batteries portion, this mounting batteries portion when extracting and/or insert battery for mounting batteries；And battery snap-in portion, this battery snap-in portion merges with Battery Card when extracting and/or insert battery makes battery move in mounting batteries portion, and testing agency is installed on mounting batteries portion, and detection labelling is formed at battery mounting table.According to said structure, then when utilizing testing agency that detection labelling is detected, mounting batteries portion and battery mounting table can be configured at roughly the same height.Therefore, after utilizing testing agency to detect battery location, the amount of movement of the above-below direction of battery plug mechanism when can reduce the para-position carrying out battery plug mechanism and battery further.As a result of which it is, battery plug mechanism and battery para-position in the vertical direction can be carried out the most accurately.It addition, after detecting battery location, battery plug mechanism and the para-position of battery can be carried out within the shorter time.
In the present invention, it may be desirable to, it is the most trapezoidal that detection labelling is formed as that width changes in the vertical direction.According to said structure, then detect, the height of battery can be detected by making testing agency move the width to the part that detection labelling is detected in the lateral direction.Accordingly, it is capable to detect the height of battery at short notice.
In the present invention, it is preferable that, when vehicle and battery altering robot direction in opposite directions are set to fore-and-aft direction, and when the direction being substantially orthogonal with fore-and-aft direction and above-below direction is set to left and right directions, battery change system includes making the horizontal mobile mechanism that battery plug mechanism moves in the lateral direction, boundary between battery mounting table in the lateral direction and the side of vehicle is formed with step, and testing agency detects the general location of battery by detecting step.According to said structure, even if the translational speed of the battery plug mechanism then moved in the lateral direction because of horizontal mobile mechanism is accelerated, also can be easier and detect rightly the general location of battery.Accordingly, it is capable to detect the general location of battery at short notice, as a result of which it is, the detail location of battery can be detected at short notice.
In the present invention, it may be desirable to, testing agency is the laser sensor including illuminating part and light accepting part, and wherein, illuminating part irradiates laser, and light accepting part receives the laser after being reflected by reverberation, and the laser irradiated from illuminating part is reflected by this reverberation.According to said structure, then can utilize testing agency that the distance of detection labelling with testing agency is measured, accordingly, it is capable to use detection labelling easily to detect battery position in the longitudinal direction.It addition, according to said structure, then by setting the detection range of testing agency rightly, can easily detect the step that the boundary between the side of battery mounting table and vehicle is formed.In addition, according to said structure, then can utilize testing agency that the side of vehicle is measured with the distance of testing agency, therefore, such as, by the distance of the side of two Site Determination vehicles at left and right directions Yu testing agency, can detect that vehicle is relative to the inclination of left and right directions when above-below direction is observed.
Invention effect
As it has been described above, in the battery altering robot and battery change system of the present invention, even if the stopping accuracy of vehicle is relatively low, also can rightly the battery being installed in vehicle be replaced.
Accompanying drawing explanation
Fig. 1 is the axonometric chart of the battery change system of embodiment of the present invention.
Fig. 2 is the axonometric chart in the E portion representing Fig. 1 from another angle.
Fig. 3 is the enlarged drawing in the F portion of Fig. 2.
Fig. 4 is the front view representing the state containing battery in the battery container portion shown in Fig. 1.
Fig. 5 is the enlarged drawing in the G portion of Fig. 4.
Fig. 6 is to represent the battery plug mechanism shown in Fig. 2 and the figure of elevating mechanism from front.
Fig. 7 is that the H-H direction from Fig. 6 represents battery plug mechanism and the figure of elevating mechanism.
Fig. 8 is for the figure from the mounting batteries mechanism shown in front explanatory diagram 6.
Fig. 9 is for the figure from the mounting batteries mechanism shown in side illustration Fig. 6.
Figure 10 is for the figure from the mounting batteries mechanism shown in upper surface explanatory diagram 6.
Figure 11 is the amplification view of the roller shown in Fig. 8.
Figure 12 is for the figure from the battery travel mechanism shown in front explanatory diagram 6.
Figure 13 is for the figure from the battery travel mechanism shown in side illustration Fig. 6.
Figure 14 is the figure of state during for moving towards the direction away from bus from the battery snap-in portion shown in side illustration Figure 13.
Figure 15 is the enlarged drawing in the J portion of Figure 13.
Figure 16 is the figure of the structure for the engaging claw shown in Figure 15 is described.
Figure 17 is the enlarged drawing in the K portion of Figure 13.
Figure 18 is the enlarged drawing in the L portion of Figure 13.
Figure 19 is for the figure from the battery travel mechanism shown in upper surface explanatory diagram 6.
Figure 20 (A) is the enlarged drawing in the M portion of Figure 19, and Figure 20 (B) is the enlarged drawing in the N portion of Figure 19.
Figure 21 is for the figure from the elevating mechanism shown in upper surface explanatory diagram 6.
Figure 22 is the figure of the structure for the first bindiny mechanism shown in explanatory diagram 6, Figure 22 (A) is the figure for the first bindiny mechanism is described from front, and Figure 22 (B) is the figure for the first bindiny mechanism is described from the P-P direction of Figure 22 (A).
Figure 23 is the figure of the structure for the second bindiny mechanism shown in explanatory diagram 6, Figure 23 (A) is the figure for the second bindiny mechanism is described from front, and Figure 23 (B) is the figure for the second bindiny mechanism is described from the Q-Q direction of Figure 23 (A).
Figure 24 is the figure for illustrating to make state when keeping component to tilt shown in Fig. 6 from front.
Figure 25 is for the figure from the rotating mechanism shown in front explanatory diagram 2 and horizontal mobile mechanism.
Figure 26 is for the figure from the rotating mechanism shown in upper surface explanatory diagram 2 and horizontal mobile mechanism.
Figure 27 is for from the R-R direction of Figure 26 explanation rotating mechanism and the figure of horizontal mobile mechanism.
Figure 28 (A) is the enlarged drawing in the U portion of Figure 26, and Figure 28 (B) is the enlarged drawing in the V portion of Figure 26.
Figure 29 is for the figure to the detection method of the general location of battery of the testing agency shown in Figure 10 is described.
Figure 30 is for the figure to the detection method of the position of battery of the testing agency shown in Figure 10 is described.
Figure 31 is the figure of the installation method of the testing agency for another embodiment of the present invention is described.
Figure 32 is the figure of the effect in the case of the installation method shown in explanation Figure 31 is provided with testing agency.
Figure 33 (A) is the figure of the detection labelling for another embodiment of the present invention is described from front, and Figure 33 (B) is the sectional view in the W-W cross section of Figure 33 (A).
Detailed description of the invention
Hereinafter, referring to the drawings embodiments of the present invention are illustrated.
(schematic configuration of battery change system)
Fig. 1 is the axonometric chart of the battery change system 1 of embodiment of the present invention.Fig. 2 is the axonometric chart in the E portion representing Fig. 1 from another angle.In the following description, three mutually orthogonal directions are set to X-direction, Y-direction and Z-direction.In the present embodiment, Z-direction is consistent with above-below direction (vertical).It addition, in the following description, X-direction is set to fore-and-aft direction, Y-direction is set to left and right directions.
The battery change system 1 of present embodiment is the system for being replaced the battery 3 being installed in vehicle 2.The vehicle 2 of present embodiment is electronic bus.Therefore, below vehicle 2 is referred to as " bus 2 ".The battery container portion 4 housing multiple batteries 3 is installed in bus 2.Battery container portion 4 is configured to when the lid component (not shown) of a side 2a by being installed on bus 2 is pulled down expose at side 2a.It addition, battery container portion 4 is configured at the downside at the seat of bus 2.When changing battery 3, bus 2 stops in the way of its direct of travel and left and right directions are substantially uniform.
Battery change system 1 includes the battery altering robot 5 (hereinafter referred to as " robot 5 ") for being replaced the battery 3 being contained in battery container portion 4.Robot 5 in the way of changing the battery 3 being contained in battery container portion 4 in the longitudinal direction with the side 2a of bus 2 in opposite directions.The battery 3 being contained in battery container portion 4 is extracted to move into not shown buffer station by this robot 5, and takes out of to insert battery container portion 4 from buffer station by the battery 3 charged being contained in buffer station.
(battery and the structure in battery container portion)
Fig. 3 is the enlarged drawing in the F portion of Fig. 2.Fig. 4 is the front view representing the state containing battery 3 in the battery container portion 4 shown in Fig. 1.Fig. 5 is the enlarged drawing in the G portion of Fig. 4.
Battery container portion 4 includes the battery mounting table 6 for battery 3 installing and the sidewall 7 of left and right, battery mounting table 6 and sidewall 7 form the receiving space of battery 3.In the battery container portion 4 of present embodiment, it is formed with the receiving space of multiple battery 3, multiple battery 3 can be housed.It addition, battery container portion 4 is configured to towards the side 2a than bus 2 more by inboard position depression, as it is shown on figure 3, the boundary between battery mounting table 6 and sidewall 7 and side 2a is formed with step 2b.
Front surface at battery mounting table 6 is formed with the detection labelling 8 for indirectly detecting the position of battery 3.Detection labelling 8 is respectively formed in the both end sides of the left and right directions of battery mounting table 6.I.e., in the lateral direction under the state of predetermined distance, two detection labellings 8 are formed at the front surface of battery mounting table 6.It addition, as it is shown on figure 3, detection labelling 8 is formed as the tabular more prominent than the front surface of battery mounting table 6, and be formed as the general triangular that its width changes in the vertical direction.Specifically, detection labelling 8 is formed as width along with the substantially equilateral triangle narrowed towards upside.It addition, in the present embodiment, as shown in Figure 4, detection labelling 8 is fixed on plate-like members 9, and plate-like members 9 is fixed on the front surface of battery mounting table 6, and thereby, the front surface at battery mounting table 6 is formed with detection labelling 8.
The front surface of battery 3 is formed the handle portion 11 for extracting battery 3 from battery container portion 4.In the present embodiment, the left and right directions both end sides at the front surface of battery 3 is respectively formed with handle portion 11.Lower surface at battery 3 is formed with jut 12 in the way of prominent downward, and this jut 12 is for carrying out the battery 3 extracted by robot 5 location (with reference to Fig. 5) on the direction orthogonal with extracting direction.It addition, battery 3 includes: for battery 3 being fixed on the fixing component 13 (with reference to Fig. 4) in battery container portion 4；And for releasing the battery 3 releasing component 14 (with reference to Fig. 3) relative to the stationary state in battery container portion 4.
Fixing component 13 is installed on battery 3 in the way of the left and right side from battery 3 highlights respectively.It addition, fixing component 13 is installed on the front-surface side of battery 3.This fixing component 13 is can be held in battery 3 in the way of moving in left-right direction.It addition, fixing component 13 is exerted a force by not shown force application component outside to left and right direction.In the present embodiment, utilize the active force of this force application component to make the outboard end part of left and right of fixing component 13 engage with the connecting hole of the sidewall 7 being formed at battery container portion 4, thereby, battery 3 is fixed on battery container portion 4.Fixing component 13 serves and carries out battery 3 in battery container portion 4 along the longitudinal direction and the effect of location of above-below direction.
Release component 14 and be configured at the inboard of handle portion 11.Release component 14 so that battery 3 can be held in the way of moving along the longitudinal direction.Exerted a force towards the front-surface side of battery 3 it addition, release component 14 by not shown force application component.In the present embodiment, when releasing component 14 and being pressed towards inboard, fixing component 13 medial movement to left and right direction, the connecting hole of sidewall 7 that will be formed in battery container portion 4 releases, it is thus possible to extracted from battery container portion 4 by battery 3 with the fastening state of fixing component 13.
It addition, be provided with adapter at the back side of battery 3, this adapter can be connected with the inboard adapter being configured at battery container portion 4.It addition, be provided with alignment pin at the back side of battery 3, this alignment pin is for carrying out the battery 3 location on direction up and down in battery container portion 4.
(schematic configuration of battery altering robot)
As in figure 2 it is shown, robot 5 includes: battery plug mechanism 17, this battery plug mechanism 17 carry out battery 3 from bus 2 extract and battery 3 is towards the insertion of bus 2；Elevating mechanism 18, this elevating mechanism 18 makes battery plug mechanism 17 lift；Rotating mechanism 19, this rotating mechanism 19 is with above-below direction for axially making battery plug mechanism 17 and elevating mechanism 18 rotate；And horizontal mobile mechanism 20, this horizontal mobile mechanism 20 makes battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19 move in the lateral direction.It addition, robot 5 includes the testing agency 21 (with reference to Figure 10) for detecting detection labelling 8.
Battery plug mechanism 17 includes: mounting batteries mechanism 23, and this mounting batteries mechanism 23 has the mounting batteries portion 22 when extracting and insert battery 3 for battery 3 installing；And battery travel mechanism 25, this battery travel mechanism 25 has when extracting and insert battery 3 and merges the battery snap-in portion 24 (reference Fig. 6) making battery 3 movement in mounting batteries portion 22 with battery 3 card.Mounting batteries portion 22 and battery snap-in portion 24 can move towards near the direction of bus 2 and the direction away from bus 2.
It addition, battery plug mechanism 17 is held in the holding component 26 being shaped generally as four directions tubular.Component 26 is kept to include: to constitute the first holding component 27 of its lower end side；And constitute the second holding component 28 of its upper end side.First keeps component 27 to be formed as the chamfered groove shape of upper side opening, and second keeps component 28 to be formed as the chamfered groove shape of open lower side.Component 26 is kept to be fixed together by keeping first component 27 and second to keep component 28 combine in the vertical direction and be formed as the substantially cubic tubular of the both ends open of the moving direction in mounting batteries portion 22 and battery snap-in portion 24.
(structure of mounting batteries mechanism)
Fig. 6 is to represent the battery plug mechanism 17 shown in Fig. 2 and the figure of elevating mechanism 18 from front.Fig. 7 is that the H-H direction from Fig. 6 represents battery plug mechanism 17 and the figure of elevating mechanism 18.Fig. 8 is for the figure from the mounting batteries mechanism 23 shown in front explanatory diagram 6.Fig. 9 is for the figure from the mounting batteries mechanism 23 shown in side illustration Fig. 6.Figure 10 is for the figure from the mounting batteries mechanism 23 shown in upper surface explanatory diagram 6.Figure 11 is the amplification view of the roller 32 shown in Fig. 8.
In addition to above-mentioned mounting batteries portion 22, mounting batteries mechanism 23 also includes the installing department travel mechanism 30 making mounting batteries portion 22 move towards the direction near bus 2 and the direction away from bus 2.
Mounting batteries portion 22 is formed as the most flat flat bulk.The upper surface in mounting batteries portion 22 is provided with the multiple rollers 31,32 abutted with the lower surface of battery 3 in revolvable mode.As shown in Figure 10, multiple rollers 31 separate the interval configuration of regulation on the moving direction in mounting batteries portion 22, and multiple rollers 32 are also and roller 31 separates the interval configuration of regulation on the moving direction in mounting batteries portion 22 identically.It addition, roller 31 and roller 32 configure with the state across predetermined distance on the direction orthogonal with the moving direction in mounting batteries portion 22.
Roller 31 is plain-barreled roll.On the other hand, as shown in figure 11, roller 32 is the roller that outer peripheral face is formed with the trough of belt of the groove portion 32a towards inner circumferential side depression.Groove portion 32a can engage with the jut 12 of the lower surface being formed at battery 3, and when battery 3 is installed in the assigned position in mounting batteries portion 22, jut 12 engages with groove portion 32a.In the present embodiment, being engaged with groove portion 32a by jut 12, battery 3 can be positioned mounting batteries portion 22 on the direction orthogonal with the moving direction in mounting batteries portion 22.
In installing department travel mechanism 30, as making the structure that mounting batteries portion 22 moves, including: motor 33；The screw member such as ball-screw 34；And the nut member 35 screwed togather with screw member 34.It addition, in installing department travel mechanism 30, as the structure for mounting batteries portion 22 is guided, including: be formed as the guide rail 36 of linearity；And merge can be along the guide pad 37 of guide rail 36 relative movement with guide rail 36 card.
Motor 33 is fixed on the upper surface side of the rearward end in mounting batteries portion 22.Screw member 34 is held in the lower face side in mounting batteries portion 22 in revolvable mode.Motor 33 is connected by belt wheel, transmission band etc. with screw member 34.Nut member 35 is fixed on the first holding component 27.It addition, guide rail 36 is fixed on the lower face side in mounting batteries portion 22, guide pad 37 is fixed on the first holding component 27.Therefore, in the present embodiment, when motor 33 rotates, mounting batteries portion 22 is guided by guide rail 36 and guide pad 37 and keeps relative to first component 27 linearly to move.
(structure of battery travel mechanism)
Figure 12 is for the figure from the battery travel mechanism 25 shown in front explanatory diagram 6.Figure 13 is for the figure from the battery travel mechanism 25 shown in side illustration Fig. 6.Figure 14 is the figure of state during for moving towards the direction away from bus 2 from the battery snap-in portion 24 shown in side illustration Figure 13.Figure 15 is the enlarged drawing in the J portion of Figure 13.Figure 16 is the figure of the structure for the engaging claw 41 shown in Figure 15 is described.Figure 17 is the enlarged drawing in the K portion of Figure 13.Figure 18 is the enlarged drawing in the L portion of Figure 13.Figure 19 is for the figure from the battery travel mechanism 25 shown in upper surface explanatory diagram 6.Figure 20 (A) is the enlarged drawing in the M portion of Figure 19, and Figure 20 (B) is the enlarged drawing in the N portion of Figure 19.
In addition to above-mentioned battery snap-in portion 24, battery travel mechanism 25 also includes: make the holding section travel mechanism 39 that battery snap-in portion 24 moves towards the direction near bus 2 and the direction away from bus 2；And battery snap-in portion 24 is kept into the mobile holding component 40 that can move and displaceably be held in the second holding component 28.
Battery snap-in portion 24 includes: the engaging claw 41 engaged with the handle portion 11 of battery 3；Make the cylinder 42 that engaging claw 41 moves up and down；And the base portion 43 for cylinder 42 installation.Engaging claw 41 is fixed on the drawer at movable side of cylinder 42, and the front end face of base portion 43 is fixed in the fixing side of cylinder 42.In the present embodiment, by engage claw 41 be formed at battery 3 two handle portions 11 in each handle portion 11 engage in the way of, two engaging claws 41 and two cylinders 42 are configured at when across predetermined distance the front end face of base portion 43.
Engaging claw 41 includes: be fixed on the fixed part 41a of cylinder 42；And the claw 41b engaged with handle portion 11.As shown in figure 16, the upper end side at the rear surface 41c of claw 41b is formed with the abutting part 41d that the upper surface of the leading section 11a with handle portion 11 abuts.The front surface 41e of claw 41b is made up of vertical 41f and inclined plane 41g, and wherein, above-mentioned vertical 41f is parallel with above-below direction, and above-mentioned inclined plane 41g is connected with the lower end of vertical 41f and along with towards downside, rearward face rolls tiltedly.Additionally, the rear surface 41c of claw 41b is constituted by with vertical 41h, inclined plane 41j and vertical 41k, wherein, above-mentioned vertical 41h is parallel with above-below direction, above-mentioned inclined plane 41j is connected with the lower end of vertical 41h and along with towards downside, forward face rolls tiltedly, above-mentioned vertical 41k is connected and parallel with above-below direction with the lower end of inclined plane 41j.Vertical 41f, vertical 41h and vertical 41k are substantially parallel to one another.The lower end of inclined plane 41g is connected with the lower end of vertical 41k.It addition, the upper end of the upper end of inclined plane 41g and inclined plane 41j is formed at roughly the same position in the vertical direction.
Claw 41b enters from upside and engages with handle portion 11 between leading section 11a and the front surface of battery 3 of handle portion 11.When claw 41b engages with handle portion 11, as shown in Figure 16 (A), the inclined plane 41g pressing of claw 41b releases component 14, the fastening state of connecting hole with fixing component 13 to release the sidewall 7 being formed at battery container portion 4.Therefore, when claw 41b engages with handle portion 11, battery plug mechanism 17 can be utilized to extract or insert battery 3.It addition, when the upper surface of abutting part 41d with leading section 11a abuts, claw 41b completes towards the engaging of handle portion 11.
In the present embodiment, claw 41b is formed as when the upper surface of abutting part 41d with leading section 11a abuts and completes claw 41b towards the engaging of handle portion 11, as shown in Figure 16 (B), vertical 41f abuts with releasing component 14 and vertical 41h abuts with leading section 11a.Additionally, in the present embodiment, (i.e. the thickness t) of the upper end side of the claw 41b on the moving direction in battery snap-in portion 24 is configured to, when claw 41b completes towards the engaging of handle portion 11, not produce rocking of claw 41b releasing between component 14 and leading section 11a for distance t between vertical 41f with vertical 41h.
It addition, in the present embodiment, inclined plane 41g and vertical 41k are formed as when claw 41b engages with handle portion 11, as shown in Figure 16 (A), form gap between leading section 11a and vertical 41k.When claw 41b engages with handle portion 11, inclined plane 41g abuts with releasing component 14, therefore, the force towards the front-surface side releasing component 14 is utilized to be pressed inclined plane 41g forward face side, but by so forming inclined plane 41g and vertical 41k, even if inclined plane 41g is pressed by forward face side, also can prevent vertical 41k from contacting with leading section 11a with bigger contact pressure, it is obstructed as a result of which it is, engage claw 41 movement downward with handle portion 11 when can prevent claw 41b from engaging.It addition, inclined plane 41j serves is gradually reduced claw 41b in the function rocked released between component 14 and leading section 11a.
Mobile holding component 40 is formed as strip elongated on the moving direction in battery snap-in portion 24.It addition, the shape when moving direction that mobile holding component 40 is from battery snap-in portion 24 is observed is generally H shape.
In holding section travel mechanism 39, as being used for making battery snap-in portion 24 and the mobile structure keeping component 40 to move, including: motor 44；The screw member such as ball-screw 45；The nut member 46 screwed togather with screw member 45；Belt wheel 47,48；And it is set up in the transmission band 49 of belt wheel 47,48.It addition, in holding section travel mechanism 39, as being used for battery snap-in portion 24 and moving the structure keeping component 40 to guide, including: be formed as the guide rail 50 of linearity；Merges with guide rail 50 card can along the guide pad 51 of guide rail 50 relative movement, and, as being used for structure that battery snap-in portion 24 is guided, including: be formed as the guide rail 52 of linearity；And merge can be along the guide pad 53 of guide rail 52 relative movement with guide rail 52 card.
Motor 44 is fixed on the upper surface of the rearward end of the second holding component 28.Screw member 45 is held in the upper surface part of the second holding component 28 in revolvable mode.Motor 44 is connected by belt wheel, transmission band etc. with screw member 45.Nut member 46 is fixed on the mobile rearward end keeping component 40.Belt wheel 47 is held in the mobile rearward end keeping component 40 in revolvable mode, and belt wheel 48 is held in the mobile leading section keeping component 40 in revolvable mode.
Transmission band 49 is fixed component 54 by transmission band and is fixed on the base portion 43 in battery snap-in portion 24, and fixes component 55 by transmission band and be fixed on the upper surface part of the second holding component 28.Specifically, transmission band 49 is fixed component 54,55 by transmission band and is fixed on base portion 43 and second and keeps component 28, so that: when mobile keep component 40 from second keep component 28 prominent and as shown in figure 17 transmission band fix component 55 be configured at belt wheel 47 neighbouring time, as shown in figure 15, transmission band is fixed component 54 and is configured at the vicinity of belt wheel 48, and, when mobile keep component 40 be accommodated in the second holding component 28 transmission band as shown in figure 14 fix component 55 be configured at belt wheel 48 neighbouring time, transmission band is fixed component 54 and is configured at the vicinity of belt wheel 47.
Guide rail 50 is fixed on the upper surface part of the second holding component 28, and guide pad 51 is fixed on the mobile upper surface keeping component 40.Guide rail 52 is fixed on the mobile lower surface keeping component 40, and guide pad 53 is fixed on the upper end side of the base portion 43 in battery snap-in portion 24.
In the present embodiment, when motor 44 rotates, utilize screw member 45 and nut member 46, make mobile holding component 40 be guided by guide rail 50 and guide pad 51 together with battery snap-in portion 24 and keep relative to second component 28 linearly to move.It addition, when motor 44 rotates, utilize belt wheel 47,48 and transmission band 49, make battery snap-in portion 24 be guided by guide rail 52 and guide pad 53 and keep component 40 linearly relative movement relative to mobile.
The outline action of mechanism (battery plug)
When carrying out when extracting of battery 3 from bus 2, first, mounting batteries portion 22 moves towards the direction near bus 2.Then, battery snap-in portion 24 moves towards the direction near bus 2.Then, engaging claw 41 declines and engages with the handle portion 11 of battery 3.Then, battery snap-in portion 24 moves towards the direction away from bus 2.When battery snap-in portion 24 moves ormal weight and battery 3 is installed in mounting batteries portion 22, then, mounting batteries portion 22 and battery snap-in portion 24 synchronously move towards the direction away from bus 2.Then, when engaging claw 41 and rise and departing from from handle portion 11, battery 3 has been extracted from bus 2.
It addition, when carrying out battery 3 towards the insertion of bus 2, first, mounting batteries portion 22 and battery snap-in portion 24 synchronously move towards the direction near bus 2.Then, battery snap-in portion 24 moves towards the direction near bus 2, to carry out the battery 3 insertion towards bus 2.Subsequently, engaging claw 41 rises, and mounting batteries portion 22 and battery snap-in portion 24 move towards the direction away from bus 2, to complete the battery 3 insertion towards bus 2.
The mounting batteries portion 22 of present embodiment and battery snap-in portion 24 are the movable parts moved towards the direction near bus 2 when extracting and insert battery 3 to carry out extracting and inserting of battery 3.When being extracted from bus 2 by battery 3, as described later, testing agency 21 is utilized to detect the position etc. of battery 3.It addition, as shown in Fig. 8, Figure 10, keep being fixed with the align member 56 for the battery 3 extracted from bus 2 is fixed on the positioning on component 27 first.As shown in Figure 10, align member 56 it is formed and fixes the engaging recessed part 56a that component 13 engages.It addition, as shown in Figure 12, Figure 19, be fixed with radio-frequency card reader 57 at the center of the front end face of base portion 43, this radio-frequency card reader 57 is for the IC chip exchange data with the front surface being formed at battery 3.
(elevating mechanism, the first bindiny mechanism and the structure of the second bindiny mechanism)
Figure 21 is for the figure from the elevating mechanism 18 shown in upper surface explanatory diagram 6.Figure 22 is the figure of the structure for the first bindiny mechanism 61 shown in explanatory diagram 6, Figure 22 (A) is the figure for the first bindiny mechanism 61 is described from front, and Figure 22 (B) is the figure for the first bindiny mechanism 61 is described from the P-P direction of Figure 22 (A).Figure 23 is the figure of the structure for the second bindiny mechanism 62 shown in explanatory diagram 6, Figure 23 (A) is the figure for the second bindiny mechanism 62 is described from front, and Figure 23 (B) is the figure for the second bindiny mechanism 62 is described from the Q-Q direction of Figure 23 (A).Figure 24 is the figure for illustrating to make state when keeping component 26 to tilt shown in Fig. 6 from front.
Elevating mechanism 18 includes being respectively arranged at the first elevating mechanism 59 and the second elevating mechanism 60 of the both end sides in the direction (below this direction will be referred to as " first direction ") orthogonal with mounting batteries portion 22 and the moving direction in battery snap-in portion 24 and above-below direction.First elevating mechanism 59 utilizes the first bindiny mechanism 61 to be connected with the end side of the first first direction keeping component 27.Second elevating mechanism 60 utilizes the second bindiny mechanism 62 to be connected with another side of the first first direction keeping component 27.The first elevating mechanism 59 and the second elevating mechanism 60 can be individually driven in order to make holding component 26 tilt (more specifically, in order to first direction when making holding component 26 observe tilts) relative to the moving direction from mounting batteries portion 22 and battery snap-in portion 24 relative to horizontal direction.That is, the first elevating mechanism 59 and the second elevating mechanism 60 can individually be driven in order to make battery plug mechanism 17 tilt relative to horizontal direction.It addition, holding component 26 is can be connected with the first elevating mechanism 59 and the second elevating mechanism 60 in the way of tilting relative to horizontal direction,
First elevating mechanism 59 and the second elevating mechanism 60 include: the lift component 63 that can move in the vertical direction；Lift component 63 is kept into the cylindrical component 64 that can lift；And make the lift drive mechanism 65 that lift component 63 lifts.Cylindrical component 64 is formed as the most elongated column.As shown in Figure 6, the upper end of the cylindrical component 64 constituting the first elevating mechanism 59 is connected component 66 with the upper end of cylindrical component 64 constituting the second elevating mechanism 60 and is connected, and is made up of the framework of gate two cylindrical components 64 and connecting elements 66.
In lift drive mechanism 65, as making the structure that lift component 63 moves, including: motor 67；The screw member such as ball-screw 68；And the nut member 69 screwed togather with screw member 68.It addition, in lift drive mechanism 65, as the structure for lift component 63 is guided, including: be formed as the guide rail 70 of linearity；And merge can be along the guide pad 71 of guide rail 70 relative movement with guide rail 70 card.
Motor 67 is fixed on the upper end side of cylindrical component 64.Screw member 68 is held in cylindrical component 64 in revolvable mode.Motor 67 is connected by coupling 72 (with reference to Fig. 7) with screw member 68.Nut member 69 is fixed on lift component 63.Guide rail 70 is fixed on the side of cylindrical component 64.Specifically, the two sides of the cylindrical component 64 on the moving direction in mounting batteries portion 22 and battery snap-in portion 24 are respectively fixed with guide rail 70.Guide pad 71 is fixed on lift component 63.Therefore, in the present embodiment, when motor 67 rotates, lift component 63 is guided by guide rail 70 and guide pad 71 and moves up and down relative to cylindrical component 64.
As shown in figure 22, the first bindiny mechanism 61 includes: be fixed on the cylindrical member 73 of the substantially tubular of the end side of the first direction of the first holding component 27；It is inserted through the shaft component 74 of the inner circumferential side of cylindrical member 73；And the axle being fixed on the lift component 63 also both end sides of holding shaft component 74 constituting the first elevating mechanism 59 keeps component 75.Shaft component 74 keeps component 75 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axially retaining in axle.
The inner peripheral surface of cylindrical member 73 is barrel surface, and shaft component 74 is formed as elongated cylindric.It is configured with taper roll bearing 76 between the inner peripheral surface and the outer peripheral face of shaft component 74 of cylindrical member 73.The both end sides of the cylindrical member 73 that taper roll bearing 76 is respectively arranged on the moving direction in mounting batteries portion 22 and battery snap-in portion 24.Cylindrical member 73 can relatively rotate relative to shaft component 74, thus keeps component 26 can relatively rotate centered by shaft component 74 relative to the lift component 63 of the first elevating mechanism 59.So, the first bindiny mechanism 61 is to keep component 26 can be connected with lift component 63 by holding component 26 relative to lift component 63 mode in relative rotation of the first elevating mechanism 59.
As shown in figure 23, the second bindiny mechanism 62 includes: the axle of another side being fixed on the first direction of the first holding component 27 keeps component 77；Its both end sides is held in axle and keeps the shaft component 78 of component 77；The axle being fixed on the lift component 63 constituting the second elevating mechanism 60 keeps component 79；Its both end sides is held in axle and keeps the shaft component 80 of component 79；And it is formed for shaft component 78 and the link component 81 of two inserting hole 81a that shaft component 80 is inserted respectively.Shaft component 78 keeps component 77 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axially retaining in axle, shaft component 80 with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 for axially retaining in axle holding component 79.It addition, shaft component 78,80 was configured to from last time overlapping successively.
The inner peripheral surface of inserting hole 81a is barrel surface, and shaft component 78,80 is formed as elongated cylindric.It is configured with taper roll bearing 82 between the inner peripheral surface and the outer peripheral face of shaft component 78,80 of inserting hole 81a.The both end sides of the link component 81 that taper roll bearing 82 is respectively arranged on the moving direction in mounting batteries portion 22 and battery snap-in portion 24.Link component 81 can relatively rotate respectively relative to shaft component 78,80, thus link component 81 can relatively rotate centered by shaft component 80 relative to the lift component 63 of the second elevating mechanism 60 and link component 81 can relatively rotate centered by shaft component 78 relative to keeping component 26.Accordingly, it is capable to the relatively rotating and towards the relative movement of first direction of the lift component 63 carrying out keeping component 26 relative to the second elevating mechanism 60.That is, the second bindiny mechanism 62 can relatively rotate relative to the lift component 63 of the second elevating mechanism 60 by holding component 26 and is connected with lift component 63 by holding component 26 in the way of first direction relative movement.
In the present embodiment, when motor 67 rotates so that the amount of movement of lift component 63 of the amount of movement of lift component 63 of the first elevating mechanism 59 and the second elevating mechanism 60 is equal, component 26 lifting when keeping with horizontal direction parallel is kept.nullOn the other hand，As mentioned above，The lift component 63 of the first elevating mechanism 59 can be connected with keeping component 26 relative to lift component 63 mode in relative rotation of the first elevating mechanism 59 by the first bindiny mechanism 61 with holding component 26，Second bindiny mechanism 62 is to keep component 26 can relatively rotate relative to the lift component 63 of the second elevating mechanism 60 and to be connected with keeping component 26 by the lift component 63 of the second elevating mechanism 60 in the way of first direction relative movement，Therefore，When in the motor 67 of the first elevating mechanism 59 and the motor 67 of the second elevating mechanism 60, only one of which motor rotates，Or when motor 67 rotates so that the amount of movement of lift component 63 of the amount of movement of lift component 63 of the first elevating mechanism 59 and the second elevating mechanism 60 is different，Such as shown in Figure 24，Component 26 is kept to tilt (i.e. battery plug mechanism 17 tilts) relative to horizontal direction relative to horizontal direction.
(rotating mechanism and the structure of horizontal mobile mechanism)
Figure 25 is for from the rotating mechanism 19 shown in front explanatory diagram 2 and the figure of horizontal mobile mechanism 20.Figure 26 is for from the rotating mechanism 19 shown in upper surface explanatory diagram 2 and the figure of horizontal mobile mechanism 20.Figure 27 is for from the R-R direction of Figure 26 explanation rotating mechanism 19 and the figure of horizontal mobile mechanism 20.Figure 28 (A) is the enlarged drawing in the U portion of Figure 26, and Figure 28 (B) is the enlarged drawing in the V portion of Figure 26.
Rotating mechanism 19 includes: for battery plug mechanism 17 and elevating mechanism 18 installing the revolving member 85 that can rotate；And make the rotating drive mechanism 86 that revolving member 85 rotates.Horizontal mobile mechanism 20 includes: for battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19 installing the sliding component 87 that can move in the lateral direction；And make the horizontal drive mechanism 88 that sliding component 87 moves.
Revolving member 85 is shaped generally as discoideus.Sliding component 87 is formed as the generally rectangular tabular with left and right directions as long side direction.The diameter of the width ratio revolving member 85 of the left and right directions of sliding component 87 is big, and before and after sliding component 87, the diameter of the width ratio revolving member 85 in direction is little.
Revolving member 85 is configured at the upside of sliding component 87.This revolving member 85 can rotate centered by its center of curvature.Upper surface at revolving member 85 is fixed with the lower end of two cylindrical components 64.Specifically, on the upper surface of revolving member 85, the both end sides at the first direction orthogonal with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 is respectively fixed with the lower end of cylindrical component 64.
In rotating drive mechanism 86, as the structure for making revolving member 85 rotate, including motor 90, belt wheel 91,92 and transmission band 93.It addition, in rotating drive mechanism 86, as the structure for revolving member 85 is guided towards rotation direction, including: guide rail 94；And merge can be along multiple guide pads 95 of guide rail 94 relative movement with guide rail 94 card.
Motor 90 and belt wheel 91,92 are configured at the radial outside of revolving member 85.Specifically, motor 90 and belt wheel 91,92 are configured at revolving member 85 radial outside in the lateral direction.Motor 90 by its output shaft downward in the way of be fixed on the upper surface side of sliding component 87.The output shaft of motor 90 is provided with reductor, this reductor is fixed with belt wheel 91.Belt wheel 91 is the profile of tooth belt wheel being formed with teeth portion at outer peripheral face.It is each configured with belt wheel 92 in the front side of belt wheel 91 and rear side.Belt wheel 92 is configured at the upper surface side of sliding component 87, and is supported on sliding component 87 in revolvable mode.
Transmission band 93 is the flat-toothed belt being formed with teeth portion in a face.Transmission band 93 is set up in belt wheel 91,92 and the outer peripheral face of revolving member 85.In the present embodiment, abut with the outer peripheral face of belt wheel 91 by the face being formed with teeth portion of transmission band 93, in the way of another face being formed without teeth portion of transmission band 93 abuts with the outer peripheral face of belt wheel 92 and revolving member 85, outer peripheral face at belt wheel 91,92 and revolving member 85 is added is provided with transmission band 93.Belt wheel 92 is the regulating wheel for transmission band 93 applies tension force.
The slewing area of the revolving member 85 of present embodiment is substantially 180 °.Therefore, transmission band 93 exists the part abutted all the time with the outer peripheral face of revolving member 85.In the present embodiment, the outer peripheral face of revolving member 85 is fixed in the local of the part that the outer peripheral face with revolving member 85 of transmission band 93 abuts all the time.It addition, in the present embodiment, when robot 5 relative to carry out battery 3 from bus 2 extract or insert the position of bus 2 rotate 180 ° time, battery 3 can be moved into buffer station or take out of from buffer station.
Guide rail 94 is formed as circular, and is fixed on the upper surface of sliding component 87.Specifically, guide rail 94 be formed as in time observing from above-below direction the center of curvature of circular guide rail 94 substantially uniform with the center of curvature of revolving member 85 in the way of be fixed on the upper surface of sliding component 87.
Guide pad 95 is fixed on the lower face side of revolving member 85.It is circular that multiple guide pads 95 are configured to centered by the center of curvature of revolving member 85.It addition, centered by the center of curvature of the revolving member 85 and equiangularly spacing configuration of multiple guide pads 95.In the present embodiment, seven guide pads 95 are centered by the center of curvature of revolving member 85 and equiangularly spacing configuration.
In the present embodiment, when motor 90 rotates, revolving member 85 is guided by guide rail 94 and guide pad 95 and rotates relative to sliding component 87.It addition, when motor 90 rotates, revolving member 85 rotates centered by its center of curvature.
In horizontal drive mechanism 88, as the structure for making sliding component 87 move, including motor 97, belt wheel 98,99 and transmission band 100.It addition, in horizontal drive mechanism 88, as the structure for sliding component 87 is guided to left and right direction, including: be formed as two guide rails 101 of linearity；And merge can be along multiple guide pads 102 of guide rail 101 relative movement with guide rail 101 card.
Two guide rails 101 are configured under the state separating predetermined distance along the longitudinal direction.It addition, guide rail 101 is fixed on the upper surface of multiple supporting members 103 (with reference to Fig. 1) of the spacing configuration separating regulation in the lateral direction.Two guide rails 101 are configured to intersect with guide rail 94.It addition, direction distance is configured with two guide rails 101 equal in the way of direction distance before and after between another root guide rail 101 and center of curvature of revolving member 85 before and after between a guide rail 101 and the center of curvature of revolving member 85 in two guide rails 101.
Guide pad 102 is fixed on the lower surface of sliding component 87.Specifically, the lower surface at sliding component 87 is fixed with two fixing components 104 with the state separating predetermined distance along the longitudinal direction, is fixed with multiple guide pad 102 at the above-mentioned fixing respective lower surface of component 104.Fixing component 104 is formed as the most elongated bulk.Fixing component 104 is fixed on sliding component 87 in the way of being configured at roughly the same position by the center of fixing component 104 with the center of curvature of revolving member 85 in the lateral direction.It addition, direction distance is configured with two fixing components 104 equal in the way of direction distance before and after between another fixing component 104 and center of curvature of revolving member 85 before and after between a fixing component 104 and the center of curvature of revolving member 85 in two fixing components 104.Multiple guide pads 102 are fixed on the lower surface of fixing component 104 in the lateral direction with constant spacing.In the present embodiment, two fixing components 104 are respectively fixed with four guide pads 102.
Motor 97 and belt wheel 98,99 are configured at the radial outside of revolving member 85.Specifically, motor 97 and belt wheel 98,99 are configured at revolving member 85 radial outside in the lateral direction, and are configured at and are positioned at and motor 90 and the position of belt wheel 91,92 opposite side across revolving member 85.Motor 97 by its output shaft towards the upper surface side being fixed on sliding component 87 in the way of fore-and-aft direction.The output shaft of motor 97 is provided with reductor, this reductor is fixed with belt wheel 98.Belt wheel 98 is the profile of tooth belt wheel being formed with teeth portion at outer peripheral face.It is each configured with belt wheel 99 in lower left side and the lower right side of belt wheel 98.Belt wheel 99 is supported on sliding component 87 in revolvable mode.
Transmission band 100 is the flat-toothed belt being formed with teeth portion in a face.The supporting member 103 being configured at left end in multiple supporting member 103 is fixed in one end of transmission band 100, and the other end of transmission band 100 is fixed on the supporting member 103 being configured at right-hand member in multiple supporting member 103.It addition, transmission band 100 is set up in belt wheel 98,99.The local in the face being formed with teeth portion of transmission band 100 engages with the outer peripheral face of belt wheel 98, the outside on the left and right directions of belt wheel 99, one of transmission band 100 facing to downside, another of transmission band 100 is facing to upside.Belt wheel 99 is the regulating wheel for transmission band 100 applies tension force.
In the present embodiment, when motor 97 rotates, sliding component 87 is guided by guide rail 101 and guide pad 102 and the most linearly moves.
Being provided with brush 106 at the two ends of the left and right directions of sliding component 87, this brush 106 is for removing the outside lodged on the left and right directions of belt wheel 99 towards foreign bodies such as the rubbish on another face (being formed without the face of teeth portion) of the transmission band 100 of upside, sands.Specifically, keeping component 107 to be provided with brush 106 in one end of the left and right directions of sliding component 87 by brush, the other end at the left and right directions of sliding component 87 keeps component 108 to be provided with brush 106 by brush.
Brush 106 is held in brush in the way of the contact of another face of its Mao Duanyu transmission band 100 and keeps component 107,108, and when sliding component 87 moves to left and right direction, the foreign body such as the rubbish on another face of transmission band 100 is swept by brush 106 and removed.The brush 106 of present embodiment is the brush of platypelloid type, as shown in figure 28, is held in brush and keeps component 107,108 in the way of its thickness direction slightly tilts relative to left and right directions.Therefore, swept the foreign body fallen by brush 106 when sliding component 87 moves to left and right direction to fall from another side facing fore-and-aft direction of transmission band 100 along with the movement of sliding component 87.
Battery change system 1 includes detecting in the movable range of the left and right directions whether operator enters the battery plug mechanism 17, elevating mechanism 18 and the rotating mechanism 19 that are installed in sliding component 87, so that the testing agency (not shown) of motor 97 emergent stopping etc..This testing agency is the optical sensor having and being configured to illuminating part relative to each other and light accepting part.In the present embodiment, the component that left end side at sliding component 87 is provided with in illuminating part and light accepting part, another component that the upside of the supporting member 103 being configured at left end in multiple supporting members 103 is configured with in illuminating part and light accepting part, when being interrupted from the light of this illuminating part directive light accepting part, in the left side of sliding component 87 detects the movable range of left and right directions that operator enters battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19.Additionally, the component being provided with in illuminating part and light accepting part in the right-hand member side of sliding component 87, another component that the upside of the supporting member 103 being configured at right-hand member in multiple supporting members 103 is configured with in illuminating part and light accepting part, when being interrupted from the light of this illuminating part directive light accepting part, in the right side of sliding component 87 detects the movable range of left and right directions that operator enters battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19.Additionally, illuminating part includes the multiple light-emitting components arranged along the longitudinal direction, light accepting part includes the multiple photo detectors arranged along the longitudinal direction, can detect in the Zone Full in direction before and after sliding component 87 in the movable range of the left and right directions whether operator enters battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19.Additionally, the testing agency detected in whether operator enters the movable range of the left and right directions of battery plug mechanism 17, elevating mechanism 18 and rotating mechanism 19 can also be photographic head.
(structure of testing agency and the position detection action of battery)
Figure 29 is for the figure to the detection method of the general location of battery 3 of the testing agency 21 shown in Figure 10 is described.Figure 30 is for the figure to the detection method of the position of battery 3 of the testing agency 21 shown in Figure 10 is described.
Testing agency 21 is the laser sensor including illuminating part and light accepting part, and wherein, above-mentioned illuminating part irradiates laser, and above-mentioned light accepting part receives the laser irradiating from this illuminating part and being reflected at the side 2a of bus 2, the front surface etc. of battery mounting table 6.As shown in Figure 10, this testing agency 21 is installed on the upper surface of front in mounting batteries portion 22.It addition, testing agency 21 is installed on mounting batteries portion 22 in the way of illuminating part and light accepting part are the most adjacent.In the present embodiment, in the way of corresponding with two the detection labellings 8 being formed at battery mounting table 6, in mounting batteries portion 22, Liang Ge testing agency 21 is installed.Specifically, the upper surface of the both end sides in the mounting batteries portion 22 on the first direction orthogonal with the moving direction in mounting batteries portion 22 and battery snap-in portion 24 is fixed with testing agency 21.It addition, Liang Ge testing agency 21 with and identical interval, the interval of two detection labellings 8 be fixed on mounting batteries portion 22.
When the reverberation reflecting the laser irradiated from illuminating part is in the measurement range of regulation, the state that testing agency 21 is on, when the reverberation reflecting laser is not in measurement range, testing agency 21 is in the state of disconnection.It addition, in testing agency 21, when the state that testing agency 21 is on, the distance between testing agency 21 and reverberation can be detected.
The position detection utilizing the battery 3 that testing agency 21 carries out such as is carried out as follows.First, when the bus 2 changing battery 3 stops at the stop position of regulation, such as, the battery plug mechanism 17 position on front side of the direct of travel more leaning on bus 2 than battery container portion 4 is standby.It addition, now, shown in solid such as Figure 29, in opposite directions, and mounting batteries portion 22 retreats the side 2a of the front surface in mounting batteries portion 22 and bus 2 towards the direction away from bus 2.It addition, now, such as, battery plug mechanism 17 is standby with the position that testing agency 21 is in roughly the same height at detection labelling 8.
As shown in the dotted line of Figure 29, mounting batteries portion 22 advances towards bus 2 from above-mentioned state, until receiving the state that the illuminating part from testing agency 21 irradiates and is in the testing agency 21 of laser that the side 2a of bus 2 reflects.Then, mounting batteries portion 22 moves in left-right direction towards battery container portion 4.That is, sliding component 87 moves towards battery container portion 4.
Mounting batteries portion 22 moves towards battery container portion 4, as shown in the double dot dash line of Figure 29, as the step 2b of the boundary that a testing agency 21 is formed through between battery mounting table 6 and side 2a, the laser irradiated from the illuminating part of a testing agency 21 is reflected at the front surface of battery mounting table 6.In the present embodiment, the detection range of testing agency 21 is configured to: if the laser state that testing agency 21 is on when the side 2a of bus 2 is reflected of the illuminating part from testing agency 21, then the laser testing agency 21 when the front surface of battery mounting table 6 is reflected at the illuminating part from testing agency 21 is in the state of disconnection.Therefore, when a testing agency 21 is through step 2b, a testing agency 21 is in the state of disconnection.That is, the state being in disconnection according to a testing agency 21 detects step 2b.It addition, by detecting that the end of the left and right directions of battery mounting table 6 is detected by step 2b, by detecting that the general location of the end of the left and right directions of battery mounting table 6 battery 3 to being installed in battery mounting table 6 detects.
Additionally, when a testing agency 21 disconnects, if mounting batteries portion 22 moves in left-right direction towards battery container portion 4, then according to by one or the other testing agency 21 distance between any 2 testing agencies detected 21 and the side 2a of bus 2, bus 2 when observing from above-below direction can be detected relative to the inclination of left and right directions.
Then, as shown in Figure 30 (A), according to the testing result of the general location of battery 3, by two detection labellings 8 and Liang Ge testing agency 21 the most in opposite directions in the way of make mounting batteries portion 22 move the most further.Now, according to detected as described above go out the testing result of inclination of bus 2, relative to the inclination of left and right directions, battery plug mechanism 17 when above-below direction is observed is adjusted such that the front surface in mounting batteries portion 22 is almost parallel in opposite directions with the front surface of battery mounting table 6.Specifically, by making revolving member 85 rotate the inclination of regulating cell plug mechanism 17.
Then, mounting batteries portion 22 advances towards battery mounting table 6, until receiving the illuminating part from testing agency 21 to irradiate and be detected the state that the testing agency 21 of the laser with labelling 8 reflection is on.Then, as shown in Figure 30 (B), Figure 30 (C), mounting batteries portion 22 moves in the lateral direction, so that from the laser the most crosscutting detection labelling 8 of the illuminating part of testing agency 21.More specifically, mounting batteries portion 22 moves in the lateral direction, so that the laser from each illuminating part of Liang Ge testing agency 21 distinguishes crosscutting two detection labellings 8 in the lateral direction.Additionally, in the present embodiment, when mounting batteries portion 22 moves in the lateral direction till the laser the most crosscutting detection labelling 8 of the illuminating part from testing agency 21 and stops, the center in mounting batteries portion 22 is substantially uniform with the center of battery 3 in the lateral direction, and what battery plug mechanism 17 arrived the outline of battery 3 extracts position.
In the present embodiment, the detection range of testing agency 21 is configured to: if the state that when reflecting from the laser of the illuminating part of testing agency 21 is detected with labelling 8, testing agency 21 is on, then the laser testing agency 21 when the front surface of battery mounting table 6 is reflected at the illuminating part from testing agency 21 is in the state of disconnection.Therefore, mounting batteries portion 22 has been made to move in the lateral direction by the way of the laser of the illuminating part of Autonomous test mechanism 21 the most crosscutting detection labelling 8 since by, and with testing agency 21 detection labelling 8, the width of the detected part (i.e. reflecting the part of laser, hereinafter referred to as " detected part ") of detection labelling 8 can be detected.
It addition, the detection labelling 8 of present embodiment is formed as the general triangular that its width changes in the vertical direction.Accordingly, it is capable to be by the width of the detected part of detection labelling 8 being detected the height detecting detection labelling 8, and can be by the height of detection labelling 8 being detected the height detecting the battery mounting table 6 being formed with detection labelling 8.In the present embodiment, by using testing agency 21 that the width of the detected part of detection labelling 8 is detected, can detect that the height of battery mounting table 6, by the height of battery mounting table 6 is detected, can detect that the height of the battery 3 positioning and being installed in battery mounting table 6.
In addition, mounting batteries portion 22 has been made to move by the way of the laser of the illuminating part of Autonomous test mechanism 21 the most crosscutting detection labelling 8 since by, and with testing agency 21, detection labelling 8 is detected, the center of the left and right directions of the detected part of detection labelling 8 can be detected.In the present embodiment, such as according to this center, battery mounting table 6 position in the lateral direction is detected, by battery mounting table 6 position in the lateral direction is detected, can detect that location and be installed in the battery 3 of battery mounting table 6 position in the lateral direction.
Additionally, can utilize testing agency 21 that the distance between center and the testing agency 21 of the left and right directions of the detected part of detection labelling 8 is detected, in the present embodiment, such as, according to the distance between this center and testing agency 21, battery mounting table 6 position in the longitudinal direction is detected, by battery mounting table 6 position in the longitudinal direction is detected, can detect that location and be installed in the battery 3 of battery mounting table 6 position in the longitudinal direction.
It addition, battery mounting table 6 when fore-and-aft direction is observed is detected relative to the inclination of left and right directions according to the height of the battery mounting table 6 detected by a testing agency 21 in Liang Ge testing agency 21 and the height of battery mounting table 6 detected by another testing agency 21.It addition, by battery mounting table 6 when fore-and-aft direction is observed is detected relative to the inclination of left and right directions, can detect that battery 3 is relative to the inclination of left and right directions when fore-and-aft direction is observed.
It addition, battery mounting table 6 when above-below direction is observed is detected relative to the inclination of left and right directions according to the distance between testing agency 21 and the detection labelling 8 detected by a testing agency 21 in Liang Ge testing agency 21 and the distance between the testing agency 21 and the detection labelling 8 that are detected by another testing agency 21.It addition, by battery mounting table 6 when above-below direction is observed is detected relative to the inclination of left and right directions, can detect that battery 3 is relative to the inclination of left and right directions when above-below direction is observed.
When to the battery 3 position on direction all around, the height of battery 3, when fore-and-aft direction is observed, battery 3 is relative to the inclination of left and right directions and time when above-below direction is observed, battery 3 detects relative to the inclination of left and right directions, position to the left and right directions of battery plug mechanism 17, height and inclination are adjusted, so that the jut 12 of the lower surface of battery 3 is the most substantially uniform with the groove portion 32a of the roller 32 in mounting batteries portion 22, make lower surface and the roller 31 of battery 3, the upper surface of 32 is substantially uniform, and make when fore-and-aft direction is observed battery 3 substantially uniform with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions, and make when above-below direction is observed battery 3 substantially uniform with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions.
Specifically, utilize horizontal mobile mechanism 20 that the position of the left and right directions of battery plug mechanism 17 is adjusted, utilize elevating mechanism 18 that the height of battery plug mechanism 17 is adjusted, and utilize rotating mechanism 19 that battery plug mechanism 17 when above-below direction is observed is adjusted relative to the inclination of left and right directions.Additionally, by driving the first elevating mechanism 29 or the second elevating mechanism 60, or by changing drive volume and the drive volume of the second elevating mechanism 60 of the first elevating mechanism 59, regulate when fore-and-aft direction is observed battery plug mechanism 17 relative to the inclination of left and right directions.
To the position of left and right directions, the height of battery plug mechanism 17 and after tilting to be adjusted, mounting batteries portion 22 and battery snap-in portion 24 move in the longitudinal direction, are extracted by battery 3 from bus 2.When mounting batteries portion 22 and battery snap-in portion 24 move in the longitudinal direction, to make battery 3 successfully transfer and make to engage in the way of claw 41 engages rightly between battery mounting table 6 with mounting batteries portion 22 with handle portion 11, according to the testing result of the position in direction before and after battery 3, mounting batteries portion 22 and battery snap-in portion 24 amount of movement in the longitudinal direction are set.After being extracted from bus 2 by battery 3, robot 5 rotates 180 ° so that battery 3 is moved into buffer station.It addition, robot 5 takes out of the battery 3 charged from buffer station, after rotating 180 °, insert battery 3 towards bus 2.
It addition, battery mounting table 6 changes because of the stopping accuracy of bus 2 relative to the inclination (inclination of bus 2) of left and right directions when above-below direction is observed.It addition, when fore-and-aft direction is observed the state on the ground that battery mounting table 6 stops because of bus 2 relative to the inclination (inclination of bus 2) of left and right directions and change.It addition, be equiped with multiple battery 3 in bus 2, and the weight of a battery 3 is hundreds of kilogram, therefore, the difference of the installation position according to battery 3, if extracting battery 3 from bus 2 successively when changing battery 3, then when fore-and-aft direction is observed, bus 2 can change relative to the inclination of left and right directions.
(main efficacy results of present embodiment)
As it has been described above, in the present embodiment, the battery mounting table 6 installed for battery 3 is formed with detection labelling 8, is installed on mounting batteries portion 22 for the testing agency 21 that this detection labelling 8 is detected.Therefore, in the present embodiment, by utilizing testing agency 21 that detection labelling 8 is detected, position and the inclination of the battery 3 being installed in bus 2 can indirectly be detected.Therefore, in the present embodiment, even if the stopping accuracy that bus 2 is when changing battery 3 is relatively low, the para-position of battery plug mechanism 17 and battery 3 can also be carried out according to the testing result of testing agency 21.As a result of which it is, in the present embodiment, the battery 3 being installed in bus 2 can be changed rightly.
Especially, in the present embodiment, due to the position detected before and after battery 3 on direction and height, therefore, in the way of the lower surface of battery 3 is substantially uniform with the upper surface of roller 31,32, the height in mounting batteries portion 22 can be adjusted according to the testing result of the height of battery 3, and in the way of battery 3 successfully shifts between battery mounting table 6 and mounting batteries portion 22, the amount of movement to front-rear direction in mounting batteries portion 22 is adjusted according to the testing result of the position on direction before and after battery 3.Therefore, in the present embodiment, even if in the case of the heavier-weight of battery 3, between battery container portion 4 and mounting batteries portion 22, the handing-over of battery 3 can also safely and be carried out rightly, as a result of which it is, energy safely and carries out extracting or inserting of battery 3 rightly.
Additionally, in the present embodiment, owing to detecting the position of the left and right directions of battery 3, when fore-and-aft direction is observed battery 3 relative to the inclination of left and right directions and when above-below direction is observed battery 3 relative to the inclination of left and right directions, therefore, the position of the left and right directions of battery plug mechanism 17 and inclination can be adjusted, so that the jut 12 of the lower surface of battery 3 is the most substantially uniform with the groove portion 32a of the roller 32 in mounting batteries portion 22, make when fore-and-aft direction is observed battery 3 substantially uniform with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions, and make when above-below direction is observed battery 3 substantially uniform with the inclination of battery plug mechanism 17 relative to the inclination of left and right directions.Additionally, in the present embodiment, owing to detecting the position in direction before and after battery 3, the amount of movement to front-rear direction in battery snap-in portion 24 therefore can be set with handle portion 11 in the way of engaging claw 41 engages rightly according to the testing result of the position in direction before and after battery 3.Therefore, in the present embodiment, can further safety and carry out extracting or inserting of battery 3 rightly.
In the present embodiment, testing agency 21 is installed on the mounting batteries portion 22 constituting battery plug mechanism 17.Therefore, after utilizing testing agency 21 to detect the position of battery 3 and tilt, the amount of movement of the battery plug mechanism 17 when can make to carry out the position adjustments of battery plug mechanism 17 reduces.Therefore, in the present embodiment, it is not likely to produce error when the testing result according to testing agency 21 carries out position adjustments to battery pull-plug device 17, it is thus possible to carry out the para-position of battery plug mechanism 17 and battery 3 accurately.Additionally, after utilizing testing agency 21 to detect position and the inclination of battery 3, the amount of movement of the battery plug mechanism 17 when can make to carry out the position adjustments of battery plug mechanism 17 reduces, therefore, after detecting the position of battery 3 and tilting, the position adjustments of battery plug mechanism 17 can be carried out at short notice.
Especially, in the present embodiment, detection labelling 8 is formed at battery mounting table 6 and testing agency 21 is installed on mounting batteries portion 22, therefore, when using testing agency 21 to detect detection labelling 8, mounting batteries portion 22 and battery mounting table 6 are configured at roughly the same height.Therefore, in the present embodiment, after utilizing testing agency 21 to detect the position of battery 3 and tilt, carrying out the amount of movement of the above-below direction of battery plug mechanism 17 during the position adjustments of battery plug mechanism 17 is a little.Its result is, in the present embodiment, battery plug mechanism 17 and battery 3 para-position in the vertical direction can be carried out the most accurately, additionally, after having detected the position of battery 3, the para-position of battery plug mechanism 17 and battery 3 can be carried out within the shorter time.
In the present embodiment, battery mounting table 6 is formed two detection labellings 8, and Liang Ge testing agency 21 is installed in the way of corresponding with two detection labellings 8 in mounting batteries portion 22.Accordingly, it is capable to utilize Liang Ge testing agency 21 two detection labellings 8 of detection the most simultaneously.Accordingly, it is capable to detect at short notice when fore-and-aft direction is observed battery 3 relative to the inclination of left and right directions and when above-below direction is observed battery 3 relative to the inclination of left and right directions.
In the present embodiment, detection labelling 8 is formed as the general triangular that its width changes in the vertical direction.Therefore, if the width making testing agency 21 move the detected part to detection labelling 8 in the lateral direction detects, then the height of battery 3 can be detected.Accordingly, it is capable to detect the height of battery 3 at short notice.
In the present embodiment, detected by the step 2b of the testing agency 21 boundary to being formed between battery mounting table 6 and side 2a, can detect that the general location of battery 3.Therefore, even if the translational speed in the mounting batteries portion 22 moved in the lateral direction because of horizontal mobile mechanism 20 is accelerated, also can be easier and detect rightly the general location of battery 3.Therefore, in the present embodiment, the general location of battery 3 can be detected at short notice, and mounting batteries portion 22 can be made to move at short notice to testing agency 21 can detect the position of detection labelling 8.As a result of which it is, in the present embodiment, the detail location of battery 3 can be detected at short notice.
Especially, in the present embodiment, testing agency 21 is laser sensor, therefore, by setting the detection range of testing agency 21 rightly, easily utilizes testing agency 21 to detect step 2b, and can detect the general location of battery 3 within the shorter time.Additionally, owing to testing agency 21 is laser sensor, therefore, as mentioned above, according to by the testing agency 21 distance between any 2 testing agencies detected 21 and the side 2a of bus 2, bus 2 when above-below direction is observed can be detected relative to the inclination of left and right directions.
(other embodiment)
Above-mentioned embodiment is the example in the preferred embodiment of the present invention, but the present invention is not limited to this, can carry out various deformation implementation not changing in the range of the technology of the present invention thought.
In the above-described embodiment, detection labelling 8 is formed at battery mounting table 6, but detection labelling 8 also can be formed at battery 3.It addition, in the above-described embodiment, testing agency 21 is installed on mounting batteries portion 22, but testing agency 21 is also mountable to battery snap-in portion 24.
In the above-described embodiment, detection labelling 8 and testing agency 21 is utilized to detect the position of left and right directions of battery 3, if but do not form jut 12 at the lower surface of battery 3, the most also can not detect the position of the left and right directions of battery 3.In this case, such as, the mechanism being used for carrying out battery 3 location in the lateral direction is located at robot 5.
Additionally, in the above-described embodiment, detection labelling 8 and testing agency 21 is utilized to detect the position in direction before and after battery 3, if but such as utilize the magnet being fixed on battery 3 and the magnet being fixed on battery snap-in portion 24 to extract battery 3, to replace utilizing engaging claw 41 and handle portion 11 to extract battery 3, the position in direction before and after battery 3 the most also can not be detected.In this case, such as, the mechanism being used for carrying out battery 3 location in the longitudinal direction is located at robot 5.
Additionally, in the above-described embodiment, utilize detection labelling 8 and testing agency 21 detect when above-below direction is observed battery 3 relative to the inclination of left and right directions and when fore-and-aft direction is observed battery 3 relative to the inclination of left and right directions, but also can not detect these.In this case, as long as forming a detection labelling 8 on battery mounting table 6, and a testing agency 21 is installed in mounting batteries portion 22.
In the above-described embodiment, mounting batteries portion 22 installs Liang Ge testing agency 21, but the testing agency 21 being installed on mounting batteries portion 22 can also be one.In this case, make mounting batteries portion 22 move by the way of with the most crosscutting two the detection labellings 8 of testing agency 21, can detect when fore-and-aft direction is observed battery 3 relative to the inclination of left and right directions and when above-below direction is observed battery 3 relative to the inclination of left and right directions.
In the above-described embodiment, sidewall 7 is formed without detection labelling 8 but it also may on sidewall 7, form detection labelling 8.In this case, if the detection labelling 8 being formed at sidewall 7 is arranged in the position than the more top side of detection labelling 8 being formed at battery mounting table 6, then by the distance of the distance of the detection labelling 8 with testing agency 21 being formed at sidewall 7 and the detection labelling 8 and testing agency 21 that are formed at battery mounting table 6 is detected, can detect that bus 2 is relative to the inclination of fore-and-aft direction when left and right directions is observed.Additionally, it is possible on battery mounting table 6, form the detection labelling 8 of more than three.
In the above-described embodiment, testing agency 21 is installed on mounting batteries portion 22 in the way of illuminating part and light accepting part are the most adjacent.In addition, such as shown in Figure 31, it is possible to testing agency 21 is installed on mounting batteries portion 22 by illuminating part and light accepting part in the way of the upper overlap of above-below direction (vertical).In the case of configuring testing agency 21 in the way of illuminating part is the most adjacent with light accepting part, such as shown in Figure 32, there is the boundary between the front surface and detection labelling 8 of battery mounting table 6, on the front surface of battery mounting table 6, the laser of reflection is detected interdicts with labelling 8 and cannot be back to the such problem of light accepting part, but when configuring testing agency 21 in the way of illuminating part is the most overlapping with light accepting part, can prevent the above-described problem from occurring.
In the above-described embodiment, testing agency 21 is laser sensor, but testing agency 21 may not be laser sensor.Such as, testing agency 21 can also be photographic head.In this case, as long as the distance of battery 3 and testing agency 21 utilizes the depth of field of testing agency 21 (i.e. photographic head) to be detected.It addition, in this case, such as, it is possible to utilize the pattern match of image that photographed by testing agency 21 to the step 2b detecting between the side 2a of bus 2 and battery mounting table 6.It addition, testing agency 21 can also be ultrasonic sensor and laser sensor or the combination of photographic head.In this case, utilize ultrasonic sensor to detect the position in direction before and after battery 3, utilize laser sensor or photographic head to detect the position in direction up and down of battery 3.
In the above-described embodiment, detection labelling 8 is formed as the general triangular that width changes in the vertical direction, but detection labelling may be alternatively formed to that width changes in the vertical direction generally trapezoidal.It addition, detection labelling 8 may be alternatively formed to circle.In the case of detection labelling 8 is formed as circle, as long as by making mounting batteries portion 22 to move by the way of crosscutting detection labelling 8 with testing agency 21 on left and right directions and above-below direction, and the center of detection labelling 8 is detected, detect the position in the direction up and down of battery 3.It addition, in this case, such as, as long as according to detection position in direction before and after the distance detection battery 3 of the center of labelling 8 and testing agency 21.
In the above-described embodiment, detection labelling 8 is formed as the tabular highlighted from the front surface of battery mounting table 6.In addition, such as, detection labelling 8 can also be the recess caved in from the front surface of battery mounting table 6.Such as shown in Figure 33, it is possible to formed detection labelling 8 by the reflecting plate 110 of rear surface of the through hole 6a of the substantially equilateral triangle of the antetheca running through battery mounting table 6 and the antetheca that is fixed on battery mounting table 6 in the way of blocking through hole 6a.In this case, when making battery mounting table 6, through hole 6a can be formed at the antetheca of battery mounting table 6 by punch press process based on punching press, therefore, compare with the situation being formed into the front surface that flat detection labelling 8 is fixed on battery mounting table 6, the positional precision of detection labelling 8 can be improved.
In the above-described embodiment, to the position of battery 3 with after tilting to carry out one-time detection and the position of battery plug mechanism 17 and inclination having been carried out Primary regulation, battery 3 is extracted.In addition, such as, it is possible to be repeated several times to the position of battery 3 and the detection of inclination and to the position of battery plug mechanism 17 and the regulation of inclination after, battery 3 is extracted.In this case, the aligning accuracy of battery 3 and battery plug mechanism 17 can be improved further.
In the above-described embodiment, robot 5 is the robot for being replaced the battery 3 being installed in bus 2, but robot 5 can also be the robot for being replaced the battery 3 of the vehicle beyond the bus such as truck, private car 2.
(symbol description)
1 battery change system
2 buses (vehicle)
2a side
2b step
3 batteries
5 battery altering robots
6 battery mounting tables
8 detection labellings
17 battery plug mechanisms
18 elevating mechanisms
19 rotating mechanisms
20 horizontal mobile mechanisms
21 testing agencies
22 mounting batteries portions (movable part)
24 battery snap-in portions (movable part)
59 first elevating mechanisms
60 second elevating mechanisms
X fore-and-aft direction
Y left and right directions
Z above-below direction

Claims (8)

1. a battery altering robot, for being replaced the battery being installed in vehicle, it is characterised in that
When described vehicle and described battery altering robot direction in opposite directions being set to fore-and-aft direction, and when the direction being substantially orthogonal with fore-and-aft direction and above-below direction is set to left and right directions,
Described battery altering robot includes:
Battery plug mechanism, this battery plug mechanism carries out described battery extracting with described battery towards the insertion of described vehicle from described vehicle；
Elevating mechanism, this elevating mechanism makes the lifting of described battery plug mechanism；
Rotating mechanism, this rotating mechanism is with above-below direction for axially making described battery plug mechanism rotate；
Horizontal mobile mechanism, this horizontal mobile mechanism makes described battery plug mechanism move in the lateral direction；And
Testing agency, this testing agency is for detecting the detection labelling being formed at battery mounting table or described battery, and this battery mounting table is installed on described vehicle and for described mounting batteries,
Described battery plug mechanism includes movable part, this movable part can move towards near the direction of described vehicle and the direction away from described vehicle, and move towards the direction near described vehicle when extracting and insert described battery to carry out extracting and inserting of described battery
Described elevating mechanism includes the first elevating mechanism and the second elevating mechanism that can drive individually to make described battery plug mechanism tilt when fore-and-aft direction is observed relative to left and right directions,
Described battery mounting table or described battery are formed with detection labelling described at least two with state across predetermined distance in left-right direction,
Described testing agency is installed on described movable part, and by detecting described detection labelling, detect described battery mounting table or the height of described battery, the position of left and right directions, the position of fore-and-aft direction, when fore-and-aft direction is observed relative to the inclination of left and right directions and when above-below direction is observed relative to the inclination of left and right directions.
2. battery altering robot as claimed in claim 1, it is characterised in that
Described testing agency is the laser sensor including illuminating part and light accepting part, and wherein, described illuminating part irradiates laser, and described light accepting part receives the laser after being reflected by reverberation, and the laser irradiated from described illuminating part is reflected by this reverberation.
3. a battery change system, for the battery being installed in vehicle is replaced, it is characterised in that including:
Battery plug mechanism, this battery plug mechanism carries out described battery extracting with described battery towards the insertion of described vehicle from described vehicle；
Elevating mechanism, this elevating mechanism makes the lifting of described battery plug mechanism；
Rotating mechanism, this rotating mechanism is with above-below direction for axially making described battery plug mechanism rotate；
Battery mounting table, this battery mounting table is installed on described vehicle and for described mounting batteries；
Detection labelling, this detection labelling is formed at described battery mounting table or described battery；And
Testing agency, this testing agency is used for detecting described detection labelling,
When described vehicle and described battery altering robot direction in opposite directions are set to fore-and-aft direction, and when the direction being substantially orthogonal with fore-and-aft direction and above-below direction is set to left and right directions, described battery change system includes horizontal mobile mechanism, this horizontal mobile mechanism makes described battery plug mechanism move in the lateral direction
Described battery plug mechanism includes movable part, this movable part can move towards near the direction of described vehicle and the direction away from described vehicle, and move towards the direction near described vehicle when extracting and insert described battery to carry out extracting and inserting of described battery
Described elevating mechanism includes the first elevating mechanism and the second elevating mechanism that can drive individually to make described battery plug mechanism tilt when fore-and-aft direction is observed relative to left and right directions,
Described battery mounting table or described battery are formed with detection labelling described at least two with state across predetermined distance in left-right direction,
Described testing agency is installed on described movable part, and by described detection labelling is detected, detect described battery mounting table or the height of described battery, the position of left and right directions, the position of fore-and-aft direction, when fore-and-aft direction is observed relative to the inclination of left and right directions and when above-below direction is observed relative to the inclination of left and right directions.
4. battery change system as claimed in claim 3, it is characterised in that
Described battery mounting table or described battery are formed with two described detection labellings with state across predetermined distance in left-right direction,
Described movable part is provided with two described testing agencies in the way of corresponding with two described detection labellings.
5. the battery change system as described in claim 3 or 4, it is characterised in that
In described battery plug mechanism, as described movable part, including:
Mounting batteries portion, this mounting batteries portion supplies described mounting batteries when extracting and insert described battery；And
Battery snap-in portion, this battery snap-in portion merges with described Battery Card when extracting and insert described battery makes described battery move in described mounting batteries portion,
Described testing agency is installed on described mounting batteries portion,
Described detection labelling is formed at described battery mounting table.
6. the battery change system as described in claim 3 or 4, it is characterised in that
It is the most trapezoidal that described detection labelling is formed as that width changes in the vertical direction.
7. the battery change system as described in claim 3 or 4, it is characterised in that
Boundary between described battery mounting table in the lateral direction and the side of described vehicle is formed with step,
Described testing agency detects the general location of described battery by detecting described step.
8. battery change system as claimed in claim 7, it is characterised in that
Described testing agency is the laser sensor including illuminating part and light accepting part, and wherein, described illuminating part irradiates laser, and described light accepting part receives the laser after being reflected by reverberation, and the laser irradiated from described illuminating part is reflected by this reverberation.
CN201280003162.XA 2011-01-31 2012-01-31 Battery altering robot and battery change system Expired - Fee Related CN103140392B (en)

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JP2011-018758 2011-01-31
PCT/JP2012/052064 WO2012105530A1 (en) 2011-01-31 2012-01-31 Battery-replacing robot and battery-replacement system

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