CN103963751B - A kind of electric automobile chassis battery change method - Google Patents
A kind of electric automobile chassis battery change method Download PDFInfo
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Abstract
The present invention relates to a kind of electric automobile chassis battery change method, its method is：（1）Start to recognize battery pose by GPS, gyroscope, RFID；（2）Judge whether automobile has come to a complete stop；（3）Grip the battery case to be replaced of electric automobile；（4）Whether judge the deposit layer to be charged of electric automobile charging and conversion electric battery carrier has battery reserve；（5）Will be filled with the working lining that battery case is put into electric automobile charging and conversion electric battery carrier, it is ensured that be put in place；（6）The charged layer charge position that the battery case to be charged for changing rises to top layer is started to charge up, while mechanical arm takes out the battery case loading electric automobile that base has been filled with, and declines one piece of battery having been filled with for filling up room；（7）Charging and conversion electric is completed, and automobile is rolled away from, and mechanical arm resets.The present invention is convenient, fast, and the division of labor is clear and definite, and whole work process is reliable and stable, has well adapted to big quality rapidly replacing battery of electric automobile requirement, greatly improves charging and conversion electric efficiency, solves the electric automobile low problem of charging and conversion electric efficiency.
Description
Technical field
The present invention relates to electric automobile field, and in particular to be a kind of electric automobile charging and conversion electric method.
Background technology
With the progress and development of society, traditional energy is become closer in exhaustion, therefore it is imperative to tap a new source of energy,
Including nuclear energy, solar energy and etc. combustible ice, the various new energy will be the trend of future source of energy development in science and technology, also will be into following vapour
The source of car power.Traffic transport industry development is faster the electrified development of railway transportation, by the weight of eleventh five year plan
Point development, at present, China railways electrification level has been over 80%, and development phase shortage of the power technology on automobile is to slow.
With the progress of battery technology, researcher have developed the new automobile based on electric energy, be received much concern with its characteristics of energy saving,
Electric automobile will be the important development trend in future automobile industry and whole power technology field.
In recent years, the key cities of China were had begun to progressively promote electric automobile, and Shenzhen was planned before 2012
200 quick charge stations are built up, to promote and popularize the development of electric automobile；National Development and Reform Committee also announces in Beijing at the beginning of 2011
Electric automobile charging and conversion electric pond service network is built in Tianjin area, and the electric automobile for promoting replacing battery is continuous electrically.Present electronic vapour
Face one problem for being difficult to break through of car is：When vehicle-loaded battery electricity quantity exhausts, quick charge station is powered full of a beam automobile
Battery generally requires dozens of minutes, and the consuming time is more long, influences the continuous operation of automobile.
Regarding to the issue above, solution best at present is to change battery, is increased by changing batteries of electric automobile
The endurance of automobile；Therefore, need to be needed one can charging and conversion electric efficiency high, electric automobile chassis battery is more easily and fast
Change method.
The content of the invention
For a kind of not enough present on prior art, charging and conversion electric efficiency high high it is an object of the present invention to provide reliability, side
Just quick electric automobile chassis battery change method, to solve the electric automobile low problem of charging and conversion electric efficiency.
To achieve these goals, the present invention is to realize by the following technical solutions：
A kind of electric automobile chassis battery change method, it includes electric automobile chassis battery charging and conversion electric device, electronic vapour
Chassis battery charging and conversion electric device includes mechanical arm, battery case and the battery carrier for placing battery case；Mechanical arm passes through bolt
On guide rail, nonstandard fixture is installed by lead screw transmission, on mechanical arm, battery case is by the nonstandard fixture on mechanical arm
Gripping, the battery carrier includes support body, is arranged on the charged layer of support body top layer, sets the working lining of support body bottom and be located at
The deposit layer to be charged of interbed；
Its method and step is as follows：
（1）Automobile sails charging station into, then by GPS, gyroscope, RFID（REID, Radio
Frequency Identification, also known as radio frequency identification）Start to recognize battery pose；
（2）Judge whether automobile has come to a complete stop；GPS, gyroscope, RFID were to be spaced continuous 3 time points to battery position with 1 second
Appearance is identified, and judges whether automobile has come to a complete stop and prepares to change battery；If 3 pose data variations at time point of detection, after
It is continuous to wait；Otherwise, then judge that automobile has come to a complete stop, that is, send prompting, notify that parking brake is opened and left the theatre by driver, now control room
Alerting signal is received, charging and conversion electric flow prepares to initially enter step（4）；
（3）Gripping battery case；Control room sends charging and conversion electric instruction, and electric automobile charging and conversion electric mechanical arm carries out pose adjustment simultaneously
Start the battery case to be replaced of gripping electric automobile；
（4）Whether judge the deposit layer to be charged of electric automobile charging and conversion electric battery carrier has battery；In electric automobile charging and conversion electric
Pressure sensor is installed on the deposit layer to be charged of battery carrier, judges whether deposit layer to be charged has electricity by pressure sensor
Pond, if so, the upper pallet for being placed with battery traversing allows out position for top layer pallet declines in then laying in layer to be charged；If not yet
Have, then the fully charged battery case on charged layer is down to the working lining of bottom；
（5）The battery case that will be filled with electricity is put into the working lining of electric automobile charging and conversion electric battery carrier；The electricity that mechanical arm will take out
Pond case is put into the bottom of electric automobile charging and conversion electric battery carrier and ensures to be put in place；
（6）The charged layer charge position that the battery case to be charged for changing rises to top layer is started to charge up, while mechanical arm
Take out base and have been filled with the battery case loading electric automobile of electricity, and decline one piece and have been filled with the battery case of electricity for filling up room；
（7）Charging and conversion electric is completed, and automobile is rolled away from, and mechanical arm resets.
Further, the battery carrier central axis aligns with ground guide central axis；Mechanical arm working face and electricity
Pond frame bottom is concordant.
Further, battery carrier be five layers of three-row structure, each layer be provided be arranged on support body lifting platform,
Rail plate and pallet；It is provided with pallet for judging whether the pressure sensor equipped with battery case；The lifting platform
It is connected with charging rack by rail plate and by lead screw transmission, palette adjustment works as same layer on the rail plate of lifting platform
There are three rail plates in sustained height simultaneously, pallet can be moved left and right on rail plate.
Preferably, being provided with charging device in the charged layer, the charging device includes charging head and charging base；
Charging guide rail is provided with charging base, the charging head uses direct acting plug-in charging head, the direct acting plug-in charging head
It is placed on the charging guide rail of charging base, is plugged by motor control and moved.
Charging and conversion electric method of the invention, its is convenient, fast, and the division of labor is clear and definite, and whole work process is reliable and stable, preferably suitable
Big quality rapidly replacing battery of electric automobile requirement is answered, charging and conversion electric efficiency has been greatly improved, electric automobile has been solved and is filled and change
The low problem of electrical efficiency.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description；
Fig. 1 is the structural representation of electric automobile chassis battery charging and conversion electric device of the invention；
Fig. 2 is the structural representation of non-scale folder of the invention；
Fig. 3 is the structural representation of battery carrier of the invention；
Fig. 4 is lifting platform of the invention and support holder structure schematic diagram；
Fig. 5 is charging module structural representation of the invention；
Fig. 6 is process chart of the invention.
Specific embodiment
For technological means, creation characteristic, reached purpose and effect for making present invention realization are easy to understand, with reference to
Specific embodiment, is expanded on further the present invention.
Referring to Fig. 1 and Fig. 2, the present embodiment provides a kind of electric automobile chassis battery change method, including mechanical arm
1st, battery case 2 and battery carrier 3；Mechanical arm 1 passes through on the surface-based guide rail of bolt, by lead screw transmission.Guide rail distance electricity
2 meters of pond frame, the central axis of battery carrier 3 aligns with the central axis of ground guide；Battery case 2 is by nonstandard on mechanical arm 1
Fixture is gripped, and the working face of mechanical arm 1 is concordant with the bottom of battery carrier 3.
Referring to Fig. 3 to Fig. 5, the battery carrier 3 of the present embodiment include charging device 11, charged layer 12, lay in layer 13 to be charged,
Working lining 14, lifting platform 15, rail plate 16, pallet 17, pressure sensor 18.Battery carrier 3 is five layers of three-row structure, each
Layer is constituted by lifting platform 15, rail plate 16, pallet 17 and pressure sensor 18, and charging device 11 is to fill positioned at top
Electric layer 12, each row have a charging head 19, and charging head uses direct acting plug-in charging head by motor control.Lifting platform 15
It is connected with battery carrier by the rail plate of oscilaltion and by lead screw transmission, the slip that pallet 17 is placed in lifting platform 15 is led
On rail 16, when same layer has three rail plates 16 in sustained height simultaneously, pallet 17 can be moved left and right on rail plate,
Three pressure sensors 18 are installed, for whether judging on pallet equipped with battery case on the positioning original paper of tray bottom.Charge
Layer 12 is located at the top of battery carrier support body, this layer of pallet can only oscilaltion can not move left and right, working lining 14 is located at most bottom
Layer, can be moved left and right during this layer of pallet can not oscilaltion, lay in layer 13 to be charged and be located in the middle of charged layer 12 and working lining 14,
One has three layers, and oscilaltion can also be moved left and right by laying in layer 13 to be charged.
Referring to Fig. 6, the charging and conversion electric method and step of the present embodiment is as follows：
（1）Battery pose is recognized；Automobile sails charging station into, by GPS, gyroscope, RFID（REID,
Radio Frequency Identification, also known as radio frequency identification）Start to recognize battery pose；
（2）Judge whether automobile has come to a complete stop；GPS, gyroscope, RFID were to be spaced continuous 3 time points to battery position with 1 second
Appearance is identified, and judges whether electric automobile has come to a complete stop and prepares to change battery；If 3 pose data variations at time point of detection,
Then continue waiting for；Otherwise, then judge that electric automobile has come to a complete stop, that is, send prompting, notify that parking brake is opened and left the theatre by driver, this
When control room receive alerting signal, charging and conversion electric flow prepares to initially enter step（4）；
（3）Gripping battery case；Control room sends charging and conversion electric instruction, and the mechanical arm 1 of electric automobile charging and conversion electric carries out pose tune
Battery case to be replaced that is whole and beginning through non-scale fixture gripping electric automobile；
（4）Whether judge the deposit layer to be charged of electric automobile charging and conversion electric battery carrier has battery；Treated in the deposit of battery carrier 3
Pressure sensor 18 is installed on the pallet of charged layer 13, judges whether deposit layer to be charged has battery by pressure sensor 18, if
Have, then will lay in upper pallet for being placed with battery in layer to be charged and traversing allow out position for top layer pallet declines；If no, will
Fully charged battery case on charged layer is down to the working lining of bottom, is easy to the replacing of electric automobile；
（5）The battery case that will be filled with electricity is put into the working lining 14 of electric automobile charging and conversion electric battery carrier；Mechanical arm 1 will take out
Battery case 2 be put into the bottom of battery carrier 3 and ensure to be put in place；
（6）The charged layer charge position that the battery case to be charged for changing rises to top layer is started to charge up, while mechanical arm
Take out base and have been filled with the battery case loading electric automobile of electricity, and decline one piece and have been filled with the battery case of electricity for filling up room；
（7）Charging and conversion electric is completed, and automobile is rolled away from, and mechanical arm resets.
Non- scale fixture is installed in the present embodiment on mechanical arm, the non-scale fixture include clamp body 7, clamping device 8,
Locating piece 9, attachment means.Clamping device 8 is arranged on the rail plate of clamp body, and loosening up is stepped up by motor control,
Locating piece is bolted on the collet root position of clamp body, and clamp body 7 is connected by attachment means with mechanical arm 1.
Clamping device 8 includes base plate and lower clamp jaw, and clamp jaw 4 is fixed with the one end of clamp body 7, and its other end is by sliding
The mounting base of guide rail 5, base plate can be slided on rail plate 5, clamp jaw motion, upper clamp jaw 4 and lower clamp jaw under driving
It is engaged, realizes firmly grasping the purpose of battery case.
Charging device is provided with above-mentioned charged layer, the charging device includes charging head 19 and charging base 20；Charge
Charging guide rail 6 is provided with base 20, the charging head 19 uses direct acting plug-in charging head, the direct acting plug-in charging head
It is placed on the charging guide rail 6 of charging base 20, is plugged by motor control and moved, the present invention is filled using quick direct acting plug-in
Dateline, greatly improves charging station entirety charging and conversion electric operating efficiency.
Charging and conversion electric method of the invention, its is convenient, fast, and the division of labor is clear and definite, and whole work process is reliable and stable, preferably suitable
Big quality rapidly replacing battery of electric automobile requirement is answered, charging and conversion electric efficiency has been greatly improved, electric automobile has been solved and is filled and change
The low problem of electrical efficiency.
Additionally, five layers of three-row layers purposes division of labor of charging battery frame is clear and definite, pallet can independent-lifting translation,
Battery movement efficiency can be effectively improved.
General principle of the invention and principal character and advantages of the present invention has been shown and described above.The technology of the industry
Personnel it should be appreciated that the present invention is not limited to the above embodiments, simply explanation described in above-described embodiment and specification this
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (3)
1. a kind of electric automobile chassis battery change method, it includes electric automobile chassis battery charging and conversion electric device, the electronic vapour
Chassis battery charging and conversion electric device includes mechanical arm, battery case and the battery carrier for placing battery case；Mechanical arm passes through bolt
On surface-based guide rail, by lead screw transmission；Nonstandard fixture is installed, battery case is by non-on mechanical arm on mechanical arm
Ticket holder tool gripping, it is characterised in that charged layer, setting support body bottom that the battery carrier includes support body, is arranged on support body top layer
Working lining and the layer to be charged of the deposit positioned at intermediate layer；The battery carrier is five layers of three-row structure, and each layer sets
Put lifting platform on support body, rail plate and pallet；It is provided with pallet for judging whether the pressure equipped with battery case
Force snesor；The lifting platform is connected by rail plate with charging rack and by lead screw transmission, palette adjustment is in lifting platform
On rail plate, when same layer simultaneously have three rail plates in sustained height when, pallet can on the rail plate left and right
It is mobile；
Its method and step is as follows：
（1）Automobile sails charging station into, then starts to recognize battery pose by GPS, gyroscope, RFID；
（2）Judge whether automobile has come to a complete stop；GPS, gyroscope, RFID are with 1 second for interval continuous 3 time points enter to battery pose
Row identification, judges whether automobile has come to a complete stop and prepares to change battery；If 3 pose data variations at time point of detection, continue etc.
Treat；Otherwise, then judge that automobile has come to a complete stop, that is, send prompting, notify that parking brake is opened and left the theatre by driver, now control room is received
Alerting signal, charging and conversion electric flow prepares to initially enter step（4）；
（3）Grip battery case to be replaced；Control room sends charging and conversion electric instruction, and electric automobile charging and conversion electric mechanical arm carries out pose adjustment
And start to grip the battery case to be replaced of electric automobile；
（4）Whether judge the deposit layer to be charged of electric automobile charging and conversion electric battery carrier has battery；In electric automobile charging and conversion electric battery
Pressure sensor is installed on the deposit layer to be charged of frame, judges whether deposit layer to be charged has battery by pressure sensor, if
Have, then will lay in and the pallet of battery is placed with layer to be charged traversing allow out position for top layer pallet declines；If no, will fill
Fully charged battery case in electric layer is down to the working lining of bottom；
（5）The battery case that will be filled with electricity is put into the working lining of electric automobile charging and conversion electric battery carrier；The battery case that mechanical arm will take out
It is put into the bottom of electric automobile charging and conversion electric battery carrier and ensures to be put in place；
（6）The charged layer charge position that the battery case to be charged for changing rises to top layer is started to charge up, while mechanical arm takes out
The battery case that base has been filled with electricity loads electric automobile, and one piece of decline has been filled with the battery case of electricity for filling up room；
（7）Charging and conversion electric is completed, and automobile is rolled away from, and mechanical arm resets.
2. electric automobile chassis battery change method according to claim 1, it is characterised in that the battery carrier central shaft
Line aligns with ground guide central axis；Mechanical arm working face is concordant with battery carrier bottom.
3. electric automobile chassis battery change method according to claim 1, it is characterised in that set in the charged layer
There is charging device, the charging device includes charging head and charging base；Charging guide rail, the charging are provided with charging base
Head uses direct acting plug-in charging head, and the direct acting plug-in charging head is placed on the charging guide rail of charging base, by electricity
Machine control plug motion.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410168567.XA CN103963751B (en) | 2014-04-24 | 2014-04-24 | A kind of electric automobile chassis battery change method |
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| CN201410168567.XA CN103963751B (en) | 2014-04-24 | 2014-04-24 | A kind of electric automobile chassis battery change method |
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| CN103963751B true CN103963751B (en) | 2017-06-20 |
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| CN104808591A (en) * | 2015-02-27 | 2015-07-29 | 张锐 | Robot system for glass fiber pulling and control method |
| CN105005286B (en) * | 2015-07-28 | 2018-01-23 | 杭州豪盛电动车辆有限公司 | A kind of AGV battery altering control system and its control method |
| CN106043247B (en) * | 2016-06-23 | 2020-02-28 | 蔚来汽车有限公司 | Modular and expandable swap station equipment and charging racks |
| CN108960354B (en) * | 2017-05-23 | 2021-11-16 | 重庆无线绿洲通信技术有限公司 | Battery box position determining method, battery compartment, battery box and battery management main system |
| CN107487213A (en) * | 2017-07-20 | 2017-12-19 | 北自所制造业自动化工程研究中心（常州）有限公司 | The charging storehouse of container-type charging station |
| CN107650727A (en) * | 2017-10-24 | 2018-02-02 | 程文君 | A kind of device and its business model for the shared charging of electric automobile |
| CN109733340B (en) * | 2019-01-15 | 2021-12-28 | 长沙皓欣工业设备有限公司 | Photovoltaic energy storage battery charging scheduling method based on mobile carriage |
| CN109802069A (en) * | 2019-01-28 | 2019-05-24 | 江苏金派克新能源有限公司 | Lithium battery box quick replacement device |
| CN109747476A (en) * | 2019-03-21 | 2019-05-14 | 博众精工科技股份有限公司 | A kind of solid charging unit |
| CN112078420A (en) * | 2020-08-03 | 2020-12-15 | 惠州拓邦电气技术有限公司 | Sharing of electric motor car trades electric battery and control system |
| CN112537275B (en) * | 2020-11-25 | 2023-01-13 | 郑州力之天农业科技有限公司 | All-dimensional cleaning device and all-dimensional cleaning method for multilayer livestock and poultry transfer trolley |
| CN113119791B (en) * | 2021-04-29 | 2022-07-15 | 上海宾通智能科技有限公司 | Battery loading robot, battery management system and control method thereof |
| CN113618724A (en) * | 2021-07-30 | 2021-11-09 | 三一重工股份有限公司 | Battery replacing device and battery replacing station |
| CN113682193A (en) * | 2021-09-18 | 2021-11-23 | 南京普斯迪尔电子科技有限公司 | New energy heavy truck quick change battery package workstation |
| CN115610275B (en) * | 2022-11-16 | 2023-04-07 | 泰昌科技(杭州)有限公司 | Automatic battery replacement system and method for unmanned aerial vehicle |
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| DE9305524U1 (en) * | 1993-04-13 | 1994-09-01 | Gottlob Auwärter GmbH & Co, 70567 Stuttgart | Exchange station for electric road vehicles equipped with exchangeable batteries |
| TWI357865B (en) * | 2008-12-03 | 2012-02-11 | Ind Tech Res Inst | A swift pluggable and lockable battery structure |
| CN201901116U (en) * | 2010-12-16 | 2011-07-20 | 深圳市许继自动化技术有限公司 | Device for replacing battery box of electric vehicle |
| CN202243390U (en) * | 2011-08-26 | 2012-05-30 | 上海汽车集团股份有限公司 | Pneumatic quick-change device for power battery of pure electric bus |
| CN102529906A (en) * | 2012-01-05 | 2012-07-04 | 中国电力科学研究院 | Replacement system and method for power battery box |
| CN102825608A (en) * | 2012-09-04 | 2012-12-19 | 上海松盛机器人系统有限公司 | Battery exchange mechanical arm structure of electric vehicle |
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